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ME2142/TM3142 Feedback Control Systems
Block Diagram Representation
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ME2142/TM3142 Feedback Control Systems
Block Diagram Elements
X
Signed inputs
+
Y + +X+Y- Z
- output
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ME2142/TM3142 Feedback Control Systems
Block Diagram Algebra
X Y Z X Z
G1 G2 G1 G2
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ME2142/TM3142 Feedback Control Systems
Block Diagram Algebra
Blocks in parallel
Y=G1X+G2X Y=G1X+G2X
G2
X Y
+ G1 + G2
+ Y
X G1
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ME2142/TM3142 Feedback Control Systems
Block Diagram Algebra
Z=GX+GY
X + Z X + Z
G G
+ +
Y
Y G
Z=G(X+Y)
X Y
X Y G
G
X
X 1/G
Z=G(X+Y/G)
X + Z
X + Z G
G
+
+ Y
1/G
Y Z=GX+Y
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ME2142/TM3142 Feedback Control Systems
Closed-Loop Feedback System
R + E C
G
-
B
H
C
=G is called the feedforward transfer function
E
B
= GH is called the open-loop transfer function
E
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ME2142/TM3142 Feedback Control Systems
Closed-Loop Feedback System
C = GE
R + E C = G(R – B)
G = G(R – HC)
-
C(1 + GH) = GR
B
H C G
=
R 1 + GH
C
is the closed-loop transfer function
R
C E 1C 1
Also E = and = =
G R G R 1 + GH
E
is called the error transfer function
R
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ME2142/TM3142 Feedback Control Systems
Closed-Loop Control Feedback System
R E M + + C
+
Gc Gp
-
B
H
B
= Gc G p H is the open-loop transfer function
E
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ME2142/TM3142 Feedback Control Systems
Closed-Loop Control Feedback System
R E M + + C
+
Gc Gp
-
B
H
C G Gc G p
= =
R 1 + GH 1 + Gc G p H
D + C
Gp
- C G Gp
= =
D 1 + GH 1 + G p Gc H
GcH
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ME2142/TM3142 Feedback Control Systems
Block Diagram Manipulation
Da
a
D E
+ +
R + + +
G + C
F
- -
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ME2142/TM3142 Feedback Control Systems
Block Diagram Manipulation
Assume names of
signals as shown
b = Fa-Fc+Da
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ME2142/TM3142 Feedback Control Systems
Block Diagram Manipulation
Assume names of
signals as shown
b = Fa-Fc+Da b = Fa-Fc+(D/F)aF
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ME2142/TM3142 Feedback Control Systems
Block Diagram Manipulation
Da (D/F)a Eb
a
D E D/F E
a b
+ +
R + + +
G + C R + +
+
+
+
C
F F G
- - - -
H H Gb
I I
C = Gb + Eb
E/G Eb
+ C
R + + Gb + C R + +
FG
1+D/F FG 1+D/F 1+E/G
- - - -
H H
I I
C = Gb + (E/G)Gb
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ME2142/TM3142 Feedback Control Systems
Block Diagram Manipulation
Example G
1 + GH
R + + C R FG C
1+D/F FG 1+E/G +
1+D/F 1+E/G
- -
- 1 + FGH
H
I I
R + D FG E C D FG E
1 + 1 + 1 + 1 +
- F 1 + FGH G R F 1 + FGH G C
1 + 1 +
D FG E
1 + I
F 1 + FGH G
I
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ME2142/TM3142 Feedback Control Systems
End
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ME2142/TM3142 Feedback Control Systems