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Differential equations
represented as block
diagrams
1.1
Introduction
1.2
1.2.1
Figure 1.1 shows the most frequently used blocks, which we can call the
elementary blocks, that we can use for drawing block diagrams.
Name:
Symbol:
Function:
y0
Integrator
u=y
t
y(t) = y 0 +
u(t)dt
0
u1
Sum (incl. subtraction )
(No sign means plus .)
u2
y = u1 + u2 u3
u3
u1
Multiplication
MULT
y = u1u2
u2
u1
Division
Gain
Time delay
y
DIV
u2
u
y = u1/u2
y = Ku
y(t) = Ku
Saturation
Rate limiter
Dead zone
Relay
u1
Switch
Control
signal, c
u2
1.2.2
You will probably not see third or higher order differential equations,
but if you do, the above procedure is naturally extended.
3. Connect the integrators together according to the differential
equation using proper blocks, cf. Figures 1.1 and 1.2.
The following example demonstrates the above procedure.
Example 1.1 Block diagram of mass-spring-damper system
Figure 1.3 shows a mass-spring-damper-system. y is position. F is applied
K [N/m]
F [N]
m
D [N/(m/s)]
0
y [m]
(1.1)
1
[F (t) Dy(t)
Ky(t)]
m
(1.2)
Then we draw two integrators and connect them in series. y is the input to
the first (leftmost) integrator. Finally, we complete the block diagram
according to the model. The resulting block diagram is shown in Figure
respectively.
1.4. The state-variables x1 and x2 are defined as y and y,
[End of Example 1.1]
1
my = F - Dy - Ky
F
Sum
x
DIV
y(0)
y(0)
y
y
x1
x2
Integrator
Integrator
Dy
MULT
Ky
MULT
1.2.3