ECE 3151 - Spring 2010

Block diagram models

Part b

Prof. Marian S. Stachowicz Laboratory for Intelligent Systems ECE Department, University of Minnesota Duluth

January 26 - February 16, 2010

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References for reading

1. R.C. Dorf and R.H. Bishop, Modern Control Systems, 11th Edition, Prentice Hall, 2008,
Chapter 2.6

2.

J.J. DiStefano, A. R. Stubberud, I. J. Williams, Feeedback and Control Systems, Schaum's Outline Series, McGraw-Hill, Inc., 1990
Chapters 7

Outline
Terms and concepts Canonical form of a feedback control system Block diagram transformations

Block diagrams
Block diagrams consist of unidirectional, operational blocks that represent the transfer function of the variables of interest. The block diagram representation of a given system often can be reduced to a simplified block diagram with fewer blocks than original diagram.
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Introduction
A graphical tool can help us to visualize the model of a system and evaluate the mathematical relationships between their elements, using their transfer functions. In many control systems, the system of equations can be written so that their components do not interact except by having the input of one part be the output of another part.

Oxford University Press 2001

Component Block Diagram

Block Diagram
It represents the mathematical relationships between the elements of the system.

U1 ( s ) G1 ( s ) ! Y1 ( s )
The transfer function of each component is placed in box, and the input-output relationships between components are indicated by lines and arrows.
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Block Diagram Algebra

We can solve the equations by graphical simplification, which is often easier and more informative than algebraic manipulation, even though the methods are in every way equivalent. It is convenient to think of each block as representing an electronic amplifier with the transfer function printed inside. The interconnections of blocks include summing points, where any number of signals may be added together.

1st & 2nd Elementary Block Diagrams

Blocks in series: Blocks in parallel with their outputs added:

Y2 ( s ) ! G1G2 U1( s )

Y(s) ! G1  G2 U(s)
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Combining blocks in cascade

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3rd Elementary Block Diagram

Single-loop negative feedback

Transfer function

Y( s ) G1 ! R( s ) 1  G1G2

Two blocks are connected in a feedback arrangement so that each feeds into the other.

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1st Elementary Principle of Block Diagram Algebra

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2nd Elementary Principle of Block Diagram Algebra

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3rd Elementary Principle of Block Diagram Algebra

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Oxford University Press 2001

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Example 1

Y( s ) T( s ) ! R( s ) 2s  4 s2 T( s ) ! 2s  4 1 2 s 2s  4 T( s ) ! 2 s  2s  4
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Example 2

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TF from the Block Diagram

G1G2G5  G1G6 T( s ) ! 1  G1G3  G1G2G4

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Feedback Rule

Y( s ) G1 ! R( s ) 1  G1G2
The gain of a single-loop negative feedback system is given by the forward gain divided by the sum of 1 plus the loop gain

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Eliminating a feedback loop

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Closed-loop transfer function

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s) Y(s) = G(s) Ea(s) Y(s) = G(s) [ R(s) - H(s) Y(s) ] Y(s) [ 1 + G(s) H(s) ] = G(s) R(s)

Y(s)/R(s) = G(s) /(1 + G(s) H(s))

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Closed-loop transfer function

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s) Y(s) = G(s) Ea(s) Ea(s) = R(s) - H(s) G(s) Ea(s) Ea(s) [ 1 + G(s) H(s) ] = R(s)

Ea(s)= R(s) /(1 + G(s) H(s))

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Closed-loop transfer function

Y(s) = R(s) G(s)/(1 + G(s) H(s)) Ea(s)= R(s) /(1 + G(s) H(s))

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All the transformations can be derived by simple algebraic manipulation of the equations representing the blocks.

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Ex. 2.7 Block diagram reduction

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Summary
Using transfer function notations, block relationships were obtained.

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Moving a summing point behind a block

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Moving a pickoff point ahead of a block

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Moving a pickoff point behind of a block

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Moving a summing point ahead of a block

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