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Block Diagram Algebra

A complex system is represented by the interconnection of the blocks for individual elements. Evaluation of complex system requires simplification of block diagrams by block diagram rearrangement. Some of the important rules are given in figure below.

7. Combining locks in !arallel

". #oving summing point $

%( Example: Simplify the block diagram shown in 'igure below.

%7 Example: )btain the transfer function C*+ of the block diagram shown in 'igure below.

,AnsExample: .erive the transfer function of the system shown below.

/a0

/b0

,AnswerExample: .erive the transfer function of the system shown below.

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Example: 'ind the transfer function of the following system.

1Answer2 Example: 'ind the output of the system shown below.

'or 3nput +%$

44444444444444444. /%0

%> 'or input +5$

44444444444444444. /50

1Answer2

Signal Flow Graph

S'6 is a diagram that represents a set of simultaneous linear algebraic equations which describe a system. 7et us consider an equation8 Y = aX . 3t may be represented graphically as8 X Definitions in SFG Node ; A system variable8 the value of which equals the sum of all incoming signals at the node. Branch ; A directed line segment <oining two nodes. Input/ Output node ; node having only one outgoing* incoming branch. Path ; A traversal of connected branches in the direction of branch arrows. Forward path ; A path from input to output node. Loop ; A closed path that originates and terminates on the same node. Self-loop ; A loop containing one branch. Non-touching loops ; 7oops which do not have a common node. Gain =ransmittance of a branch. a Y

where 9a: is called transmittance or transmission function.

5E Construction of SFGs =he S'6 of a system can be constructed from the describing equations$

!5 =a%5 !% +a?5 !? !? =a%? !% +a5? !5 +a?? !? !@ =a5@ !@ +a?@ !?

SFG from Block Diagram

Each variable in the block diagram becomes a node8 and each block becomes a branch.

Mason s Gain Formulae

3t is possible to write the overall transfer function of a system through inspection of S'6 using #ason:s gain formulae given by8 " = / Pi i 0 * .
i

where = A overall gain of the system8 Pi A path gain of ith forward path8 = determinant of S'68 i = value of for that part of the graph not touching the ith forward path. = % P#% + P# 5 P# ? + L A % ; ,sum of loop gain of all individual loops- B ,sum of all
# # #

gainCproducts of two nonCtouching loops- ; ,sum of all gainCproducts of three nonCtouching loops- B D

P#$ = #th product of $ nonCtouching loops .

5% Example %. =here are ( forward paths with path gains

5. =here are three individual loops with loop gains ?. =here is only one combination of two nonCtouching loops

P %5 = % % % 5G@G&

@. =here are no combinations of more than two nonCtouching loops. &. Fence8

? = @ = & = ( = % P + P5 5 + P? ? + P@ @ + P& & + P( ( =hus8 " = % % 8 where P % 8 % 8 etc. are derived before.
Example .raw the S'6 and determine C* + for the block diagram shown in 'igure below.

1Answer2

55 Example 'or the system represented by the following equations8 find the transfer function G/s0*H/s0 by S'6 technique. ! = !% + ?u Ie need to 7aplace transform the given sets of equations & ! % = % !% + !5 + 5 u in order to represent differentiated variables. & !5 = 5 !% + %u X = X % + ?& X% = % X5 + 5 u s + % s + %

X5 =

5 X% + % u s s
1Answer2

, s 5 + %s + 5 X / s 0 % + 5 s + ? = & /s0 s 5 + %s + 5
Example Hsing #ason:s gain formulae find C*+ of the S'6 shown in 'igure below.

Fee!back Characteristics of Control S"stems

Consider the block diagram of the openCloop and the closedCloop system shown below.

5?

'or openCloop system8 ' / s 0 = G / s 0 ( / s0 'or closedCloop system8 ' / s 0 = G / s 0 )a / s 0 = G / s 0, ( / s 0 % / s 0' / s 0G / s0 % ( / s 0 and8 )a / s 0 = (/ s0 Fence8 we have8 ' / s 0 = % + G / s0 % / s0 % + G / s 0 % / s0 3t is seen from the above equations that in order to reduce error8 the loopCgain G / s 0 % / s0 should be made large over the range of frequencies of interest8 i.e.8 G / s0 % / s 0 ? % . #$ %e!uction of parameter &ariations b" use of fee!back )ne of the important properties of negative feedback systems is the reduction in the sensitivity to the variation in the parameters of the forward path. 3n the design of control systems8 it is important that the transfer function of the closedCloop system be relatively insensitive to small changes in the values of the parameters of the components in the forward path of the system. 7et be a parameter of 6/s0. =hen the sensitivity of 6/s0 with respect to the parameter is defined as8 'ractional change in G / s0 G * G G G S = = = . 'ractional change in * G ' / s0 G / s0 " /s0 = = Jow8 D (/ s0 % + G / s0 % / s 0 G S " G G " % + G% G% " G S = = = S /% + G% 0 = " G " G /% + G% 0 5 % + G / s0 % / s 0 % =hus feedback has reduced sensitivity in the variation in by the factor . % + G% " % % " G. G G% " % % /% + G% 0 % % = = S = S S Again8 S = . 5 " % " % /% + G% 0 % + G% G 3t is seen that8 the magnitude of two sensitivities are nearly equal for the variation of parameter in the feedback path. =hus8 feedback does not reduce the sensitivity to variation in the parameter in feedback path. =herefore8 we can conclude that8 6/s0 in a closedCloop system may be less rigidly specified. )n the other hand8 we must be careful in accuracy of F/s0 in the feedback loop. '$ Control o&er s"stem !"namics b" use of fee!back 7et us consider the simple feedback system shown below. =he openCloop transfer function is8 G / s 0 = * . s+

=he impulse response for the nonCfeedback system would be8 c/t 0 = *e t u /t 0 = *e t *% u /t 0 . * =he closedCloop transfer function of the above system is8 " / s 0 = . s++* =he impulse response of the closedCloop system is8 c /t 0 = *e / + * 0 t u /t 0 = *e t * 5 u /t 0 . =he location of the pole and the dynamic response of the nonCfeedback and feedback system are shown in 'igure below.

5@

3t is seen that the timeCconstant of openCloop system is % = %* and that of closedCloop system is 5 = %* / + * 0 . As the timeCconstant of closedCloop system is less8 its dynamic response is faster than the same of the openCloop system. ($ Control of the effect of !isturbance signal b" use of fee!back A. .isturbance in the forward path

'd / s 0 G5 / s 0 % = D "d / s0 % + G% / s 0G5 / s 0 % / s 0 G% / s 0 % / s0 . .isturbance in the feedback path 'n / s 0 G% / s 0G5 / s0 % 5 / s0 % = N / s 0 % + G% / s0G5 / s 0 %% / s0 % 5 / s0 %% / s 0 =herefore8 the effect of noise on output is8 'n / s 0

or8 'd / s0 =

"d / s 0 G% / s0 % / s 0

3f G% / s 0 is made very large8 the effect of disturbance on the output will be very small.

% N / s 0 . %% / s 0

=hus8 for the optimum performance of the system8 the measurement sensor should be designed such that %% / s0 is maximum. =his is equivalent to maximiKing the SJ+ of the sensor. )$ %egenerati&e Fee!back =he regenerative feedback is sometimes used for increasing the loop gain of the feedback system. 'igure in the following shows a feedback system where regenerative feedback occurs in the inner loop.

5&

=he openCloop gain is8 Go / s 0 =

G/s0 . % Ga / s0 (/ s0 G / s0 *% Ga / s 0 (/ s0 G / s0 = % + Ga / s 0G / s 0 *% Ga / s 0 % Ga / s 0 + G / s 0 % / s0

=he system response is obtained as8 ' / s 0 = Ihen8 Ga / s 0 ; % 8 ' / s 0

(/ s 0 . .ue to high loop gain provided by the inner regenerative % /s0 feedback loop8 the closedCloop transfer function becomes insensitive to 6/s0. Example
" " " A position control system is shown below. Assume8 *+%E8 = 5 8 = % . Evaluate$ S * 8 S 8 S . 'or r /t 0 = 5 cos E.&t and a &L change in * 8 evaluate the steadyCstate response and the change in steadyCstate response. * Fere8 G / s 0 = 8 and % / s 0 = s/s + 0 * dG % G S* = = s/s + 0 = %D G d* s/ s + 0 d% dG 5 % G =% S = = = D S = % d G d s + s + 5 " S* = G S* s/ s + 0 s 5 + 5s = = 5 % + G / s 0 % / s 0 s / s + 0 + * s + 5 s + %E G S s/s + 0 5 s = = 5 % + G / s0 % / s 0 s + s/ s + 0 + * s + 5 s + %E % S G / s0 % / s0

" =herefore8 S =

S =
"

% + G / s0 % / s 0

* %E = 5 s / s + 0 + * s + 5 s + %E At s = # E.& 8 " / # E.&0 = %.E5e # E.%E5

Jow8 " / s 0 =

* %E = 5 D s + s + * s + 5s + %E
5

=hus8 css /t 0 = 5.E@ cos/E.&t E.%E50

" Again8 S * =

* " " s 5 + 5s " * = S* = 5 E.E& " * " * s + 5s + %E

s 5 + 5s %E E.&s / s + 50 " / s 0 = 5 E.E& 5 = 5 " / # E.&0 = E.EE&e # @.(75 5 D s + 5 s + %E s + 5 s + %E / s + 5 s + %E0 =hus8 css /t 0 = " / # E.&0 5 cos E.&t = E.E%cos/E.&t @.(750 1Answer2