ME31002
Linear Systems and Control
Lecture Note 3
Dr XJ Jing
1
Block Diagram
A block diagram is a diagram of a system in which the principal
parts or functions are represented by blocks connected by lines that
show the relationships of the blocks.
Block diagrams in control are a visual language for describing
actions in a complex system in which blocks are transfer functions
that represent mathematical or logical operations that occur in
sequence from left to right and top to bottom by following the
signal flows, but not the physical entities, such as processors or
relays, that perform those operations.
2
Examples of block diagram
Open-loop control system
3
Examples of block diagram
Closed-loop control system
4
Not very straightforward sometimes, needing
more EEE knowledge or else
5
Representation of control system
◼ The components or systems to be controlled can be represented by a
block as follows in the simplest case as
Input Control system Output
◼ Open-loop control system: No sensor feedback
Desired output Controller Process Output
response
◼ Closed-loop control system: with sensor feedback to compare
the real output to the desired output
Desired Output
output Comparison Controller Process
response
Measurement
6
Block diagrams
◼ The block diagram is commonly used in control engineering to show
the functions performed by each component (subsystem) in the system.
◼ The transfer functions of the components are usually entered in the
corresponding blocks, which are connected together by arrows to show
the direction of flow of the signals.
◼ Three Basic Components in a block diagram
x-y X
Transfer x +
Function - X X
G(s) y X
7
Notations in a block diagram
A block diagram is a means of modeling a system by breaking it down into subsystems
each represented by a block. The overall response of the system is determined from a
knowledge of the transfer functions of the blocks.
Arrows are used to represent the direction of signal flow.
Blocks are used to represent any part of the system that manipulates
the signal in to provide a signal out.
Summing point represents a point where signals are algebraically
combined. Signals can be added to or subtracted from each other.
Take-off point indicates the point where a signal is split into two directions.
Block this is usually drawn with its transfer function inside. Lower
case letters indicate the time domain and upper case letters the frequency domain.
Forward path the route the signal takes when moving from input to output.
Feedback path the route the signal takes when moving from output to input.
Feedforward path this is parallel to and in the same direction as the forward path
8
Notations in a block diagram
9
Block diagrams →Reduction for transfer function
In practice, the block diagram could be very complicated. In this
course, we suppose that it is already known. But for analysis and
design, we need to know the transfer function of the system. How
to find the transfer function for a given block diagram is the
following task.
Block diagram
reduction
Transfer
R(s) Function C(s)
G(s)
10
A block diagram can be simplified
step-by-step with the following
Block diagrams reduction rules.
G1(s)
G2(s)
11
There are many reduction rules. But
not all of them are needed actually.
Block diagrams
12
Only the following 9 rules are needed
(1) The input signal R(s) and the output signal C(s) should
be determined firstly. So the task is to find the transfer
function G(s) from R(s) to C(s), i.e.,
G(s)=C(s)/R(s) or C(s)=R(s)G(s)
These basic 9 rules are important
(2) The relationship between output and several inputs
after one summing junction is shown in (c). The signals
from the same pickoff point are the same as the signal in
the branch (d).
14
(3) Signals transmitted in series
(4) Signals transmitted in parallel
Starting from the same
pickoff point and coming to
the same summing point
(5)
Signals form a
closed feedback
loop
C=R*G±X*G
C=G*(R±X)
(6) Shifting a block before or after a
summing junction
C=G*(R±X/G)
C=R*G±X
(7)
Shifting a block before or
after a pickoff point
(8) Signals in parallel feedback loops
Three summing
points can be
combined into one
How to treat multiple inputs
(9) Multiple inputs
C D ( s) G2 ( s)
=
D( s ) 1 + G1 ( s )G2 ( s ) H ( s )
C R ( s) G1 ( s )G2 ( s )
=
R( s ) 1 + G1 ( s )G2 ( s ) H ( s )
C ( s) = C R ( s) + C D ( s)
(figure 3-12, Ogata, 2002)
When two inputs are present in G2 ( s)
◼
= [G1 ( s ) R ( s ) + D( s )]
a linear system, each input can 1 + G1 ( s )G2 ( s ) H ( s )
be treated independently of the
other.
◼ The outputs can be added to
give the complete output
22
(9) Multiple inputs
23
Examples01
1.
figun_05_01
24
Examples02
2.
figun_05_02
25
Example 03
26
solutions
i. Combine the parallel blocks in the forward path.
s2+1/s
27
solutions
i. Combine the parallel blocks in the forward path.
ii. Push 1/s to the left past the pickoff point
s2+1/s
28
solutions
i. Combine the parallel blocks in the forward path.
ii. Push 1/s to the left part of the pickoff point
iii. Combine the parallel feedback paths and get 2s
iv. Apply the feedback formula
s2+1/s
s2+1/s
2s
29
Class exercise 01
30
Exercise 02
31
Exercise 02-solution
32
Exercise 02-solution
33
Exercise 02-solution
34
Exercise 02-solution
35
Exercise 02-solution
36
Exercise 02-solution
37
Example 04
38
Solution
39
40
41
42
43
Add the parallel feedback paths to
get the single negative feedback
44
45
References
◼ Control systems:
Chapter 1, Chapter 2.3-2.7,
Chapter 3.2-3.3
◼ Control systems Engineering:
Chapter 1, Chapter 2.1-2.3,
Chapter 5.2
46
Questions 2: block diagram reduction
1.
Homework
47
Example05
Example
(example 5.2, Nise, 2000)
48
Solution
49
Examples06
50
Solution
51
Example07 and solution
52
Advanced method
An algebraic approach For references only
Not focused
◼ (1) At each summing junction set a breakpoint and
denote the signal there A, B, …
◼ (2) Find a series of algebraic equations starting from
the input R to the signal A, from A to B, and until to
the output Y
◼ (3) Solve the algebraic equations to find Y=(*) R,
and then find the TF.
53
Examples
E X Z
Y=G4*G3*Z
Z=G2*X+H1*Y Y=(?)*R
X=G1*E-H2*G3*Z
E=R-H3*Y G(s)
54
