Académique Documents
Professionnel Documents
Culture Documents
]
We often represent control systems using block diagrams. A block diagram consists of blocks that
represent transfer functions of the different variables of interest.
If a block diagram has many blocks, not all of which are in cascade, then it is useful to have rules for
rearranging the diagram such that you end up with only one block.
For example, we would want to transform the following diagram
Y (s )
R (s )
H1(s)
H3(s)
H2(s)
H4(s)
into
R(s )
Y (s )
H(s)
U (s )
H1(s)
Y (s ) = H 2 ( s ) U (s ) and U(s) = H1 ( s ) R( s )
leads to
Y ( s ) = H 2 ( s ) H1 ( s ) R ( s )
H2(s)
Y (s )
H 2 H1
Y (s )
E (s )
G(s)
B(s )
H(s)
(1)
(2)
(3)
(4)
1 + G( s) H ( s)
G
is called the closed-loop transfer function. From the above equation, we
1 + GH
G
1 + GH
Y (s )
We have just shown two cases (cascade and feedback) of block diagram reduction. These and other
transformations are given in Table 1.
Table 1. Block Diagram Transformations [Taken from Dorf & Bishop Textbook]
Transformation
1. Combining blocks in
cascade
Equivalent Diagram
Original Diagram
X1
G1 ( s )
X2
X3
G2 ( s)
X1
X3
G1G2
or
X1
2. Moving a summing
point behind a block
X1
3. Moving a pickoff
point ahead of a
block
X1
X3
X1
X2
X1
X2
X2
X3
X1
X1
X2
G
1
G
X3
X2
6. Eliminating a
feedback loop
X1
X2
X2
X1
X1
X2
X1
5. Moving a summing
point ahead of a block
X3
X2
4. Moving a pickoff
point behind a block
X1
X2
X3
G2G1
1
G
X1
X2
G
1 m GH
X2
R(s)
+
G1
Y (s )
+
G4
G3
G2
+
H1
H3
First, lets move H2 behind block G4 so that we can isolate the G3 G4 H1 feedback loop. Use Rule 4
of Table 1 to get
H2
G4
+
G1
G4
G3
G2
H1
H3
G4
+
G1
G2
H3
G3 G4
1 G3 G4 H 1
G 2 G3 G4
1 G3 G4 H 1
G 2 G3 G4
H2
1+
1 G3 G4 H 1 G4
G
G2 G3 G 4
1 G3 G4 H 1 + G2 G3 H 2
+
G1
-
G2 G3 G4
1 G 3G 4 H 1 + G 2G 3 H
Y
2
H3
G1 G2 G3 G4
1 G3 G4 H1 + G2 G3 H 2 + G1 G2 G3 G4 H3
Using block diagrams, it becomes easy to see where new blocks can be added to an existing system to
alter system performance.
Alternate Method for Getting Transfer Functions of Multiloop Systems (without having to do block
diagram manipulation)
Suppose we want the transfer function from R to Y of the following multi-component system:
H3
R
+
+
G1
Y
G2
G3
H2
H1
Do the following:
1)
2)
3)
4)
X1
+
-
X2
G1
Y
G2
+
-
H2
H1
G3
R +
X1
G1
X2
G1 X 1
Y
G2
H3
H 3Y
- G2 H 2 X 2
H2
G2 H1 X 2
H1
Step 3 gives:
G2 H1
1
- G1 1 + G2 H 2
0
G2 G3
0
H3
1
X 1 R
X 2 = 0
Y 0
Y
R
G2 H1
G1
1 + G2 H 2
0
1
G2 G3
G2 H1
0
0
G1
1 + G2 H 2
H3
G2 G3
G2 H1
G1
1 + G2 H 2
0
1
G2 G3
G2 H1
0
0
G1
1 + G2 H 2
H3
G2 G3
G3
Cramers Rule
If Ax = B is a system of n linear equations in n unknowns such that det A 0, then
x1 =
det ( A1 )
det ( A2 )
det ( An )
, x2 =
, - - - - , xn =
det A
det A
det A
Where A j is the matrix obtained by replacing the entries in the j th column of A by the entries in the
matrix
B = b1
b
2
'
'
'
bn