Monash University MEC3457

Department of Mechanical and Aerospace Engineering Tutorial 3

MEC3457 Systems and Control

Tutorial 3: Modelling via Block Diagrams
Objective: To simplify and use the block diagram approach and algebraic approach to convert
various systems into a mathematical model for control analysis.

Question 1 Simplify the following block diagram shown in Figure 1 to determine the transfer
function of the system (simple).

Getting Started: - Combine the two inner feedbacks together using the feedback equation
1 2
- ans:

= (1
1 1 )(12 2 )+1 2 3

- reference: Modern Control Engineering 5th Ed, Ogata, K, page 57

Figure 1

Question 2 Simplify the following block diagram shown in Figure 2 to determine the transfer
2
function
of the system.

Getting Started: - Determine a relationship between: , 1 , 2 , 2 2

- i.e. 1 = 2 2 2
- Given this, you should be able to see you do not need to completely simplify the entire
block diagram shown in Figure 1 to determine the transfer function.
- You need to use the feedback equation three times to determine the transfer function.
2 2 (1 1 +1)
- ans:
= ( 2
1 1 2 2 +(1 1 +2 1 +2 2 )+1)

- reference: Modern Control Engineering 5th Ed, Ogata, K, page 56-58

Figure 2
Monash University MEC3457
Department of Mechanical and Aerospace Engineering Tutorial 3

Question 3 A thermocouple has a time constant of 2 sec. A thermal well has a time constant
of 30 sec. When the thermocouple is inserted into the well, this temperature measuring device
can be considered a two-capacitance system.
a) Derive the Transfer Function of this system.
b) Determine the time constants of the combined thermocouplethermal-well system. Assume
that the weight of the thermocouple is 8g and the weight of the thermal well is 40g. Assume
also that the specific heats of the thermocouple and thermal well are the same.

Getting Started: - Use the following variables: 0 , 1 ,

2 , 1 ,
2 , 1 ,
2 , 1 ,
2

- The system has two differential equations, assume zero initial conditions.
(1) 1 1 = 1 , 1 = (2 1 )/1 (2) , 2 =
1 1
- ans a) 0
= 1 1 2 2 2 +(1 1 +2 2 +2 1 )+1

- Part b) note:
- ans b): 1 = 1.651, 2 =
- reference: Modern Control Engineering 5th Ed, Ogata, K, page 150; Lect Slides 3b 16-18

Question 4 Consider the liquid-level system shown in Figure 3. At steady state, the in-flow
rate and out-flow rate are both and the flow rate between the tanks is zero. Considering a
small change in the in in-flow rate q, derive mathematical models for the system when q is the
input and h2 the output.

Getting Started: - The system has four differential equations - a change in flow rate and liquid height in both
tanks.
2 ()1 ()
(1) 1 () = 1 1 () , (2) 1 () = 1
, (3), (4)
- Draw the individual block diagrams and combine, similar to Q3.
2 (1 1 +1)
- ans: 2 = ( 2
1 1 2 2 +(1 1 +2 1 +2 2 )+1)

- reference: Modern Control Engineering 5th Ed, Ogata, K, page 151

Figure 3