EE 360 : Part 3 System Transfer Function” & Block Diagram Representation: : System “transfer function”: G(s) =¥(s)/X(s) “Block diagram” representation (s-domain and all initial conditions are zero): x) [ab Y()_X(6)=input, (8) =output, G(S) = system transfer function=N(s)/D(s) Ex 1: G(s) =¥(SV/X(6) =K(sH1 /[s(s+2)(9"+28+2)] highest degree of D(@), in the above example n=4 istic equation": D(s)=0, in ex: s(s+2)(s"+2s+2)=\ “system poles”: roots of D(s), in ex: system poles are: 0, s--2, s~1:i, to show poles in s-plane we use symbol: x 2 “system zeros”: roots of N(s), in ex: system zeros: s+1=0, 1, to show zeros in s-plane we use symbol: 0 “pole zero configuration": showing the locations of poles (x) and zeros (0) on s-plane is called pole zero configuration, in ex: Note: pole/zero configuration doesn’t show the value of the gain (k) System Model: differential equation > transfer function > block diagram > pole/zero configuration (above example’). Ex 2: d’y(tydt?+3dy(t\/dt+2y(t)=2dx(ty/dt+ x(t), yO}=dy(OV/de=0 (643812) Y(9)= Qs+1)X()PV(SV/X(5)=G)=Os+1)(s+35+2) x9) IGOPYO Reverse direction: pole/zero configuration > transfer function & block diagram > differential equation. Ex 3: G()=10(s"+25+10)/[5(s+1}(6-3)]=¥ (SVC) P[alst1}(s-3)]¥(9)=10(6742s+10)X(s) (€.28-39¥(9}=10(6"*28+10)X(6) > Py(th/at?-2d?y(tydt?-3dy(t)/dt=10d7x(ey/dt2+20dx (1)/dt+100x(t) initial conditions: y(0)=dy(0V/at=d"y(0y/dt*=0Page 2 BLOCK DIAGRAM Acontrol system may consist of a number of components. To show the functions performed by each component, we use a diagram called the block diagram. A block diagram of a system is a pictorial representation of the function performed by each component and of the flow signals [1]. Bach block has a function (in Laplace Domain) where the function represents the mathematical model for the component. F(s) —— [sy }-—> xis) £(s) is the input signal in s-domain K(s) is the output signal in s-domain M(s) describes the operation of the system mathematically in s-domain. It is also called the transfer function of the block, where, M(s) = K(s)/F(s), or K(s)= M(s)F(s) Block Diagram of a Closed-loop System: R(s) controller |-~) Piant ‘cis) ve Se ee - Gis)'= G(s) .G,(s) is called feedfoiward. transfer function H(s) 48 called feedback transfer function‘ G(s)H(s) is called open-loop transfer functioh R(s) is called input. (or, reference input) signal C(s) is called output (response) signal E(s) is called actuating error signal Negative Feedback System: We compare the output with desired input in order to keep the output as close as possible to the desired input and reduce the error signal as much as we can. Almost all Classical Control problems are negative feedback problems. Positive Feedback System We add the output signal to the input. This case has limited applications. One important application of positive feedback is in oscillators to generate sinusoidal signals.Page 3 Closed-Loop Transfer Function: cls) = G(s) E(s) RY eI _, oS (5) = R(s)-H(s) C(s) ie C(s) = G(s) (R(s) - Ris)C(s)) (G(s)H(s) +1)C(s) = G(s)R(s) HS) 4 C(s)/R(s) = Closed-Loop Transfer Function = G(s) /(1+H(s)G(s)) Unity Feedback System: H(s) = 1 C(s)/R(s) = G(s) /(1+G(s)) E(s}) = R(s) ~ C{s) General Feedback System E(s) =R(s) ~ H(s)C(s) C(s)/Ris) = Gis) /(1+G(s)H(s)) General Feedback System With Compensation C(s)/R(s) = G.(s)G(s) / (1+G,(s) G(s) Hts) ) B(s) = R(s) -, H(s)C(s) We use compensators to correct the behavior of the system.Page 4 BLOCK DIAGRAM SIMPLIFICATION METHOD 1: Block diagram algebra ~ Rules: 1) c ¢ A> LYS] = . & Go SGGLE 2) (pou \ = > GG te ALG Ce 3) Moving the summing point aye &. i switching the sufter y Pee 2 5) ni summer to the eae G eo ae 6) Moving the summer to the right Cc eos a B MW 29-9? til ‘OPage 5 7) Moving the branch-off point to the right 5 th A Ye VA 8) Moving the branch-off point to th 6} an EO 9) Standard feedback B w GG,Page 6 1 + MG/G GiG:G5 1 - G,G,H, + G.GsH, +6,6,63 CLOSED-Z00P POLES: Roots of the denominator of closed-loop CLOSED LOGP ZEROS:. OPEN LOOP POLES: OPEN LOOP , ZEROS: transfer function C(s)/R(s) = G(s)/(1 +GH) roots. of 1 + G(s)H(s) = 0 (characteristic equation) Roots of the Numerator. of ‘closed-loop fransfer function C(s)/R(s) =" Roots of the: Denominator df open-loop transfer function G(s)H(s} Roots of the Numerator: of-open-loop transfer function G(s)H(s)Page 7 METHOD Signal Flow Graph: this method is easier than block diagram technique. Block diagram Signal flow graph 4 aan a R 4 3B 6 Rd Gi 1.8 Cpe ee oe ra “Hy A £ Xa b 4X, X,: Source ( Input Node). c Xi Sink ( Output Node). Loop Gain: be, d, £ Forward Gain: a. b. a Touching Loops: be with d and be with £ Non-touching Laops: d and £Page 8 vasch'e Gain Formula for Signal Flow Graph: The Transfer Function: c PAL rp BU A= 1 - ( sum of all individual loop gains) ar (Sum of gain Products of all Possible Combinations of two non-touching loops) - (Sum of gain Products of all Possible Combinations of three non-touching loops) ee a a P, = Forward gain of ith forward path B,= same as Aafter removing the Path (and Nodes) associated with Path P, 1 = G,6,6,6,65 B, (removing P,) = 1 GG,6.C5 A, (removing P,) = 1 G6, A; (removing Ps) Bb, =4- (GH) = 1 + GH, Aw 1 - (-Guk, - G)G)%, - 66,658, - 6,6,6,6;H,) + (( ~Gyih) (-G.GrH,) } cis) PA, + Pr A, + PsAs R(s) 4 GyGrGsGiG5 + GiGyGsGe + GCs, (146) 1 + Gi, + GG)H2 + Gy