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com)

4
Transfer Functions
Besigneu By: HPK Kumar
I
o
(S) =
_[ S
2
+ F S _ 0(S)
K
I
------------------------------ (2)
0(S) =
K
T
I
c
(S)
] S
2
+P S
-------------------------- (B)
Taking LT for back e.m.f equation, we get
E
b
(S) = K
b
S 0(S) ------------------------------- (C)
Substituting the values of I
a
(S) & E
b
(S) from equation (C) & (2) in equation (1), we get
I

(S) = |R
u
+ I
u
S]
[ S
2
+ F S
K
1
0(S) + K
b
S 0(S)
I

(S) =
|(R
c
+ L
c
S )(] S
2
+ P S)+ K
b
S .K
T
]
K
T
0(S)


TheblockdiagramrepresentationofarmaturecontrolledDCMotorcanbeobtainedasfollows,
From equation (A),



From equation (B),



From equation (C),


The complete block diagram is as shown below,


0(S)
I

(S)
=
K
1
|(R
u
+ I
u
S )([ S
2
+ F S) + K
b
K
1
S]

1
R
u
+ I
u
S

V
i
(S)
E
b
(S)
-
I
a
(S)
K
1
[ S
2
+ F S

0(S) I
a
(S)
K
b
S
E
b
(S) 0(S)
K
I
[ S
2
+ F S

0(S)
1
R
u
+ I
u
S

V
i
(S)
E
b
(S)
-
I
a
(S)
K
b
S
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5
Control Systems
Besigneu By: HPK Kumar
(hpk_kumaiuu7yahoo.com)
(4) TransferfunctionofFieldControlledDCMotorincircuit4.0:










In the field controlled DC motor, the armature current is fed from a constant current source.
I
m
= K
]
K
u
I
]
I
u
Where, K
a
& K
f
are the constants.
The KVL equation for the field circuit is,
I
]
= i
]
R
]
+ I
]

Ji
]
Jt

On Laplace Transform,
I
]
(S) = R
]
I
]
(S) + I
]
S I
]
(S)
I
]
(S) = I
]
(S) . |R
]
+ I
]
S ] ---------------------------------- (1)
I

(S) =
I

(S)
|R

+ I

S ]
--------------------------------- (A)

The torque equation is , I
m
= K
1
I
]
Where, K
T
is Motor torque constant.
I
m
= [
J
2
0
Jt
2
+ F
J0
Jt

On Laplace Transform,
I
m
(S) = K
1
I
]
(S) = [ S
2
0(S) + F S 0(S)
K
1
I
]
(S) = ( [S
2
+ F S ) . 0(S)
I

(S) =
_ [S
2
+ F S ] .0(S)
K
I
--------------------------- (2)
0(S) =
K
T
I
F
(S)
( ]S
2
+ P S )
------------------------- (B)
Substituting the value of I
]
(S) from equation (2) in equation (1), we get
R
f
L
f
i
f
V
f
T
m
0
I
a
= Constant
Let,
R
f
Field winding resistance.
L
f
Field winding inductance.
V
f
Field control voltage.
I
f
Field current.
T
m
Torque developed by motor.
J,
F
J Equivalent moment of inertia of motor & load referred to the motor shaft.
F Equivalent Viscous friction co-efficient of motor & load referred to the
motor shaft.
0 Angular displacement of motor shaft.
circuit 4.0
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6
Transfer Functions
Besigneu By: HPK Kumar
I
]
(S) =
_ [S
2
+ F S ] .0(S)
K
I
|R
]
+ I
]
S ]



TheblockdiagramrepresentationoffieldcontrolledDCMotorcanbeobtainedasfollows,
From equation (A),



From equation (B),


The complete block diagram is as shown below,



(5) ObtaintheTF
F
u
(S)
F
|
(S)
forthenetworkshownincircuit5.0:
Solution:


Applying KVL to this circuit,
I

(S) = I(S) jR +
1
CS
[ + I
o
(S)

----------------
------------------ (1)
I(S) = I
1
(S) + I
2
(S)
I(S) =
I
o
(S)
R
+ I
o
(S). CS = I
o
(S) _
1
R
+ CS_
(1) = I

(S) = I
o
(S) j
1
R
+CS[ . jR +
1
CS
[ +I
o
(S)

I
o
(S)
I
i
(S)
=
R C S
(1+RCS)
2
+ RCS



0(S)
I

(S)
=
K
I
[ [S
2
+ F S (R

+ I

S )

K
1
[ S
2
+ F S

0(S) I
f
(S)
1
R
]
+ I
]
S

V
f
(S)
I
f
(S)
1
R
]
+ I
]
S

V
f
(S)
I
f
(S)
K
1
[ S
2
+ F S

0(S)
circuit 5.0
R C
R C V
i
V
o
Laplace Transformed network
R
R
1
CS

1
CS

V
i
(S) V
o
(S)
I(S) I
1
(S) I
2
(S)
I
o
(S)
I
i
(S)
=
S
[1+ S
2
+ S

Let,RC =
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7
Control Systems
Besigneu By: HPK Kumar
(hpk_kumaiuu7yahoo.com)
(6) FindtheTF
F
u
(S)
F
|
(S)
forthenetworkshownincircuit6.0:
Solution:





Writing KVL for loop (1), we get
I
i
(S) = I
1
(S) _ 1u
S
+
1u
S
S
_ - I
2
(S)
1u
S
S

= I
1
(S) =
I
i
(S) . S
1u
S
(S+1)
+
I
2
(S)
S+1
------------------------------------------- (1)
Writing KVL for loop (2), we get
-I
1
(S)
10
S
S
+ I
2
(S) j
10
S
S
+ 1u
6
+
10
6
S
[ = u
= I
2
(S) =
I
1
(S)
1u S+11
-------------------------------------------- (2)
I
o
(S) = I
2
(S).
1u
6
S
= I
2
(S) =
I
o
(S) . S
1u
6
--------------------------------- (3)
Substituting for I
1
(S) from equation (2) in (1), we get
= I
2
(S). (1u S +11) =
I
i
(S) . S
1u
S
(S+1)
+
I
2
(S)
(S+1)

S I
i
(S)
1u
S
(S+1)
= I
2
(S) j
(1u S+11) (S+1)- 1
(S+1)
[
From equation (3) the above equation becomes,
S I
i
(S)
1u
S

=
I
o
(S) . S
1u
6
[ 1u S
2
+ 21 S +1u








Laplace Transformed network
Circuit 6.0
100 k 1M
10 p F
1 p F
V
i
V
i
(S) I
1
(S) I
2
(S)
1u
6
1u
5

1u
5
S

1u
6
S

V
0
(S)
Loop 1 Loop 2
I
o
(S)
I
i
(S)
=
1u
1u S
2
+ 21 S + 1u

1u
6
S

V
0
(S) 1
1uS + 11

I
1
(S)
+
I
2
(S)
1
S+1

S
1u
5
(S + 1)

V
i
(S)
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8
Transfer Functions
Besigneu By: HPK Kumar

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1
Control Systems

Block Diagrams
By: Sheshadri.G.S.
CIT, Gubbi.
It is a representation of the control systemgiving the inter-relation between the transfer function of
various components. The block diagramis obtained after obtaining the differential equation & Transfer
function of all components of a control system. The arrow head pointing towards the block indicates the i/p
& pointing away fromthe block indicates the o/p.


After obtaining the block diagramfor each & every component, all blocks are combined to obtain a
complete representation. It is then reduced to a simple formwith the help of block diagramalgebra.
The following block diagramreduction algebra is used,
(1) Blocks in Cascade [Series] :


(2) Combining blocks in Parallel:




(3) Eliminating a feed back loop:




(4) Moving a take-off point beyond a block:




(5) Moving a Take-off point ahead of a block:








If is the TF,





G
2
(S)










G(S)
C(S)

(2)
(2)
(3)
(6)




(2)
(2)
(3)
(6)


G(S)

(3)
(6)
(2)
(6)



(3)
(2)
(2)
(6)

(6)


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2
Block Diagrams

PROBLEMS:
Reduce the Block Diagrams shown below:

(1)





Solution: By eliminating the feed-back paths, we get





Combining the blocks in series, we get




Eliminating the feed back path, we get

















+
-
- -

+
-




+

C(S)
-







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3
Control Systems

(2)





Solution: Shifting the take-off beyond the block , we get







Combining and eliminating (feed back loop), we get





Eliminating the feed back path , we get





Combining all the three blocks, we get







R(S)
-
-

-



C(S)



R(S)
-
-

-



C(S)


R(S)
-
-

C(S)
R(S)
C(S)



R(S)
-


C(S)
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4
Block Diagrams


(3)


Solution: Re-arranging the block diagram, we get





Eliminating loop & combining, we get





Eliminating feed back loop





Eliminating feed back loop , we get






C(S) R(S)
-
- -



C(S) R(S)
- -




R(S) C(S)
-

C(S) R(S)



C(S) R(S)
-
- -



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1 Control Systems
Signal Flow Graphs
By: Sheshadri.G.S.
CIT, Gubbi.
For complicated systems, Block diagramreduction method becomes tedious & time consuming. An
alternate method is that signal flow graphs developed by S.J . Mason. In these graphs, each node represents
a systemvariable & each branch connected between two nodes acts as Signal Multiplier. The direction of
signal flow is indicated by an arrow.
Definitions:
1. Node: A node is a point representing a variable.
2. Transmittance: A transmittance is a gain between two nodes.
3. Branch: A branch is a line joining two nodes. The signal travels along a branch.
4. Input node [Source]: It is a node which has only out going signals.
5. Output node [Sink]: It is a node which is having only incoming signals.
6. Mixed node: It is a node which has both incoming & outgoing branches (signals).
7. Path: It is the traversal of connected branches in the direction of branch arrows. Such that no node
is traversed more than once.
8. Loop: It is a closed path.
9. Loop Gain: It is the product of the branch transmittances of a loop.
10. Non-Touching Loops: Loops are Non-Touching, if they do not possess any common node.
11. Forward Path: It is a path fromi/p node to the o/p node which doesnt cross any node more than
once.
12. Forward Path Gain: It is the product of branch transmittances of a forward path.
MASONS GAIN FORMULA:
The relation between the i/p variable & the o/p variable of a signal flow graphs is given by the net
gain between the i/p & the o/p nodes and is known as Overall gain of the system.
Masons gain formula for the determination of overall systemgain is given by,

Where, Path gain of forward path.
Determinant of the graph.




The value of the for that part of the graph not touching the forward path.
T Overall gain of the system.



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2 Signal Flow Graphs
Problems:
(1) Obtain the closed loop TF, by using Masons gain formula.






Solution:
Masons gain formula is,
No. of forward paths:




No. of individual loops:





No. of three non-touching loops = 0.







(2) Obtain the closed loop TF, by using Masons gain formula.










Solution:
Masons gain formula is,

Forward Paths:








Gain Products of all possible combinations of two non-touching loops:

Contd......
R(S)






C(S)





R(S)
C(S)








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