Block Diagram Representation

1) What is a block diagram ? 2) How to obtain transfer function from a block diagram ? 3) How to simplify a block diagram ?

What is a Block diagrams ?

Block diagrams are used as schematic representations of mathematical models. models. Consist of a variety of elements correspond to mathematical entities Can be rearranged to help simplify the equations used to model the system

Processes are represented by the blocks in block diagrams:

Process variable variable

Processes must have at least one input variable and at least one output variable Reclassify processes without input or output:
Input variable Output variable

Example of unit transformation processes

Accelerator depth (deg) Engine Engine speed (rpm)

Example of measurement Processes

Actual speed Measured speed Speedometer

Feedback Control Systems

Many systems measure their output and use this measurement to control system behavior This is known as feedback control the output is fed back into the system The summing junction is a special process that compares the input and the feedback Inputs to summing junction must have same units!
input process output

sensor

Generic Feedback Control System

Input is the output we want the system to have Summing junction subtracts the measured output from the desired output, difference is error signal Controller acts based on magnitude of error signal Actuator provides external power to system and effects changes based on controller output Plant is the process we are trying to control
desired output controller actuator plant output

sensor

Reminder: Component Block Diagram

Block Diagram
It represents the mathematical relationships between the elements of the system.

U1 ( s) G1 ( s) = Y1 ( s )
The transfer function of each component is placed in box, and the input-output relationships between components are indicated by lines and arrows.

Block Diagram Algebra

Using block diagram, we can solve the equations by graphical simplification, which is often easier and more informative than algebraic manipulation, even though the methods are in every way equivalent. It is convenient to think of each block as representing an electronic amplifier with the transfer function printed inside. The interconnections of blocks include summing points, where any number of signals may be added together.

1st & 2nd Elementary Block Diagrams

Block in series: Blocks in parallel with their outputs added:

Y2 ( s ) = G1G2 U1( s )

Y (s) 2 = G1 + G2 U1( s )

3rd Elementary Block Diagram

SingleSingle-loop negative feedback The overall transfer function is given by:

Y( s ) G1 = R( s ) 1 + G1G2
Two blocks are connected in a feedback arrangement so that each feeds into the other:

Feedback Rule

Y( s ) G1 = R( s ) 1 + G1G2
singleThe gain of a single -loop negative feedback system is given by the forward gain divided by the sum of 1 plus the loop gain

Block diagram reduction

R(s)

+
H G1 G2

C(s)

= Closed-loop system transfer function : R 1 + HG G

1 2

G1G 2

R(s)

G1G 2 1 + HG1G 2

C(s)

Block diagram reduction R G2

-

G1 + C
G 1R - G 2R

G 1- G 2

R +
-

G H2 H1

R +
-

G
H1- H2

Block diagram manipulations

G1 ++G-11 G1

+G1

G1 +-

G1

Reduction of minor loops R +G1 H2 H1 R +M G1 H1

G2G3 G= 1 + G2G3 H 2

M +G2

G3

C
C G1G2 G3 = R 1 + G2 G3 H 2 + G1G2G3 H1

Example H1 R +G1 + C H1 R +G1 + C G2-1 H2 G2

-

G2

H2

Signal flow diagrams variables transfer functions R G1 G2 M C R G1 C H R 1 -H nodes arrows M G2 M G1 1 G2 C 1 C

R E M G1 G2 +-

Example G4 G2 H2 H1 G4 R 1 -H2 -H1 1 G1 M G2 G3 C G3 + + C R +G1 +-

1st Elementary Principle of Block Diagram Algebra

2nd Elementary Principle of Block Diagram Algebra

3rd Elementary Principle of Block Diagram Algebra

Example 1:
Transfer function from a Simple Block Diagram

T( s ) =

Y( s ) T( s ) = R( s ) 2s + 4 s2 T( s ) = 2s + 4 1+ 2 s 2s + 4 s 2 + 2s + 4

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

Example 2: TF from the Block Diagram

G1G2G5 + G1G6 T( s ) = 1 G1G3 + G1G2G4

Block Diagram and its corresponding Signal Flow Graph

Compact alternative notation to the block diagram. It characterizes the system by a network of directed branches and associated transfer functions. The two ways of depicting signal are equivalent.