Signal Flow Graphs 446-9

Prof. Neil A. Duffie University of Wisconsin-Madison

Neil A. Duffie, 1996 Duffie, All rights reserved

Incorrect Block Diagram Manipulations

s Control Kp + + Kc

Process
Kp s( p s + 1)

R(s) +

C(s)

s Control Kp + + Kc

R(s)

+ -

Process Kp C(s) s( p s + 1)
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Correct Block Diagram Manipulations

s K cK p

Control

Process
Kp s( p s + 1)

R(s) +

+
Kc

C(s)

s K cK p

Control

Process
Kc

+
R(s)
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+ -

Kp s( p s + 1)

C(s)
3

Block Diagram Reduction

K cK p

R(s)

s 1+ K cK p

s( p s + 1) K cK p 1+ s( p s + 1)

C(s)

R(s)

K cK p s 1+ K K s( s + 1) + K K p c p c p

C(s)

Block Diagram with Disturbance Input

Command R(s) + Disturbance D(s) + C(s) + G1(s) G2(s) H(s) A disturbance input is an unwanted or unavoidable input signal that affects a systems output. Examples: - load torque in motor control
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- open door in room climate control

Superposition: C(s) = Cr(s) + Cd(s)

G1(s) + D(s) G2(s) H(s) Note sign change! R(s) + 9

Cd(s)

+ G2(s) H(s) +

C(s)

G1(s)

Cr(s)

Disturbance Portion Redrawn

D(s) + G1(s) G2(s) H(s) + R(s) + 9

Cd(s)

C(s)

G1(s) H(s)

G2(s)

Cr(s)

Reduced Block Diagram

D(s)
G 2 (s) 1 + G1(s)G 2 (s)H(s)

Cd(s) + + C(s)

R(s)

G1(s)G2 (s) 1 + G1(s)G 2 (s)H(s)

Cr(s)
8

Individual Transfer Functions

With R(s) = 0: G 2 (s) C(s) = D(s) 1 + G1(s)G 2 (s)H(s)
With D(s) = 0: G1(s)G2 (s) C(s) = R(s) 1 + G1(s)G 2 (s)H(s)
Transfer equation: G1(s)G 2 (s)R(s) + G 2 (s)D(s) C(s) = 1+ G1(s)G 2 (s)H(s)

Utility of Signal Flow Graphs

Alternative to block diagram approach - may be better for complex systems - good for highly interwoven systems - system variables represented as nodes - branches (lines) between nodes show relationships between system variables The flow graph gain formula (Mason) allows the system transfer function to be directly computed without manipulation or reduction of the diagram. 10

Basic Signal Flow Graph

R(s) + H(s) E(s) G(s) C(s)

R(s) Input node

9

E(s)

G(s) -H(s)

C(s) Output node

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Signal Flow Graph Example

R(s) + E(s) F(s) + G1(s) D(s) + Q(s) + H(s) D(s) G2(s) C(s) G2(s) C(s)

R(s)

E(s) 1

F(s) G1(s) 1

Q(s)
9

-1

-H(s)
12

Terms for Masons Gain Formula

Path: A branch or sequence of branches that can be traversed from one node to another. Loop: A closed path, along which no node is met twice, that originates and terminates in the same node. Nontouching: Two loops are nontouching if they do not share a common node.
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Gain: Refers, in this case, to the product of transfer functions. 13

O(s) Pk k = Masons Gain Formula: I(s) k

Pk = the gain of the kth forward path between I(s) and O(s). = 1 - (sum of all individual loop gains) + (sum of gain products of all combinations of 2 nontouching loops) - (sum of gain products of all combinations of 3 nontouching loops) +
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k = value of for that part of graph nontouching the kth forward path.

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Example of Gain Formula Use

R(s) 1 E(s) 1 F(s) G1(s) 1 D(s) G2(s) C(s)

Q(s) -1 -H(s)

Assume R(s) = 0, desire to find the transfer function C(s)/D(s). There is only one forward path between D(s) and C(s), therefore k = 1.
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There are two loops. They are touching.

15

Example of Gain Formula Use

R(s) 1 E(s) 1 F(s) G1(s) 1 D(s) G2(s) C(s)

Q(s) -1 P1 = G2(s) = 1 - [-G1(s)G2(s)H(s) - G1(s)G2(s)] 1 = 1 (Both loops touch the kth path)
9 16

-H(s)

Example of Gain Formula Use

R(s) 1 E(s) 1 F(s) G1(s) 1 D(s) G2(s) C(s)

Q(s) -1
Pk k C(s) = D(s) k
C(s) G 2 (s) = D(s) 1 + G1(s)G 2 (s)H(s) + G1(s)G2 (s)
9

-H(s)

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