Lecture Note: 2 Block Diagrams and Signal Flow Graphs

Block Diagrams

A block diagram can be used to describe the composition and interconection of a system, Or it can be used, together with transfer functions, to describe the cause-and-eect relationships throughout the system.

R(s) + -

U(s) G(s)

Y(s)

B(s) H(s)

Figure 1: Basic Block diagram of a feedback control system R(s) = reference input (command) Y (s) = output (controlled variable) B (s) = feedback signal U (s) = actuating signal=error signal E (s), when H (s) = 1 H (s) = feedback transfer function G(s)H (s) = L(s) = loop transfer function G(s) = forward-path transfer function M (s) = Y (s)/R(s) = closed-loop transfer function or system transfer function From Fig. 1, we write Y ( s) = G( s) U ( s) 1 (1)

N ( s) 2 R ( s) + s+2 +
10 s(s+1)

E ( s)

+ +

Y ( s)

0.5s

Figure 2: Block diagram of a feedback control system and B ( s) = H ( s) Y ( s) The actuating signal is written U ( s) = R ( s) B ( s) Substituting Eq. (3) into Eq. (1) yields Y ( s) = G( s) R ( s) G( s) B ( s) (4) (3) (2)

Substituting Eq. (2) into Eq. (4) and then solving for Y (s)/R(s) gives the closed loop transfer function: G( s) Y ( s) = (5) M ( s) = R ( s) 1 + G( s) H ( s) In general, a control system may contain more than one feedback loop, and the evaluation of the tranfer fucntion from the block diagram by the algebraic method just described may be tedious. Although, in principle, the block diagram of a system with one input and one output can always be reduced to the basic single-loop form of Fig. 1. We demonstrate this in the following example. Example 1. The block diagram of a feedback control system is shown in Fig. 2. Find the following transfer functions: (a)
Y (s) R(s) N =0 (s) (b) Y E (s) N =0

(c)

Y (s) N (s)

R=0

Solution: (a) step 1: By making N (s) = 0 and reducing the inner block (shown in dotted box), we get

2 R ( s) + + s+2 +
10 s(s+6)

Y ( s)

The inner block transfer function is reduced as follows:

10 s(s + 6)

step 2: For simplifying the block diagram, we would shift the summation point inside the square dotted box in a direction shown by dotted arrow. This gives us
2 s+2

R ( s)

+ s+2 10 s(s+6)

Y ( s)

step 3: Reduce the part of block diagram within the dotted box. We get

R ( s) 1+

2 s+2

10(s+2) s2 +16s+20

Y ( s)

Step 4: Hence, the transfer function between R(s) and Y (s) is given by Y ( s) R ( s) Putting R(s) = 1 , s Y (s)|N =0 = s( s2 10(s + 4) 2 1.45 0.54 = + 16s + 20) s s + 1.36 s + 14.63 =
N =0

s2

10(s + 4) + 16s + 20

Taking inverse Laplace transform, y (t) = 2u(t) 1.45e1.36 u(t) 0.54e14.63 u(t) Proceeding similarly, the transfer function between N (s) and R(s) is given by Y ( s) N ( s) =
R=0

s2

s(s + 1) 0.03 15.03 =1+ + 16s + 20 s + 1.36 s + 14.63

Taking inverse Laplace transform, y (t) = u(t) + 0.03e1.36 u(t) 15.03e14.63 u(t)

2
2.1

Physical Models
DC motor Model (Separately Excited)

Two main physical principles by which an armature controlled DC motor works as we set the eld current to a constant value: 1. The back emf eb is directly proportional to the speed of the armature/rotor: eb 2. Electrical torque developed in the motor is directly proportional to the armature current: TM ia . System Dynamics 4

Ra + va -

La + eb (J, B ) Load if if = constant

Figure 3: Separately Excited DC motor The governing equations for the DC motor can be written by looking at gure 3: va eb = Ra ia + La eb = kb = kT ia + B = J dia dt (6) (7) (8) (9)

where motor inertia is neglected. Here the rst equation is derived by applying KVL to the armature circuit. Next two equations stand for the principle by which the DC motor works. The last equation describes angular motion dynamics. State Variable Model . The state equations can be written as Choose the state variables as x1 = ia , x2 = and x3 = x 1 = Kb 1 Ra x1 x3 + va La La La (10) (11) (12)

x 2 = x3 KT B x 3 = x1 x3 J J and the output equation is given by x1 y = = x2 = [0 1 0] x2 x3 The above state model can be written in a short format as follows: = Ax + Bu x y = Cx 5

(13)

(14)

where

Ra b La 0 K La A= 0 0 1 KT 0 B J J

B=0 0

1 La

C = [0 1 0]

Please note that Kb = KT (numerically) for separately excited DC motor. Exercise Show that Kb = KT (numerically). Please note that Power developed in the armature P = eb ia = Tm . Transfer function model of DC motor using Block Diagram approach Taking Laplace transform on both sides of Eqns. (6), (7) and (8), we get, Va (s) Eb (s) = (Ra + La s)Ia (s) Eb (s) = Kb s(s) KT Ia (s) = (Js2 + Bs)(s) In block diagrammatic representation of these equations looks as: V a ( s) + Eb (s) Kb Ia ( s) ( s) (s)Y (s) (15) (16) (17)

1 Ra +La s

KT

1 Js+B

1 s

Simplying the above block diagram, the closed loop transfer function can be written as ( s) KT = V a ( s) s(Ra + sLa )(Js + B ) + sKb KT (18)

Signal-Flow Graphs (SFGs)

SFGs may be dened as a graphical means of portraying the input-output relationships among the variables of a set of linear algebraic equations. This is an alternative to block-diagrammatic representation. Input Node (source) An input node is one that has only outgoing branches. Output Node (sink) An output node is a node that has only incoming branches.

Path A path is any collection of a continuous succession of branches traversed in the same direction. Forward Path A forward path is a path that starts at an input node and ends at an output node, and along which no node is traversed more than once. Loop A loop is a path that originates and terminates on the same node, and along which no other node is encountered more than once. Path Gain The product of the branch gains encountered in traversing a path is called the path gain. Forward-Path Gain The forward-path gain is the path gain of a forward path. Loop Gain The loop gain is the path gain of a loop. Nontouching Loops Two parts of an SFG are nontouching if they dont share a common node.

Masons Gain Formula

Given an SFG with N forward paths and K loops, the gain between the input node yin and output node yout is N Mk K yout = (19) M= yin
k =1

where yin = input-node variable yout = Output-node variable M = gain between yin and yout . N = total number of forward paths between yin and yout . Mk = gain of the k th forward path between yin and yout =1
i

Li1 +
j

Lj 2
k

Lk3 + . . .

Lmr = gain product of mth(m = i, j, k, . . .) possible combinations of r nontouching loops (1 r < K ). or = 1-(sum of the gains of all individual loops)+(sum of products of gains of all possible combinations of two nontouching loops)-(sum of products of gains of all possible combinations of three nontouching loops)+ . . . k = the for that part of the SFG that is nontouching with the k th forward path.

Example 2. Masons gain formula can be used to simplify the block-diagrams directly. We illustrate this with this example. Lets consider the system in Fig. 2. Here we have two forward paths between R(s) and Y (s) with gains M1 = 10(s + 2) s(s + 1) and M2 = 20 s(s + 1) respectively.

There are two individual loops with following loop gains: L11 = 5 s+1 L21 = 10(s + 2) s(s + 1)

There are no non-touching loops and thus we have = 1 (L11 + L21 ) s2 + 16s + 20 = s(s + 1) Also, 1 = 1 and 2 = 1. Thus, the transfer function between R(s) and Y (s) is given by the Masons gain formula (19) as follows: M ( s) = Y ( s) R(s) N =0 M1 1 + M2 2 = 10(s + 4) = 2 s + 16s + 20

Y7 G5 1 Y1 Y2 G1 Y3 H1 H3 Figure 4: An SFG example G2 Y4 G3 Y5 H2 G4 Y6 1 1 Y6

Example 3. Find the following transfer functions for the SFG shown in Fig. 4 Y6 Y1 Solution: Y6 Y7

Y7 =0

Y1 =0

(a) There are two forward paths between Y1 and Y6 and the forward-path gains are M1 = G1 G2 G3 G4 M2 = G5 G3 G4 Forward Path: Y1 Y2 Y3 Y4 Y5 Y6 Forward Path: Y1 Y2 Y4 Y5 Y6

There are four loops. The loop gains are L11 = G2 H1 L31 = G5 G4 G3 H3 L21 = G4 H2 L41 = G1 G2 G3 G4 H3

There is only one pair of nontouching loops; that is, the two loops are Y3 Y4 Y3 and Y5 Y6 Y5 . Thus the product of the gains of the two nontouching loops is L12 = G2 G4 H1 H2 All loops are in touch with forward paths M1 and M2 . Thus, 1 = 2 = 1. Therefore, = 1 (L11 + L21 + L31 + L41 ) + L12 = 1 + G2 H 1 + G4 H 2 + G3 G4 G5 H 3 + G1 G2 G3 G4 H 3 + G2 G4 H 1 H 2 From (19), we have Y6 Y1 =
Y7 =0

M1 1 + M2 2 ( G1 G2 + G5 ) G3 G4 1 + G2 H 1 + G4 H 2 + G3 G4 G5 H 3 + G1 G2 G3 G4 H 3 + G2 G4 H 1 H 2

(b) There is only one forward path between Y7 and Y6 with following gains: M1 = 1 1 = 1 + G2 H 1

Its because there is only one loop (Y3 Y4 Y3 ) that is nontouching with the forward path Y7 Y6 and its loop gain is L11 = G2 H1 . Thus, we have Y7 Y6 =
Y1 =0

M1 1 1 + G2 H 1 1 + G2 H 1 + G4 H 2 + G3 G4 G5 H 3 + G1 G2 G3 G4 H 3 + G2 G4 H 1 H 2

Figure 5: Example 4. Find the transfer function

for the SFG shown in Figure 5.

Solution: There are two forward paths between the input node and the output node, and the forward path gains are 1 1 1 1= 2 s s s 3 1 11 3= 3 M2 = 1 s ss s There are three loops. The loop gains are M1 = 1 9 , s All of the loops are touching. Hence, 9 24 20 + + 3 s s2 s So, the transfer function between input node and output node is given by the Masons gain formula as =1+
3 + s12 s3 1+ 9 + 24 + 20 s s2 s3 s+3 s3 s3 +9s2 +24s+20 s3

24 , s2

20 s3

M ( s) = =

4.1

Tutorial Problems

1. A Signal Flow Graph is shown in Figure 6. Find the transfer function between the input node and the output node, using Masons gain formula. 10

Figure 6: Problem 1

Figure 7: Problem 2

11

G4 ( s) + R ( s) + + H 1 ( s) N ( s) H 2 ( s) G1 ( s) + G2 ( s) G3 ( s) Y ( s) + +

Figure 8: Problem 3 2. A low-pass lter is shown in Figure 7. R = 1k , C = 1F Construct a signal ow graph connecting input V1 (s) and output V2 (s) and showing internal signals F1 (s), F2 (s), and V2 (s). 3 (s) Find T (s) = V V1 (s) 3. The block diagram of a feedback control system is shown in Fig. 8. (a) Apply the SFG formula directly to the block diagram to nd the transfer functions Y ( s) R ( s) Y ( s) N ( s)

N =0

R=0

Express Y (s) in terms of R(s) and N (s) when both inputs are applied simultaneously. (b) Find the desired relation among the transfer functions G1 (s), G2 (s), G3 (s), G4 (s), H1 (s) and H2 (s) so that the output Y (s) is not aected by the disturbance signal N (s) at all. 4. The block diagram of the position-control system of the electronic word processor is shown in Fig. 9. (a) Find the loop transfer function
0 (s) e (s)

(the outer feedback path is open)

(b) Find the closed-loop transfer function

12

K3 r + e Ks E + K + K1 + K2 Kt Ea
1 Ra +La s

Ia

Ki

Tm

1 Jt s+Bt

1 s

Figure 9: Problem 4

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