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Reduction of Multiple Subsystems

This document discusses how to reduce block diagrams of multiple subsystems into a single transfer function from input to output. It provides examples of reducing block diagrams by collapsing summing junctions, forming equivalent cascaded and parallel systems, and moving blocks. Rules are given for manipulating block diagrams through algebraic operations while maintaining equivalence. The relationships between open-loop and closed-loop transfer functions are also examined for feedback systems. Finally, the document introduces signal-flow graphs as an alternative representation to block diagrams.

Uploaded by

Dian Riana Mustafa
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
417 views

Reduction of Multiple Subsystems

This document discusses how to reduce block diagrams of multiple subsystems into a single transfer function from input to output. It provides examples of reducing block diagrams by collapsing summing junctions, forming equivalent cascaded and parallel systems, and moving blocks. Rules are given for manipulating block diagrams through algebraic operations while maintaining equivalence. The relationships between open-loop and closed-loop transfer functions are also examined for feedback systems. Finally, the document introduces signal-flow graphs as an alternative representation to block diagrams.

Uploaded by

Dian Riana Mustafa
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Reduction of Multiple Subsystems

Ref: Control System Engineering


Norman Nise : Chapter 5

RM 1511 AUTOMATIC CONTROL

Chapter objectives :


How to reduce a block diagram of multiple subsystems to a


single block representing the transfer function from input
to output
How to analyze and design transient response for a system
consisting of multiple subsystems
How to represent in state space a system consisting of
multiple subsystems

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1. Block Diagrams for Dynamic Systems


Block diagram  an interconnection of blocks representing
basic mathematical operations in such a way that the overall
diagram is equivalent to the systems mathematical model.
In such a diagram, the lines interconnecting the blocks
represent the variables describing the system behaviour.

K
A block diagram representing f = Kx
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Summer  addition and subtraction of variables


x2

x1
+
+

x3
A summer representing y = x1 + x2 - x3

Pickoff point  input signal distribution to several output point

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Gain  multiplication of a single by a constant (exp. spring)


Integrator  integration with respect to time
u

dt

y&

dt

The block diagram for an integrator

Constant  has no input, and its output never changes

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Rules for altering diagram structure


Transfer functions which are generally the ratio of two polynomials are
often denoted by F(s), G(s) or H(s). When the transfer function is a constant,
then that block reduces to a gain block.
Series combination

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Parallel combination

Example 1
Evaluate the transfer functions Y(s)/U(s) and Z(s)/U(s) for the block diagram
below  give the results as rational functions of s

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Equivalent diagrams for


the diagram shown in
Example 1

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Moving block to create familiar forms


Moving a pick off point  a point where an incoming variable in the diagram
is directed into more than one block

(1)

(2)
(3)

1 Original diagram, 2 & 3 equivalent diagrams

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Block diagram algebra


for pickoff points equivalent forms for
moving a block
a. to the left past a
pickoff point;
b. to the right past a
pickoff point

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Moving a summing junction


Ahead of a block

After a block

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Block diagram algebra


for summing junctions equivalent forms for
moving a block
a. to the left past a
summing junction;
b. to the right past a
summing junction

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Example 2  Modify the bock diagram in (a) to remove the right summing
junction, leaving only the left summing junction

(a) Original diagram, (b), (c) & (d) equivalent diagrams


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Reducing diagrams
for feedback systems
G(s) = Y(s)/V(s)  forward transfer
function
H(s) = Z(s)/Y(s)  feedback transfer
function
G(s)H(s)
function

 open-loop transfer

T(s) = Y(s)/U(s)  closed-loop


transfer function
H(s) = 1
system

 unity feedback

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Block diagram reduction via familiar form


Example 3  reduce the block diagram shown below to a single transfer
function

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Steps in solving Example 3:


a. collapse summing
junctions;
b. form equivalent cascaded
system in the forward path
and equivalent parallel
system in the feedback path;
c. form equivalent feedback
system and multiply by
cascaded
G1(s)

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Block diagram reduction by moving blocks


Example 4  reduce the block diagram shown below to a single transfer
function

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Steps in the
block diagram
reduction for
Example 4

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Example 5  find the equivalent transfer function T(s)=C(s)/R(s)

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Example 6  Find the closed-loop transfer function for the feedback


system below. Compare the locations of the poles of the open-loop and
closed-loop transfer function in s-plane.

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Example 7  Find the closed-loop transfer


function of the two-loop feedback system in
Fig 1. Also express the damping ratio and the
un-damped natural frequency of the closedloop system in terms of the gains a0 and a1.
Figure 1

Equivalent block diagrams

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2. Analysis and Design of Feedback System


Immediate application of the principles of block diagram.
Example 9  find the peak time, percent overshoot and settling time.

Example 10  design the value gain K for the system below so that the
system will respond with a 10 % overshoot

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3. Signal-Flow Graphs
Signal flow graphs are alternative to block diagram.
A signal flow graph consists only of branches, which represent systems, and
nodes, which represent signals.
Signal-flow graph components:
a. system;
b. signal;
c. interconnection of systems
and signals

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Converting common block diagrams to signal-flow graphs

a. cascaded system nodes; b. cascaded system signal-flow graph;

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c. parallel system nodes; d. parallel system signal-flow graph;


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e. feedback system nodes; f. feedback system signal-flow graph;


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Example 11  Convert the


block diagram in Example
4 to signal-flow graph.

Signal-flow graph
development:
a. signal nodes;
b. signal-flow graph;
c. simplified signal-flow
graph

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Example 12  Convert the block diagram below to signal-flow graph

Multiple subsystems - 28

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