Block diagram and Modeling of Electrical

Elements
Dr: Mahmoud Qaid
Basic Feedback System Form One of the crucial ingredients of automatic control is feedback. It provides
the mechanism for attenuating the effects of parameter variations and disturbances and enhancing
dynamic tracking ability. The basic feedback system (BFS) shown in Figure 2-9 is the fundamental block
diagram representing a feedback system.
The variable R is the input to the BFS, E is the control or error variable, and Y is the output. The closed-
loop transfer function for the BFS is computed by writing two equations in three variables, R, E, and Y;
then combining the equations to eliminate E; and solving for the ratio of Y/ R. These steps are illustrated .

Figure :Basic Feedback System (Bfs)

Block Diagram
EXAMPLE 2.1 Simple Feedback Diagram Reduction
Frequently, block diagram models consist of a series of nested feedback loops—each originating from a
different pick-off point but terminating at one summing junction. For example, the mass–spring–damper
system model in Figure 2-10 has two feedback loops which represent the reaction forces exerted by the
damper and the spring.
Solution
(a) Starting block diagram.
(b) The block diagram can be simplified by moving 𝑿ሶ
the pick-off point to X and making the appropriate
scaling change, a multiplication by 1/D, in the FB path.
(c) The two feedback loops now originate from the
same pick-off point, X, and terminate at the same
summing junction so they can be combined as a parallel
combination. Similarly the entire forward loop can be
reduced as a series combination.
In this case, the price paid for the simplification is the
loss of the and signals. It is normal to expect
the loss of some signal points, as a block diagram is
Figure 2-10
simplified.
EXAMPLE 2.2 High-Performance Control
A control structure used in many high-performance systems
combines feedforward control for fast response and
feedback control for accuracy at lower frequencies. A block
diagram of such a control structure being used to control a Figure 2-11 High-performance Feedforward–feedback
Control System
plant, G(s), is presented in Figure 2-11
Solution
The point of this example is to illustrate how the
manipulations discussed previously may be
applied to simplify the control section of the
system block diagram. We begin by sliding the
feedback-loop transfer function,𝑪𝟏 (s) , to the right
side of the second summing junction and making
the appropriate modification to the feedforward Figure 2-12 First Step In The Simplification Of The
path using multiplication by 𝑪−𝟏
𝟏 (s) . Figure 2-12
Block Diagram
presents the results.
The two summing junctions now may be collapsed into a
single super summing junction creating two parallel paths
between it and the input pick-off point. The final simplified
block diagram is shown in Figure 2-13.
Figure 2-13 Final Simplification Of The Block Diagram
By selecting the feedforward-loop transfer function, such that 𝑪𝟏 (s)= 𝑮−𝟏 (s) , the effect of R on Y
approaches 1, which means that changes in the setpoint, R, are felt immediately at the output, Y. The
feedback loop transfer function is usually selected for tracking accuracy and is often a proportional (PI or
PID) type.

Example 2.3 Feedback Plus Parallel Forward-loop

Diagram Reduction
This example demonstrates series, parallel, and pick-
off point movement manipulations. The block
diagram, Figure 2-14, is to be reduced such that two
blocks are present: one in the forward loop and one
in the feedback loop. The reduced system will be in Figure 2-14 Block Diagram Reduction
BFS form.
Solution
Identify sub diagrams as groups to which you can
apply the manipulation rules (Figure 2-15).
Group 1 is a parallel block manipulation, Group 2 is
moving a pick-off point downstream, and Group 3 is
a series block combination combining 1/(s+5)and s
Figure 2-15
the blocks. Notice that the group operations are
performed in a certain order. In this case, Group 2 is
performed before Group 3 because the intermediate
point disappears during the Group 3 series operation.
Note also that the reason for moving the pick-off
point in the first place was to create two parallel
feedback loops. After performing these three group Figure 2-16
operations, the block diagram becomes that given in
Figure 2-16. The forward loop and the feedback
loops now can be reduced using the series and
parallel rule to produce the BFS form Figure 2-17.
Figure 2-17
2.2.3 Simulation
Most visual simulation environments perform three basic functions.
• Graphical Editing: Used for the creation, editing, storage, and retrieval of models. Also used to create
model inputs, orchestrate the simulation, and to present the model results.
• Analysis: Used to obtain transfer functions, compute frequency response, and evaluate sensitivity to
disturbances.
• Simulation: Numerical solution of the block diagram model.
All models in a visual simulation environment are block-diagram based, so a textual programming is not
necessary; however, some environments supplement their block libraries with such a language for greater
flexibility. Since block diagrams were introduced in the previous section, we will proceed directly to the
simulation process.
Simulation is the process through which the model equations are numerically solved.
The simulation process consists of three steps.
Step 1. Initialization
Step 2. Iteration
Step 3. Termination
2.3 Block Diagram Modeling—Direct Method
Normally, the starting point in these applications is either a set of linear ordinary differential equations, a
transfer function, or an illustration of the system itself.
2.3.1 Transfer Function (or ODE) Conversion to Block Diagram Model
The procedure for converting a transfer function (or ODE) to a block diagram model is presented in this
section as a six-step process. An ordinary differential equation (ODE) is a differential equation with all
derivatives taken with respect to time. Time is the independent variable. It is assumed that the transfer
function is in proper form, which means that the order of the numerator polynomial is less than or equal to
the order of the denominator polynomial.
Given A transfer function is used here with input r, output y, and all required initial conditions. To better
illustrate the procedure, we will apply it to the following illustrative transfer function, T(s).
Solution
Step 1. Create the state variable, x(t), by “sliding” the numerator part of the transfer function into a new
block located to the right of the denominator part of the transfer function. Connect the denominator and
numerator blocks with an arrow and label the signal, x(t), as the state variable. Include any transfer function
gain term with the numerator block. The resulting block diagram is shown here.
Notice the diagram that we have chosen to make all feedbacks at the summing junction negative, the other
sign information is included in the feedback gains (i.e., 5 and 9).
Step 5. From step 1, write the output equation (OE) as the differential equation relating the output, y(t), to
the state, x(t), and its derivatives.

or
To complete this step, we
implement the output equation
on the block diagram from
step 4 by combining the existing
state variable and its derivatives
through the appropriate gains
and a summing junction to
create the output signal, y(t),
as in Figure 2-19. Figure 2-19.
so we have
Step 6 is completed by adding the initial conditions to the block diagram from step 5. The completed block
diagram is shown in Figure.

FIGURE :BLOCK DIAGRAM WITH INITIAL CONDITIONS

𝑽 = 𝑹 × 𝒊(𝒕)
Electrical components: input voltage & output current