Data Acquisition & Control Systems

DAG Lecture 4 Block manipulation

Blocks in Series
Block Diagram Manipulation
GA(s) GB(s) = GA(s)GB(s)
The idea is to use a set of rules to gradually
reduce a complex system consisting of a
number of subsystems down to a single block
that contains the transfer function for the whole Proof
system. U(s) X(s) Y(s)
GA (s) GB (s)

Y(s)= GB (s)X(s)
Y(s)= GB (s) GA (s)U(s)
X(s)= GA (s)U(s)

Two Water Tanks in Series (Problem 1 Q3a) Z(s) Y(s)

U(s) +
Proof for G(s)
Closed Loop Rule -
q1
H(s)
X(s)
Tank 1
q12 Y(s) = G(s) Z(s)
Y(s) = G(s)U(s) - G(s)H(s)Y(s)
Tank 2 Z(s) = U(s) - X(s)
q2 {1 + G(s)H(s)}Y(s) = G(s)U(s)
Hence;
Y(s) = G(s) {U(s) - X(s)}
q1 q2 G(s)
X(s) = H(s)Y(s) 1 + G(s)H(s)

Flow rate Control Flow rate Control

qd
qd + qi 1 qo
10 1+100s
Gear box Motor
-
Controller

qi
Tap Flow rate sensor
qd + qo
Tank
qo
-

D.A.Germany - School of Engineering & Technology

Data Acquisition & Control Systems
DAG Lecture 4 Block manipulation

Flow rate Control Interlocking Loops

3
1+s 3
10
qd 1+100s qo + 1
+
+ 1
+
1+s 1+s
+ +
- -
1+ 10
1+100s 10 10

1+s 3

+
+ 1
1+s
1
+
? ?
-
10

Satellite Tracking Antenna

Moving a block round a summer
= J d + B
+ + dt
G(s) G(s)
=
- - K
G(s) 1 + sT Angular
Torque
T = J/B, K = 1/B velocity

+ + resolver Antenna Integrator

Motor + Gears
G(s) = G(s)
d + K 1
- - Kr Kmg
1/G(s) 1 + sT s
- resolver

Kr

+
d K 1
Kmg
Kr
1 + sT s Summary of Lecture 4
-
Transfer Function = Y(s)/U(s)
1
Kr Block manipulation = reducing a block diagram
Kr
down to a single block
d
+ Multiply blocks in series
Add blocks in Parallel
-
Feedback Rule: G/(1+GH)
Directed Independent Learning for this week:
d Try Problems 3

D.A.Germany - School of Engineering & Technology