12/9/2013

Chapter three
Block diagrams and SFG

Laith Batarseh
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Block diagrams and SFG

Block diagrams

Set of connected blocks used to represent the relationship between the input
and the output (i.e. the transfer function)
provide control engineers with a better understanding of the composition and
interconnection of the components of a system.
can be used, together with transfer functions, to describe the cause-and-effect
relationships throughout the system
blocks represent the equations of the system in time domain or the transfer
function of the system in the Laplace domain
For example, the room temperature control system shown below.

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Block diagrams and SFG

Typical Elements

Comparators
Blocks representing individual component transfer functions, including:
1. Reference sensor (or input sensor)
2. Output sensor
3. Actuator
4. Controller
5. Plant (the component whose variables are to be controlled)
Input or reference signals
Output signals
Disturbance signal
Feedback loops

Block diagrams and SFG

Examples on BD
Comparators

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Block diagrams and SFG

Examples on BD
Time and Laplace domains

xt   g x, u ut 

X s   Gs U s 

Consecutive blocks

As   G1 s U s 
 X s   G1 s G2 s U s 
X s   G2 s As 

Block diagrams and SFG

Examples on BD
Nodes and comparators

A1 s   U s 
A2 s   G1 s A1 s   G1 s U s 
A3 s   G2 s A1 s   G2 s U s 
X s   A2  A3  G1 s U s   G2 s U s 
 X s   U s G1 s   G2 s 
 G s   G1 s   G2 s 

As you can see, the signals at node branches are the same as the main branch.
To add or subtract the signals we uses the comparator

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Block diagrams and SFG

Examples on BD
Feed back system

This system is negative feedback system

Y s   U s G s 
Bs   Y s H s 
U s   Rs   Bs 

Y s   G s R s   G s H s 
Y s  G s 
 
R s  1  G s H s 
In feedback system, it is easy to start with the output signal Y(s) and relate it to
the input R(s).
If the feedback system is positive (i.e. the feedback signal B(s) is added (+), then
the sign in the dominator is negative (1-GH)

Block diagrams and SFG

Relating mathematical model to block diagram
DC motor, Control by field current

Governing equations derivation

ф = Kfif ---- (1)
Tm(s) = KmIf(s)---- (2)
Tm(s) = TL(s) + Td(s) ---- (3)
TL(s) = Js2Ө(s)+bsӨ(s)---- (4)
V f s 
V f s   R f  sL f I f s   I f s     5
R  sL f 
K m / JL f 
f
 s 
G s      6
Km
 
V s  sJs  b L f s  R f  ss  b / J s  R f / L f 

Td(s)
Field _ Load
speed
Vf(s) 1 If(s) Tm(s) TL(s) 1 ω(s) 1 Ө(s)
R f  sL f  Km
+ Js  b s

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Block diagrams and SFG

Relating mathematical model to block diagram
DC motor, Control by armature current

Governing equations derivation

Tm = K1 ф ia(t) = [K1Kfif] ia(t) = Kmia(t)---- (1)
Tm(s) = KmIa(s)---- (2) As you can see, there is
Tm(s) = TL(s) + Td(s) ---- (3) subtracting in this term.
Also, the speed term is
TL(s) = Js2Ө(s)+bsӨ(s)---- (4) represented in the output.
 di  So, the term Kb represent a
va   Ra ia  La a   vb    5
 dt  feedback system.
Va s   K b s 
Va s   Ra  sLa I a s   Vb s   I a s      6
Ra  sLa 
 s 
Gs      7 
Km

V s  sRa  La s Js  b   K b K m 

Block diagrams and SFG

Relating mathematical model to block diagram
DC motor, Control by armature current

Governing equations derivation

Td(s)

Armature _
_ speed
Vf(s) Km Tm(s) 1 ω(s) 1 Ө(s)
Ra  sL f  + Js  b s
+

Back electromotive force

Kb

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Block diagrams and SFG

Block Diagram Reduction

It is preferred in many cases to reduce the complex block diagram to a

single block diagram relates the excitation with the response

Block diagrams and SFG

Block Diagram Reduction

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Block diagrams and SFG

Block Diagram Reduction
Example 2.7 Dorf (2008)

Reduce the following block diagram to single block diagram system

Block diagrams and SFG

Solution

1. Move the node between G3 and G4 to after G4:

2. Reduce the feedback system G3, G4 and H1:

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Block diagrams and SFG

Example [1]
Solution

3. Reduce the feedback system

The system become

Reduce the final feed back system

Block diagrams and SFG

Block Diagram Reduction
EXAMPLE 3-1-5 Golnaraghi (2010)

Reduce the following block diagram to single block diagram system

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Block diagrams and SFG

Solution

1. move the branch point at Y1 to the left of block G2

2. combining the blocks G2, G3, and G4

Block diagrams and SFG

Solution

3. eliminating the two feedback loops

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Block diagrams and SFG

Signal Flow Graph (SFG)

A signal-flow graph (SFG) may be regarded as a simplified version of a block

diagram

Basic Elements of an SFG

Node: represent variables

Arrow head: the direction of the signal flow
Line: where the signal flow
Transfer function (a): the relation between the variables
Variables (y)

Mathematical relation

y2  a12 y1

Block diagrams and SFG

Signal Flow Graph (SFG)
Example 3-2-1 Golnaraghi (2010

Draw the SFG for the following system of linear algebraic equations

y2  a12 y1  a32 y3
y3  a23 y2  a43 y4
y4  a24 y2  a34 y3  a44 y4
y5  a25 y2  a45 y4

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Block diagrams and SFG

Example 3-2-1 Golnaraghi (2010
Solution

Block diagrams and SFG

Example 3-2-1 Golnaraghi (2010
Solution

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Block diagrams and SFG

Basic Properties of SFG

SFG applies only to linear systems.

The equations for which an SFG is drawn must be algebraic equations in the form
of cause-and-effect.
Nodes are used to represent variables. Normally, the nodes are arranged from left
to right, from the input to the output, following a succession of cause-and-effect
relations through the system.
Signals travel along branches only in the direction described by the arrows of the
branches.
The branch directing from node yk to yj represents the dependence of yk upon yj but
not the reverse.
A signal yk traveling along a branch between yk to yj is multiplied by the gain of
the branch akj, so a signal akjyk is delivered at yj.

Block diagrams and SFG

Definitions of SFG Terms

Input Node (Source): An input node is a node 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
Path Gain: The product of the branch gains encountered in traversing a path is
called the path gain
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.
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 do not share a
common node.

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Block diagrams and SFG

SFG Algebra
The value of the variable represented by a node is equal to the sum of all the
signals entering the node.

Block diagrams and SFG

SFG Algebra
The value of the variable represented by a node is transmitted through all branches
leaving the node

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Block diagrams and SFG

SFG Algebra
Parallel branches in the same direction connecting two nodes can be replaced by a
single branch with gain equal to the sum of the gains of the parallel branches

A series connection of unidirectional branches can be replaced by a single branch

with gain equal to the product of the branch gains.

Block diagrams and SFG

Relation between SFG and block diagram

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Block diagrams and SFG

Relation between SFG and block diagram

Example

Block diagrams and SFG

Gain Formula for SFG

To find the relation between the SFG input and output, we can use the gain
formula for SFG:
yout N
M 
M  k k
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 kth forward paths between yin and yout
  1   Li1   L j 2   Lk 3  ...
i j k
∆= 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 is the ∆ for that part of the SFG that is nontouching with the kth forward path.

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Block diagrams and SFG

Gain Formula for SFG

To find the relation between the SFG input and output, we can use the gain
formula for SFG:
yout N
M 
M  k k
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 kth forward paths between yin and yout
  1   Li1   L j 2   Lk 3  ...
i j k
∆= 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 is the ∆ for that part of the SFG that is nontouching with the kth forward path.

Block diagrams and SFG

Example 3-2-3Golnaraghi (2010

determine the gain between y1 and y5 using the gain formula for the following
SFG.

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Block diagrams and SFG

Example 3-2-3Golnaraghi (2010
Solution

The three forward paths between y1 and y5 and the forward-path gains are

Block diagrams and SFG

Example 3-2-3Golnaraghi (2010
Solution
The four loops of the SFG

There is only one pair of nontouching

loops; that is, the two loops are:

y2 – y3 – y2 and y4 – y4.

Thus, the product of the gains of the

two nontouching loops is

L12 = a23a32a44.

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Block diagrams and SFG

Example 3-2-3Golnaraghi (2010
Solution

All the loops are in touch with forward paths M1 and M3. Thus, ∆1 = ∆ 3 =1. Two of
the loops are not in touch with forward path M2. These loops are y3 — y4 – y3 and
y4 — y4. Thus

∆2 = 1 – a34a43 – a44.

Substitute in gain formula

y5 M 11  M 2  2  M 3 3
M 
y1 

M
a12 a23a34 a45   a12 a25 1  a34 a43  a44   a12 a24 a45
1  a23a32  a34 a43  a24 a32 a43  a44   a23a32 a44

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