Documente Academic
Documente Profesional
Documente Cultură
2015
F(x, u)
y(t)
Output
signal
Transfer
Y(s)
function
Output
G(s)
signal
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R(s)
Input
signal
Transfer
function
G(s)
R(s)
E(s)
Y(s)
Output
signal
Branch point
Gc(s)
G(s)
Y(s)
H(s)
E ( s) Ei ( s ) E0 ( s) (1)
Ei(s)
E(s)
ei
e0
E0(s)
Dr. Ahmet Uar
22.02.2015
1
E ( s ) ( 2)
R
E(s)
I(s)
1
R
ei
1
e0 Idt e0 (0),
C
1
E0
I ( s ) e0 (0)
Cs
e0
e0(0)0
1
dt s
I(s)
(3)
R
Dr. Ahmet Uar
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Cs
E0(s)
e0(0)0
1
Cs
E0(s)
e(t ) ei (t ) e0 (t ) (1)
ei(t)
e(t)
ei
e0, e0(0)0
e0(t)
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1
R
1
i (t ) e(t ) ( 2)
R
i(t)
ei
e0
e0(0)0
1
i (t )dt e0 (t 0) (3)
C
e0 (t )
e0(t)
ei(t)
1
R
e(t)
1
C
i(t)
e0(t)
x (t ) Ax (t ) Bu (t )
A R nn , B R nr
y (t ) Cx (t ) Du(t )
C R mn , D R mr
D
In Laplace domain:
U(s)
1
s
X(s)
Y(s)
C
A
D
In time domain:
u(t)
x (t )
x0(0)0
x(t)
dt
y(t)
C
A
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R(s)
G1(s)
Y(s)
R(s)
Y(s)
G1(s)
B(s)
Y(s)
G1(s) G2(s)
G1(s)
B(s)
R(s)
G1(s)
R(s)
Y(s)
Y(s)
4. Moving a branch
point behind a block
R(s)
Y(s)
G1(s)
R(s)
G1(s)
Y(s)
B(s)
Y(s)
G1(s)
R(s)
5. Moving a summing point
ahead of a block
R(s)
G1(s)
R(s)
1
G1 (s )
G1(s)
Y(s)
1
G1 (s )
Y(s)
B(s)
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E(s)
G(s)
Y(s)
G (s)
1 G ( s ) H ( s)
Y(s)
H(s)
G1
G3
G2
H1
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G1
G3
G2
H1
By moving the summing point of the negative feedback loop containing H2 outside the
positive feedback loop containing H1:
H2/G1
Y
R
G3
G1
G2
H1
Eliminating the positive feedback loop:
H2/G1
R
G1G 2
1 G1G2 H 1
EEE 352 Chapter 4
G3
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H2/G1
G1G 2
1 G1G2 H 1
G3
Finally, eliminating the feedback loop results overall system transfer function:
R
G1G 2G3
1 G1G2 H 1 G2G3 H 2 G1G 2G3
Remark. The numerator of the closed-loop transfer function Y(s)/R(s) is the product of
the transfer functions of the feedforward path: G1(s)G2(s)G3(s)
The denominator of Y(s)/R(s) is equal to
1 - (product of the transfer functions around each loop)
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G1
G3
G2
H1
The system transfer function:
G1G 2G3
1 G1G2 H 1 G2G3 H 2 G1G 2G3
Remark.
The numerator of the closed-loop transfer function Y(s)/R(s) is the product of
the transfer functions of the feedforward path: G1(s)G2(s)G3(s)
The denominator of Y(s)/R(s) is equal to
1 - (product of the transfer functions around each loop)
1 (G1G2 H 1 G2 G3 H 2 G1G2G3 )
1 G1G2 H 1 G2 G3 H 2 G1G2G3
The positive feedback loop yields a negative term in the denominator.
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R(s)
G1
G2
G4
G3
Y(s)
H1
H3
G1 ( s )
1
s 10
H1 ( s )
1
s 1
s2 1
G3 ( s ) 2
s 4s 4
G2 ( s )
G4 ( s )
s 1
s2
MATLAB Command
%%%%%%%%%%%%%%%%%%%%%
% Modelling blocks
ng1=[1]; dg1=[1 10];sysg1=tf(ng1,dg1)
ng2=[1]; dg2=[1 1];sysg2=tf(ng2,dg2)
ng3=[1 0 1]; dg3=[1 4 4];sysg3=tf(ng3,dg3)
ng4=[1 1]; dg4=[1 6];sysg4=tf(ng4,dg4)
nh1=[1 1]; dh1=[1 2];sysh1=tf(nh1,dh1)
nh2=[2]; dh2=[1];sysh2=tf(nh2,dh2)
nh3=[1]; dh3=[1];sysh3=tf(nh3,dh3)
H 2 ( s) 2
H 3 ( s) 1
s 1
s 6
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sys1
H2/G4
R(s)
G1
sys6
sys
MATLAB Command
% Block Diagram Reduction
sys1=sysh2/sysg4
sys2=series(sysg3,sysg4)
sys3=feedback(sys2,sysh1,+1)
sys5
Y(s)
G3
G2
sys4
sys3
sys2
G4
H1
H3
sys4=series(sysg2,sys3)
sys5=feedback(sys4,sys1,-1)
sys6=series(sysg1,sys5)
sys=feedback(sys6,sysh3)
Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
Dr. Ahmet Uar
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Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
Dr. Ahmet Uar
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Y ( s)
s 5 4 s 4 6 s 3 6 s 2 5s 2
sys
R( s)
12 s 6 205 s 5 1066 s 4 2517 s 3 3128 s 2 2196 s 712
MATLAB Command
sysmr = minreal(sys)
Y (s)
0.08333s 4 0.25s 3 0.25s 2 0.25s 0.1667
sysmr 5
R( s)
s 16.08s 4 72.75s 3 137 s 2 123.7 s 59.33
Both transfer functions have the same response characteristics
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R(s)
G3(s)
G2(s)
G1(s)
H2(s)
H3(s)
Homework 4.2: Simplify the block diagram shown in Figure and obtain the closed
loop transfer function Y(s)/R(s).
H3(s)
R(s)
E1(s)
G1(s)
G2(s)
E2(s)
G3(s)
Y(s)
H2(s)
H1(s)
Dr. Ahmet Uar
G4(s)
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Example 4.4: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x ?
x 0.6 x 3 x x 2 0
yx
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y(t)
x0(0)0
1
x (t )
x 0.6 x 3x x 2 0
yx
x0(0)0
x0 (0) 0
x(t )
x (t )
x(t)
x(t)
y(t)
0.6
3
( )2
Dr. Ahmet Uar
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3
1
k ( x1 ) x1 x
m
c( x2 ) x2
xe= 0
Input
u(t) 0
Physical
System
f(x)
Output
ys(t)
x1
x1 x2
x 2 (1 x12 ) x1 x2 u
y x1
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x1 x2
x2 (1 x12 ) x1 x2 u
y x1
c( x2 ) x2 xe= 0
x1
x10(0)0
x20(0)0
u(t)
x 2 (t )
x2 ( t )
x1(t)
y(t)
1
( )3
Dr. Ahmet Uar
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x ( x 2 1) x x u
Homework 4.4: Draw block diagram of the following nonlinear system for non
zero state initial conditions? The system output is y=x1 .
x1 x2
x2 x1 x13 x2
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MATLAB/Simulink
Simulink provides a graphical editor, customizable block libraries, and solvers for
modeling and simulating dynamic systems. It is integrated with MATLAB, enabling
you to incorporate MATLAB algorithms into models and export simulation results
to MATLAB for further analysis.
The construction of a model is simplified with click-and-drag mouse operations.
Simulink includes a comprehensive block library of toolboxes to analyze and
design the linear and nonlinear systems.
Open Simulink Library Browser
Start MATLAB, and then in the MATLAB Command Window,
a) enter
simulink or
b) by clicking the Simulink icon in the MATLAB toolbar or
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ei
e0, e0(0)0
ei(t)
e(t)
1
R
i(t)
1
C
e0(t)
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e0(0)0
ei(t)
1
R
e(t)
i(t)
1
C
e0(t)
ei
1/2
1/R
1/C
-1
ei ; e0
1
s
xo
Integrator
e0(0)
ei ; e0
1
Gain1
Dr. Ahmet Uar
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ml
l
ml
here is the angle of the pendulum from the vertical (in radians),
c= 0.15 is the velocity damping term (in 1/sec),
m= 1 is the mass of the pendulum (in kilograms),
l =2.5 is the length (in meters),
g= 9.81 is the acceleration due to gravity (in m/s2) and
Tc is the force input (in N).
Changing state variable as ( , ) ( x1 , x2 ) leads to
P
h
x1 x2
T
g
c
x 2 sin x1 c 2
l
ml
ml
Obtain SIMULINK model the following nonlinear systems.
x 2
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x1 x2
T
g
c
x 2 sin x1 c 2
l
ml
ml
The SIMULINK model is given in the following Figure:
x 2
r
r
x2
x1
x2
K
1
s
1/ml
Tc
int x2
Scope
XY Graph
x1
1
s
sin
Sin(x1)
int x1
K
c/ml
-Kc/ml1
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x ( x 2 1) x x u
Homework 4.6: Model the following system in SIMULINK and depict x1 versus
x2 for
a) state initial condition; x0=(0.2,0.2).
b) state initial condition; x0=(4,4).
x1 x2
x 2 x1 ( x12 1) x2
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x1 x2
x2 x1 x13 x2
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