NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Information Organization through Block Diagram

Dr. Bishakh Bhattacharya
Professor, Department of Mechanical Engineering
IIT Kanpur

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Let us consider first the p

problems mooted in the last lecture
Problem1:

Fromthecruisecontrol
perspective:wecanhavea
simplifiedmodelforthe
automobilesystem.
AssumingM
Assuming
M tobethemassof
to be the mass of
thecarandu tobethevelocity,
thegoverningEOMcouldbe
writtenas:
.

M u D u F (t )
Where,D istheDrag/ResistanceCoefficientandF(t) isthecruisingforce.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Problem2:

Again,asimplifiedmodelcouldbedevelopedbyneglecting
lf d
d l
ld b d l
db
l
thedisturbance,theEOMwillbe(C shaftdamping
coefficientandkshaftstiffness)
..

I 2 2 C ( 2 1 ) k ( 2 1 ) M c (t )
..

I1 1 C ( 1 2 ) k (1 2 ) 0
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

System Transfer Functions

ThelasttwoexamplesrelatetothedescriptionofthesystemsinTimeDomain.
ByLaplacetransformationonecanconverttheequationsintofrequencydomain.
Assumingzeroinitialcondition,thefirstmathematicalmodelcouldbeexpressedas:
Assuming zero initial condition the first mathematical model could be expressed as :

sMU ( s ) BU ( s ) F ( s )
U ( s)

1
sM B

F ( s)

Similarly,thesecondmathematicalmodelcouldbeexpressedas:

2 (s)

Mc

1
s2I2 s C k

TheRHSofboththeequationsareknownasTransferFunctionthatdescribesthe
The
RHS of both the equations are known as Transfer Function that describes the
relationshipbetweenoutputandinput.Example1,pertainstoafirstordertransfer
function,whileExample2presentsasecondordertransferfunction.Suchrelationship
couldbegraphicallyrepresentedforbetterperceptionandthistechniquewillbe
4
discussedinthislecture.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

TheLectureContains
InformationOrganization

InformationHiding
Blockdiagramofaclosedloopsystem
Blockdiagramalgebra I
Blockdiagramalgebra II
Advancedblockdiagrams
Assignment

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Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

InformationOrganization
GraphicalInformationOrganisationisanoldpractice.Thepicture
belowshowsthegraphicalorganizationofTroopForce.

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Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

InformationHidingg
Oneoftheimportantpartofsuchgraphicalrepresentationisrepresentingthe
actualsystembyasuitablemathematicaltransferfunctionthushidingthephysical
system:

FigureRef.Prof.YuHo,Harvard
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

InformationHiding
TheCauseandEffectrelationshipbetweentheinputandoutputsofasystemcould
berepresentedgraphicallybyusingBlockDiagrams

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

SubsystemsofaBlockDiagram
y
f
g
Therearefourcommonsubsystemsinablockdiagram:
Functionblocks

SummingJunctions

Comparators
SamplinganAnalogSignal
9

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

BlockdiagramofaClosedLoopSystem
g
p y

C/R=G/(1+GH)=(1/H)[1/(1+1/GH)]

Only one input and one output from a block

Signals may be summed at explicit summing junction
A single signal fed to multiple blocks does not imply physical splitting of the signal, for example,
the figure below shows a signal wi which is used to simultaneously actuate two plants and 1-.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Block Diagram Algebra - I

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Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Block Diagram Algebra - II

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Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

AdvancedBlockDiagrams:Simulink/MATLAB
g
/

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Module 1- Lecture 2

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2

Spec a e e e ces o t s ectu e

SpecialReferencesforthislecture
UsingBlockDiagramsinControlSystemsDesign Tim
Wescott,WescottDesignServices
ModernControlEngineering
Modern Control Engineering K.Ogata,PrenticeHall
K Ogata Prentice Hall
FeedbackControlofDynamicSystems Franklin,Powelland
Naeini,PearsonEducationAsia

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 2






FindouttheBlockDiagramRepresentationofasingledegreeof
freedomSDOFmechanicalsystemgivenbythefollowing
EquationofMotion:

..

M x C x K x R(t )
Here,M,C andK arethemass,dampingandstiffnessparametersrespectivelyand
R(t)istheforceappliedtothesystem.

15
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