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I claim no originality in all these notes. These are the compilation from various sources for the purpose of delivering lectures. I humbly acknowledge the wonderful help provided by the original sources in this compilation.
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G1
B(s)
A(S)
G2 H
C(s)
R(s) 1
E(s)
G1
A(s) G2
C(s)
H 1 B(s)
NODE: It represents a system variables which is equal to sum of all incoming signal at node. Outgoing signals from the node doesn't affects the value of node variable. Ex: R,E,A,B BRANCH: A signal travel along a branch from one node to another node in the direction indicated by the branch arrow and it gets multiplied by gain or transmittance of the branch. INPUT NODE: It is node with only outing branches Ex: R is input node. OUTPUT NODE Or SINK NODE: It is node with only incomeing branches
DE-93 Control Engg Asst Professor P M Menghal 6
R(s) 1
R(s) 1
E(s)
G1
A(s) G2
C(s)
C(s)
1
B(s)
PATH:It is unidirectional transversal of connected branches in the direction of the branch arrow such that no node is transverse more than one. FORWARD PATH: It is path from input node to output node. Ex:REAC LOOP OR FEEDBACK PATH :It is path which originates and terminated at the same node. DE-93 Control Engg Asst Professor P M Menghal Ex: EACBE
SELF LOOP :It is loop consisting single branch. NON TOUCHING LOOP: Loop are said to be non touching if they don't have any node in common. FORWARD PATH GAIN:It is product of the branch gain encountered while transverseing the forward path. Ex: P1 = G1 x G2 x1x1 = G1G2 FEEDBACK PATH GAIN:It is the product of branch gain Encountered while transverseing loop or feedback path. Ex: L = G1G2(-H)
T = Overall gain or Transfer function Pk = Gain of the kth forward path k=value of for that part of graph not touching to kth DE-93 Control Engg Asst Professor P M Menghal 9 forward path
= Determinant of graph. = 1- [ Summation of loop gain of individual loop] + [Summation of gain product of all possible combination of two non touching loop] -[Summation of gain product of all possible combination of three non touching loop]-----
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Type-I Construction of Signal Flow graph from given set of equation and hence determination of overall transfer function. Pb:Consider a system describe by following set of equation x2 = a12 x1 + a32 x3 + a42 x4 + a52 x5 - - - - - - - - - -(1) x3 = a23x2 x4 = a34x3 + a44 x4 x5= a35 x3 + a45x4 - - - - - - - - - -(2) - - - - - - - - - -(3) - - - - - - - - - -(4)
Solution: There are five variables x1,x2,x3,x4 and x5 which represents node in Signal Flow graph. Step1: Signal Flow Graph for equation1 a52 a42 a12 x1 x2 a32 x3 x4 x5
a23
x1
DE-93 Control Engg
x2
x3
x4
x5
12
a45 x1 x2 x3 x4 x5
a35
13
a12 x1 x2 a23 x3
x5
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Step1: Forward Path There are two forward path having path gain a12 a45 a 23 a x1 x2 x3 x4 34 x5
a12 x1 x2
a23
x3
x4 a35
x5
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a42
a44
a34 x4 x4 a52
x2
x3
L2
L3
x2
x2
a23 x
x5 a35 L5
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Step 2: Determination Of (a) Individual loop: There are five individual loops having loop gains L1= a23 a32 L2= a23 a34 a42 L3 = a44 L4 = a23 a34 a45 a52 L5 = a23 a35 a52
(b) Two Non-touching loops: There are two possible Combinations of two non touching loops L22 = Gain of loop L1 X Gain of loop L3 = a23 a32 a44 L33 = Gain of loopL3 X Gain of loopL5 = a23 a35 a52 a44
DE-93 Control Engg Asst Professor P M Menghal 17
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Pb: Find the transfer function of the system using Masonsgain formula.
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C(s)
G4
1 R(s)
G6 1 C(s)
P1 = G1G2G3
P2 = G4G6
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L1 = -G1H1 L2 = -G2H2 L3 = -G3H3 L5 = -G4G6H3H2H1 (b) Two Non touching loops L11 = G1H1G3H3 L22 = -G1H1G5 L33 = -G2H2G5 L44 = -G3H3G5 (c) Three non touching loop DE-93 Control Engg Asst Professor P M Menghal L13 = G1H1G3 H3G5
L4 = G5
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= 1-{[L1+L2+L3+L4+L5] + [L11+L22+L33+L44]- L13]} = 1+ (G1H1 + G2H2 + G3H3+G4G6H3H2H1- G5) -(G1H1G3H3 -G1H1G5-G2H2G5-G3H3G5) + G1H1G3H3G5 Step3:Determination of k No Of forward path =2 1 = 1- G5 2 = 1 + G2H2 Step 4: Determination of Transfer Function C(s)/R(s) = G1G2G3(1- G5) + G4 G6 (1 + G2H2) 1+ (G1H1 + G2H2 + G3H3+G4G6H3H2H1- G5) -(G1H1G3H3- G1H1G5 - G2H2G5 - G3H3G5) +(G1H1G3H3G5)
DE-93 Control Engg Asst Professor P M Menghal 23
Pb: The following equation describes a control system. Construct the signal flow graph for it and obtain following transfer functions (i) Y2 / U1 for U2 = 0 and (ii) Y2/U2 for U1 =0 Where Y2 = Output node and U1 and U2 are the inputs Y1 = a11Y1 + a12Y2 + b1U1 Y2 = a21Y1 + a22 Y2 + b2U2 Ans: Y2/U1 =b1a21/(1-a12a21-a11-a22+a11a22)
DE-93 Control Engg
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Type II: Construction of Signal Flow Graph from given block diagram and hence determination of transfer function
Construct an SFG from a given block diagram select node at (a) Input Signal (b) Output Signal (c) Take off point (d) Output signal of summing point NOTE: Connect the other point of summing point (feedback) to the output node of summing point.
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Pb:For the control system shown determine overall transfer function C(s)/R(s) and Signal to Noise ratio BY SFG method
N(s) R(s)
G2 + G1 d G3 +
C(s)
+ -
+ a
+
b
H2
+
f
G4
H1
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N a
G2
b G1 d
G3
-H2
H1 -G4
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Case1:Determination of C/R Consider R is acting alone, while N=0 Step1: Forward Path There are four forward path P1=G1G3 P2 = G1G2 P3 = G4H2G1G3 P4=G1G2G4H2 Step2:Determination Of (a) Individual Loop L1 = -G1G3H1H2 L2 = -G1G2H1H2 (b) Two and Three non touching loop There are no combination of two or three non touching loop. = 1-(L1+ L2)= (1 + G1G3H1H2 + G1G2H1H2) Step3:Determination of 1 =1 2 =1 3=1 4=1 Because all the forward path are in touch with all the loops
DE-93 Control Engg Asst Professor P M Menghal 28
=
R G1G3 + G1G2 + G4H2G1G3 + G1G2G4H2
=
(1 + G1G3H1H2 + G1G2H1H2)
Case2: Determination of C/N Consider N is acting alone while R=0 Step1: Forward Path P1 =G1G3 P2 = G1G2 Step2:Determination Of is same as graph is same DE-93 Control Engg Asst Professor P M Menghal
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Step3: Determination of k 1 = 1 2 = 1 Step4:Applying Mason Gain Formula C G 1G 3 + G 1G 2 = N (1 + G1G3H1H2 + G1G2H1H2) Output due to Signal R
G1G3 + G1G2
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Pb.Develop the signal flow for the block diagram and evaluate the transfer function.
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Type III :Construction of Block diagram or SFG from a given network and hence determination of transfer function Pb: Develop the block diagram for the following network and reduce it. R1 R2
Vi
C1
C2
RL Vo
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R1
1
R2
2 3
Vi(s)
I1(s)
1/C1s I2(s)
1/C2s I3(s)
RL Vo(s)
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Appling to Kirchoffs voltage law to loop1 Vi = R1I1(s) + 1/C1s [ I1(s)- I2(s)] I1(s) = [C1s/R1C1s+1] Vi(s) + I2(s) [1/R1C1s+1] - - - - - (1) Block diagram representation of equation 1
Vi(s)
C1s/(R1C1s+1)
+
+
I1(s)
1/(R1C1s+1)
I2(s)
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Applying KVL to Loop 2 -1/C1s[ I2(s) I1(s)] R2I2(s)- 1/C2s[ I2(s)-I3(s)] = 0 I2(s)[1/C1s + R2 + 1/C2s] - [1/C1s] I1(s) - I3[1/C2s] =0 I2(s) = C2 C2+C1+R2C1C2s I1(s) + I3(s) C1 C2+C1+R2C1C2s ----------- 2
I1(s)
C2
C2+C1+R2C1C2s
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Appling KVL to loop 3 -1/C2s[ I3(s)- I2(s)] RLI3(s) =0 I3(s) = I2(s) [ 1/1+RLC2s] ----------------------(3)
RL
Vo(s)
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H2
Vi(s) G1 + + H1 I2(s) I1(s) G2 I2(s) Vo(s) G3 I3(s) G4
G1 =C1s/(R1C1s+1)
C2 G2 =
H1 =1/(R1C1s+1) C1 H2 =
C2+C1+R2C1C2s
G3 =1/1+ RLC2s
DE-93 Control Engg
C2+C1+R2C1C2s
G4 = RL
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Vo
RLC1C2S
= Vi (1+R1C1s){(C1+C2+R1C1C2s)(1+R2C2s)-C1-(1+R2C2s)C2
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