Block Diagram Manipulations The Basic Control Loop In this section we will examine methods for simplifying systems

of transfer functions to a single function. As the first example, we will consider a generic control loop. In this system, GC represents a control algorithm. G A is the transfer function for the actuator. The function of an actuator is to take the output of the controller (usually a low power electrical signal) and convert it to something that can alter the process; for example, a heater or an agitator. G P is the transfer function for the process. H is the transfer function for the sensor (e.g., a thermometer). This system has two inputs and one output. R is the setpoint (or desired output) for the system. When the output (via the sensor) is subtracted from the setpoint, the resulting error, ! , is used as the input for the controller. The second input, U, is the load or disturbance input. This input is usually not under the engineers control. Some examples of disturbances might be feedstock entering a reactor or external temperature changes. The output variable, C, is the variable being controlled. In general, there are two categories of control problems. In Servo problems, there is no change in load, but the setpoint changes. In Regulator problems, the setpoint remains constant, but the load changes. In real systems both the load and the setpoint may change simultaneously. U

+ _ _

GC

+ +_ GA _ M _ Forward Path H

C GP

Feedback Path R U B C M = = = = = = Setpoint Error Load / Disturbance Variable Variable Produced by Measuring Element Controlled Variable Manipulated Variable

Gc = GA = Gp = H = 1.

Transfer Function of Controller Transfer Function of Actuator Transfer Function of Process Transfer Function of Measuring Element

Determining transfer function for relating R to C, the servo problem. A. These are overall transfer functions (i.e., include entire process), so we are looking for C . R Remember, these are differences from steady state, not absolute values. If the only change is in R, U = 0.

B.

Went away since U = 0

+ _ _

GC

GA

_ _ GP

Then, by combining GC , G A , and G P into a single transfer function G1 ( G1 = GC G A G P ).

+ _ _ B

G1

_ M _

This loop can be solved using three simultaneous equations: C = G1 B = HC I II III

III into I yields

= R-B

C = G1 (R - B) Substitute in II C = G1 (R - HC) C = G1R - HG1C C + HGC = G1R

C=

G1 R 1 + G1 H

G1 C = R 1 + G1 H
=

GC G A G P 1 + GC G A G P H

2.

Determining the transfer function relating U to C, the regulator problem. A. As before, we are looking for the overall transfer function relating C to U. So the goal is C . U B. In this case, U is changing, not R. Therefore, R is 0 in deviation terms.

+ _ _

GC

GA

M _+ _ +

C GP

B H

U R=0 G2 _ B H G2 = GC GA M _ + _ + GP C

C=( U + M )G P M = G2!

" = !B
B = HC

Then

C=( U = G2 ! )G P C=( U + G2 (! B ))G P C=( U + G2 (! HC ))G P

C = UG P ! G2 G P HC C + G2 G P HC = UG P C( 1 + G2 G P HC ) = UG P
C =U
C =U

GP 1 + G2 G P H Gp

1 + GC G A G P H

GP C = U 1 + GC G A G P H

If changes occur in both R and U, then we can solve the system by adding the two solutions together. So, if

GC G A G P C = R 1 + GC G A G P H
And

GP C = U 1 + GC G A G P H
The response of the system to both changes is
& GC G A G P # & # GP C = R$ $1+ G G G H ! ! + U$ $1+ G G G H ! ! C A P C A P % " % "

Or

C=

R GC G A G P + U G P 1 + GC G A G P H

U1 _ + GC1 + + _ _ _ _ _ _ Start by eliminating the innermost loop. R + _ + GC2 _ H2

+
GA

U2

_ +
C GP2

+
GP1

H1

+ _ _

Y
GC2

GA

H2

This has the transfer function

GC 2 G A Y = G = X 1 + GC 2 G A H 2

Note: What if this was a positive feedback loop; Then transfer function

i.e.,

+ +

GC 2 G A Y = X 1 ! GC 2 G A H 2

Because we are solving the servo problem, U 1 and U 2 are 0. Now we have: R C GC1 G! GP1 GP2

H1

This becomes C

+ _ _

G!

H1

Where
G B = G A G! G P 1G P 2
G! C = R 1 + G! H 1

So

GC1G! G P1G P 2 C = R 1 + GC1G! G P1G P 2 H 1

Some Additional Block Diagram Manipulation Techniques In some cases, simplification of the block diagram will require altering the order of the various elements of a block diagram. Some of the possible operations are described below. 1. Moving a summing junction behind a block X1 + + X2 X3
X 3 = G (X 1 X 2 )

X1 G + + G X2

X3 X3 = GX1 + GX2

2.

Moving a summing junction ahead of a block

X1

+ +

X3 X3 = GX1 + X2 X2

is equivalent to
X1

+ + 1/G

X3

X3 = (X1 + (1/G)X2)G = GX1 + 1/G X2 X2 = GX1 + X2

3.

Altering the order of summing junctions

X1

+ +
X2

X4

X3

X4 = (X1 - X2) + X3 = X1 - X2 + X3

Is equivalent to
X1 + + X4

+
X3

X2

X4 = (X1 + X3) - X2 = X1 - X2 + X3

4.

Moving a pick off point ahead of a block

X1

G
X2B

X2A X2A = G X1 X2B = G X1

X1

X2A

X2A = G X1 X2B = G X1

X2B

5.

Moving a pick off point behind a block

X1A X1B X2

G
X1B

X2

X2 = G X1A X2 = G X1B

X1B = X2 G

6.

Parallel forward paths + + G2

G1

Becomes G1 + G2

A Complex System with Interlaced Control Loops Here is another complex example to practice simplifying block diagrams. The challenging issue is the interlacing of the feedback loops. They need to be converted to nested loops.

H2 R +
+

G1 +

G2

G3

H1

In this case, we will manipulate the feedback loop containing H 2 to be outside the loop containing H 1 . Then moving the summing junction before G1 , the highlighted area (indicated by dotted line) may be written:

H2 G1

+ + + G1

We can now swap the order of the summing junctions to yield

H2 G1

+ + + + H1 G1 G2 G3

The transfer function for the boxed area is

G1G2 1 ! G1G2 H 1
Note the sign change (since this is positive feedback loop)

H2 G1

+ +

G1G2 1 ! G1G2 H 1

G3

Let

G1G2 G3 A = B 1 ! G1G2 H 1

Then the transfer function for the highlighted area is

A B 1 A H2 1+ B G1

A 1 B BG1 + AH 2 BG1

BG1 A B BG1 + AH 2

G1G1G2 G3 AG1 = BG1 + AH 2 G1 ( 1 ! G1G2 H 1 )+ G1G2 G3 H 2

= And the diagram becomes

G1G2 G3 D = 1 ! G1G2 H 1 + G2 G3 H 2 E

+ -

G1G2 G3 1 ! G1G2 H 1 + G2 G3 H 2

Note H3 = 1

Then the transfer function becomes

D E D 1+ E

So
D E D+ E E

So

D E E D+ E
And

D D+ E
Substituting back in for D and E.

G1G2 G3 1 ! G1G2 H 1 + G2 G3 H 2 + G1G2 G3

Or
G1G2 G3 1 ! G1G2 H 1 + G2 G3 H 2 + G1G2 G3