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 problems mooted in the last lecture p
Problem1:
Fromthecruisecontrol
perspective:wecanhavea
simplifiedmodelforthe
automobilesystem.
Assuming M to be the mass of
u
AssumingM tobethemassof
thecarandu tobethevelocity,
thegoverningEOMcouldbe
writtenas:
2
) (
.
t F u D u M
2
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:
l f d d l ld b d l d b l Again,asimplifiedmodelcouldbedevelopedbyneglecting
thedisturbance,theEOMwillbe(C shaftdamping
coefficientandkshaftstiffness)
3
0 ) ( ) (
) ( ) ( ) (
2
.
1
.
1
..
1 2
1
.
2
.
2
..
2




k C I
t M k C I
c
3
0 ) ( ) (
2 1
2 1 1
1
k C I
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
System Transfer Functions
ThelasttwoexamplesrelatetothedescriptionofthesystemsinTimeDomain.
ByLaplacetransformationonecanconverttheequationsintofrequencydomain.
Assuming zero initial condition the first mathematical model could be expressed as : Assumingzeroinitialcondition,thefirstmathematicalmodelcouldbeexpressedas:
s U
s F s BU s sMU

1 ) (
) ( ) ( ) (
Similarly,thesecondmathematicalmodelcouldbeexpressedas:
B sM
s F

) (
1 ) (
The RHS of both the equations are known as Transfer Function that describes the
k C s I s
M
s
c

2
2
2
1 ) (
TheRHSofboththeequationsareknownasTransferFunctionthatdescribesthe
relationshipbetweenoutputandinput.Example1,pertainstoafirstordertransfer
function,whileExample2presentsasecondordertransferfunction.Suchrelationship
couldbegraphicallyrepresentedforbetterperceptionandthistechniquewillbe
4
discussedinthislecture.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
TheLectureContains
InformationOrganization
InformationHiding
Blockdiagramofaclosedloopsystem
Blockdiagramalgebra I
Blockdiagramalgebra II
Advancedblockdiagrams
Assignment
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
InformationOrganization
GraphicalInformationOrganisationisanoldpractice.Thepicture
belowshowsthegraphicalorganizationofTroopForce.
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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
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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 w
i
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 Module 1- Lecture 2
Block Diagram Algebra - I
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
Block Diagram Algebra - II
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
AdvancedBlockDiagrams:Simulink/MATLAB g /
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
SpecialReferencesforthislecture Spec a e e e ces o t s ectu e
UsingBlockDiagramsinControlSystemsDesign Tim
Wescott,WescottDesignServices
Modern Control Engineering K Ogata Prentice Hall ModernControlEngineering K.Ogata,PrenticeHall
FeedbackControlofDynamicSystems Franklin,Powelland
Naeini,PearsonEducationAsia
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2
l =SLi i- =S
FindouttheBlockDiagramRepresentationofasingledegreeof
freedomSDOFmechanicalsystemgivenbythefollowing
EquationofMotion:
) (
. ..
t R x K x C x M ) (
Here,M,C andK arethemass,dampingandstiffnessparametersrespectivelyand
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R(t)istheforceappliedtothesystem.
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