1. Block Diagrams and Steady State Errors

2. Topics Block diagrams to represent control systems Block diagram manipulation Example Steady State Error

3. Block Diagrams Block Diagrams provide a pictorial representation of a system Unidirectional operational block representing individual transfer functions Three basic elements: – Rectangles = Operators – Lines = Signals – Circles = additional or subtraction

4. Block Diagrams: Examples Y = Ax e = r - c A x y re c +

5. Block Diagrams: Examples Y = Ax - Bz A B - + x Y X

6. Closed loop system Simple Closed Loop Control System + - InputOutput Process Sensor Feedback Error

7. Closed Loop System Simple Closed Loop Control System Transfer function from R(s) to C(s) E(s) = R(s) – B(s) B(s) = H(s)C(s)C(s)/G(s) = R(s) =H(s)C(s) C(s) = G(s)E(s) E(s) = C(s)/G(s) So, C(s)/R(s)=G(s) 1+G(s)H(s)

8. Closed Loop System Transfer function from R(s) to C(s) C(s)/R(s)=G(s) 1+G(s)H(s) R(s)C(s)

9. Closed Loop System Simple Closed Loop Control System With unity feedback, H(s) = 1 G(s) G(s) 1+G(s)H(s) 1+G(s)

10. Open Loop Transfer Function Remove the feedback link from summing junction R(s) E(s) G(s)C(s) H(s) B(s) Error is input Open Loop Transfer Function given by: B(s) = G(s)H(s) E(s)

11. Block Diagram Manipulation Diagrams can be manipulated using the following transformations Combining Blocks in Series: X1 G1(s)G2(s) X2 X3 G1G2 G2G1 X1 X3 Or

12. Block Diagram Manipulation Moving a summing junction

13. Block Diagram Manipulation Moving a pickoff point ahead of a block

14. Block Diagram Manipulation Moving a pickoff point behind a block

15. Example

16. C = G3 = G4 J 1+G3H3

22. An electrical motor is used in a closed loop system to control the angular position of an inertial load.

23. The output signal from the transducer is compared with the input demand and the resulting error signal is passed to a voltage/current amplifier.

24. The input demand is converted from angular displacement to voltage before being connected to the summing junction.

27. Steady State Erros Feedback control used to reduce steady-state errors Steady-state error is error after the transient response has decayed If error is unacceptable, the control system will need modification Errors are evaluated using standardized inputs - Step inputs - Ramp inputs - Sinusoidal inputs

29. Ts = setting time

31. Causes of steady state error Errors can be caused by factors including 1.Instrumentation of measurement errors 2.System non linearity - saturation etc. 3.Form of input signal 4.Form of system transfer function 5.External disturbances acting on the system, for example: forces or torques

32. Error Function E(s) = 1 R(s) 1+ G(s)H(s)

33. Calculating value System dependent Input dependent Use the final value theorem:

34. Inputs can be -Step R(s) = A/s A is step amplitude -Ramp R(s) = A/s^2 A is step velocity