Pengantar Teknik Pengaturan*

Lecture 5: Diagram Block

References for reading

1.

R.C. Dorf and R.H. Bishop, Modern Control Systems, 11th Edition, Prentice Hall, 2008,
Chapter 2.6

2.

J.J. DiStefano, A. R. Stubberud, I. J. Williams, Feeedback and Control Systems, Schaum's Outline Series, McGraw-Hill, Inc., 1990
Chapters 7

Outline
Terms and concepts Canonical form of a feedback control system Block diagram transformations

Block diagrams
Block diagrams consist of unidirectional, operational blocks that represent the transfer function of the variables of interest. The block diagram representation of a given system often can be reduced to a simplified block diagram with fewer blocks than original diagram.

Introduction
A graphical tool can help us to visualize the model of a system and evaluate the mathematical relationships between their elements, using their transfer functions. In many control systems, the system of equations can be written so that their components do not interact except by having the input of one part be the output of another part.

Oxford University Press 2001

Component Block Diagram

Block Diagram
It represents the mathematical relationships between the elements of the system.

U1 ( s) G1 ( s) Y1 ( s)
The transfer function of each component is placed in box, and the inputoutput relationships between components are indicated by lines and arrows.
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Block Diagram Algebra

We can solve the equations by graphical simplification, which is often easier and more informative than algebraic manipulation, even though the methods are in every way equivalent.
It is convenient to think of each block as representing an electronic amplifier with the transfer function printed inside. The interconnections of blocks include summing points, where any number of signals may be added together.

Diagram Blok sistem tertutup: Ideal

Titik Penjumlahan R(s) E(s) Titik Percabangan G(s) Y(s)

B(s)

H(s) R(s)=Referensi sinyal input E(s)=Sinyal error [E(s)=R(s)-B(s)] G(s), H(s)=Fungsi Transfer B(s)= Sinyal feedback Y(s)=Sinyal output
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Feed-forward Transfer Function, FFTF

FFTF

Y (s) G (s) E (s)

Open-Loop Transfer Function, OLTF

OLTF

B( s) G ( s) H ( s) E (s)

Hubungan Input Output (Lihat Diagram Blok): Y(s)=G(s)E(s) E(s)=R(s)-B(s) B(s)=H(s)Y(s) Atau Y(s)=G(s)[R(s)-H(s)Y(s)] Y(s)+G(s)H(s)Y(s)=G(s)R(s) (1+G(s)H(s))Y(s)= G(s)R(s) Atau,

Closed-Loop Transfer Function, CLTF

CLTF

Y (s) G(s) R( s) 1 G ( s) H ( s)

Y ( s)

G ( s) R( s) 1 G ( s) H ( s)

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Diagram Blok sistem tertutup dengan gangguan

D(s)

R(s)

E(s)

B(s)

G1(s)

U1(s) +

U2(s)

G2(s)

Y(s)

H(s)

Jika dalam suatu sistem terdapat dua input (reference input dan gangguan), maka tiap input dapat diperlakukan independen, output yang berkorespondensi pada tiap input dapat dijumlahkan untuk menentukan output sistem keseluruhan.
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Response Y(s) terhadap gangguan D(s),

YD ( s ) G2 ( s ) D( s ) 1 G1 ( s )G2 ( s ) H ( s )

Response Y(s) terhadap referensi input R(s), dengan measumsikan gangguan sama degan nol
YR ( s ) G1 ( s )G2 ( s ) R ( s ) 1 G1 ( s )G2 ( s ) H ( s )

Total Response Y(s),

Y ( s ) YR ( s ) YD ( s ) G2 ( s ) [G1 ( s ) R( s ) D( s )] 1 G1 ( s )G2 ( s ) H ( s )

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Diagram Blok: Seri

R(s)

Y(s) G1(s) G2(s) Gk(s) G(s)

Fungsi Transfer

G ( s ) Gi ( s ) G1 ( s )G2 ( s )...Gk ( s )
i 1

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Paralel

G1(s) R(s) G2(s)

+ +

Y(s)

Gk(s) Fungsi Transfer hubungan paralel:

G(s)

G ( s ) Gi ( s ) G1 ( s ) G2 ( s ) ... Gk ( s )
i 1

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Feedback

R(s)

G1(s)

Y(s)

+
G2(s) G(s)

Fungsi Transfer

G (s)

G1 ( s ) 1 G1 ( s )G2 ( s )
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Simplikasi Diagram Blok

R G Y R Y

+
B

+
1/G B

R G B

+
B G

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R G

R G

Y Y

R G R

R G R

1/G

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R G

R H G/H

+
H B

R 1/H

GH

+
H

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Contoh1
Diagram blok dari suatu sistem diberikan seperti gambar berikut, Tentukan: a). Open-Loop Transfer Function, OLTF b). Closed-Loop Transfer Function, CLTF R

+B

Y G

Jawab a). Open-Loop Transfer Function, OLTF B( s) OLTF C ( s )G ( s ) H ( s ) E (s) b). Closed-Loop Transfer Function, CLTF

CLTF

Y (s) C ( s )G ( s ) R( s ) 1 C ( s )G ( s ) H ( s )
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Contoh2
Sederhanakan diagram blok berikut: C1 R

+-

C2

+ +-

Y G1 G2

H1 H3 H2

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Contoh2
Jawab

C1 R

+-

C2

+ +-

Y G1 G2

H1 H3 H2

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Contoh2
Jawab R Y G2

+-

C1+C2

G1 1+G1H1

H2H3

+-

(C1+C2)G1G2 1+G1H1

H2H3
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Contoh2
Diagram Blok yang disederhanakan menjadi:

(C1+C2)G1G2 1+G1[H1+(C1+C2)G2H2H3]

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Example 1

Y( s ) T( s ) R( s ) 2s 4 2 s T( s ) 2s 4 1 2 s 2s 4 T( s ) 2 s 2s 4
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Example 2

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TF from the Block Diagram

G1G2G5 G1G6 T( s ) 1 G1G3 G1G2G4

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Feedback Rule

Y( s ) G1 R( s ) 1 G1G2
The gain of a single-loop negative feedback system is given by the forward gain divided by the sum of 1 plus the loop gain

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Eliminating a feedback loop

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Closed-loop transfer function

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s) Y(s) = G(s) Ea(s) Y(s) = G(s) [ R(s) - H(s) Y(s) ] Y(s) [ 1 + G(s) H(s) ] = G(s) R(s)

Y(s)/R(s) = G(s) /(1 + G(s) H(s))

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Closed-loop transfer function

Ea(s) = R(s) - B(s) = R(s) - H(s) Y(s) Y(s) = G(s) Ea(s) Ea(s) = R(s) - H(s) G(s) Ea(s) Ea(s) [ 1 + G(s) H(s) ] = R(s)

Ea(s)= R(s) /(1 + G(s) H(s))

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Closed-loop transfer function

Y(s) = R(s) G(s)/(1 + G(s) H(s)) Ea(s)= R(s) /(1 + G(s) H(s))

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All the transformations can be derived by simple algebraic manipulation of the equations representing the blocks.

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Ex. 2.7 Block diagram reduction

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Summary
Using transfer function notations, block relationships were obtained.

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Moving a summing point behind a block

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Moving a pickoff point ahead of a block

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Moving a pickoff point behind of a block

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Moving a summing point ahead of a block

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