Automatic control

1. modeling

Lesson 5
Block diagrams
&
Signal flow graphs
 Automatic control

block pickoff point

summer

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Y ( s)  G( s) E ( s)
E ( s)  R( s)  H ( s)Y ( s)
Y ( s)  G ( s)[ R( s)  H ( s)Y ( s)]  G ( s) R( s)  G ( s) H ( s)Y ( s)

Y ( s) G( s)
T ( s)  
R( s ) 1  G ( s ) H ( s )

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 original equivalent

A  A B A B C A  A C AC  B
 
   
B C C B

C
 A  A B A B C
A  A B C

  
B B C

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 original equivalent

B
A A AG  B
A AG AG  B G G
G 
 
 1
B G
B

A A B ( A  B )G ( A  B )G
G A
 G 
 
B B G

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 original equivalent

A AG AG
G A
G
AG AG
G

AG A AG
A G
G

A 1 A
G

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Example 1

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Example 2

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Signal flow graphs

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Mason’s Rule
Mason’s gain rule is as follows: the transfer function of a
system with signal-input, signal-output flow graphs is
p11  p2  2  p3  3  
T ( s) 


Δ=1-(sum of all loop gains)+(sum of products of gains of all combinations if 2

nontouching loops)- (sum of products of gains of all combinations if 3
nontouching loops)+…
A path is any succession of branches, from input to output, in the direction of the
arrows, that does not pass any node more than once.

A loop is any closed succession of branches in the direction of the arrows that
does not pass any node more than once.

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Example 3

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Example 4 y5
find
y3
d
c f
y1 y2 a y3 e g y5
1 b 1

j
i

h

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