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ESE307 Slide

The document provides an overview of signal flow graphs, which are graphical representations of algebraic equations used in control systems. It details the basic elements of signal flow graphs, including nodes and branches, and outlines the steps for converting block diagrams into signal flow graphs. Additionally, it introduces Mason's gain formula for calculating transfer functions within these graphs.

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14 views26 pages

ESE307 Slide

The document provides an overview of signal flow graphs, which are graphical representations of algebraic equations used in control systems. It details the basic elements of signal flow graphs, including nodes and branches, and outlines the steps for converting block diagrams into signal flow graphs. Additionally, it introduces Mason's gain formula for calculating transfer functions within these graphs.

Uploaded by

aborandoms
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 26

ANKARA YILDIRIM BEYAZIT

UNIVERSITY

Energy System Engineering


Department

1
Course ESE 307

Control systems

By
Dr. Musaria Karim MAHMOOD

2
Lecture No. 4

Signal Flow Graph (Diagram)

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Signal flow graph is a graphical representation of
algebraic equations.

Basic Elements of Signal Flow Graph

Nodes and branches are the basic elements of signal flow graph.
Node
Node is a point which represents either a variable or a signal. There are
three types of nodes — input node, output node and mixed node.

•Input Node − It is a node, which has only outgoing branches.


•Output Node − It is a node, which has only incoming branches.
•Mixed Node − It is a node, which has both incoming and outgoing
branches.
•Branch is a line segment which joins two nodes. It has both gain and
direction. 4
branches in the above signal flow graph have gains of a, b,
c and -d.
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* There are six nodes (y1, y2, y3, y4, y5 and y6),

* There are eight branches in this signal flow graph


with gains a12, a23, a34, a45, a56, a42, a53 and a35.

To get the overall signal flow graph, draw the signal


flow graph for each equation, then combine all these
signal flow graphs and then follow the steps given
below :

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Conversion of Block Diagrams into Signal Flow Graphs

Steps for converting a block diagram into its equivalent


signal flow graph:

1. Represent all the signals, variables, summing points and take-


off points of block diagram as nodes in signal flow graph.
2. Represent the blocks as branches in signal flow graph.
3. Represent the transfer functions inside the blocks of block
diagram as gains of the branches.
4. Connect the nodes as per the block diagram.
5. If there is connection between two nodes (but there is no
block in between), then represent the gain of the branch as
one. For example, between summing points, between summing
point and takeoff point, between input and summing point,
between take-off point and output. 11
Example
Let us convert the following block diagram into
its equivalent signal flow graph.

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Represent the input signal R(s) and output
signal C(s) {or Y(s)}of the block diagram as input
node R(s) and output node C(s) of the signal flow
graph. The remaining nodes (y1 to y9) are labeled in
the block diagram. There are 9 nodes other than input
and output nodes. That is four nodes for four
summing points, four nodes for four take-off points,
and one node for the variable between blocks
G1 and G2.
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After representing the Signal Flow Graph we
can now apply:

Mason’s gain formula

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With the help of Mason’s gain formula , We can calculate
the transfer function of this signal flow graph.

Here, no need to simplify (reduce) the signal flow graphs


for calculating the transfer function.

Mason’s Gain Formula:

Suppose there are ‘N’ forward paths in a signal flow graph.


The gain between the input and the output nodes of a signal
flow graph is nothing but the transfer function of the
system. It can be calculated by using Mason’s gain formula.

16
Where,
•C(s) is the output node
•R(s) is the input node
•T is the transfer function or gain between R(s) and C(s)
•Pi is the ith forward path gain

Δ=1−(sum of all individual loop gains) + (sum of gain products of all


possible two non-touching loops) − (sum of gain products of all
possible three non-touching loops)+...

Δi is obtained from Δ by removing the loops which are touching the


ith forward path.
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End

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