ME – 55 – Control Engineering
Dr. D.V. GIRISH
Professor & Head
Department of Mechanical Engineering
Malnad College of Engineering
Hassan - 573201
ME – 55 – Control Engineering
Transfer Functions:
It is defined as the ratio of the laplace transform of
output (response) to the laplace transform of input
(excitation) assuming all the initial conditions to
be zero.
r(t) C(t) R(S) C(S)
g (t) G (S)
Fig (a) System in Fig (b) System in
time domain Laplace domain
Fig: Transfer Functions of a system
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
If G(S) be the transfer function of the system, we can
write mathematically
L.T. of output
G(S) = L.T. of Input
all initial
conditions are Zero
C(S)
=
R(S)
This Transfer function is a property of the system itself,
independent of the input or driving function. The T.F includes
the units necessary to relate the input to the output, However, it
does not provide any information concerning the physical
structure of the system. i.e., the T.F of many physically
different systems can be identical
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
STEPS TO OBTAIN TRANSFER
FUNCTION
(a) Write the appropriate equation which defines the
behaviour of the element.
(b) Transform this equation assuming all initial
conditions to be zero.
(c) Form the ratio of output C(S) to input R(S)
∴ C(S)
=
G(S) R(S)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Consider a spring-mass-damper (k-m-c) system
on which the force “F” acts and displacement “x”
of the mass is the output.
.
kx cx
c
k m x
F 0
m x
F 0
Draw the free body diagram as shown
∴ Equation of Motion
. ..
= F – cx – kx = mx
.. .
= mx + cx + kx = F
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Taking laplace transform of each term of this
equation (assuming Zero initial condition), we can
write,
F(s) = ms2 X(s) + cs X(s) + kX(s)
Now, taking the ratio of X(s) to F(S) we can write,
the transfer function of the system
X (S) 1
= = G(S) = ms2+cs+k
F (S)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Here the highest power of the complex variable
S, in the denominator of the transfer function
determines the order of the system. Thus the
k-m-c system under consideration is a second
order system.
Similarly we can write for k-m system
i.e., c = 0
X (S) 1
=
F (S) ms2+K
and if m=0, we can write
X (S) 1
=
F (S) CS+K
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
BLOCK DIAGRAM
We know that,
Input-Output behavior of a Linear System or
Element of a Linear System is given by Transfer
Function,
G(s)= C(s)/R(s)
Where, R(s) = Laplace transformation of the
input Variable
C(s) = Laplace transformation of the
output Variable
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
A Convenient graphical representation of this
behaviour, i.e., short hand pictorial representation of
the cause – and – effect relationship between the
input and out put of a physical system is known as
“BLOCK DIAGRAM”
This is shown in Fig (i)
R (S) C (S)
G (S)
(Input) (Output)
Fig (i)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Here, the signal into the black represents the input R(S) and signal out of
the black represents the output C(S), while the block itself stands for
transfer function G(S).
The flow of information (Signal) is unidirectional from input to the
output, with the out put being equal to the input multiplied by the
transfer function of the block.
A complex system comprising of several elements is represented by the
interconnection of the blocks for Individual elements.
The blocks are connected by lines with arrows indicating the
unidirectional, flow of information from the out put of one block to the
input of the other
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
In addition to this summing or differencing of
signals is indicated by the symbols shown in the
fig (ii) (a) (b) & (c), while take off point of a
signal is represented by fig(iii)
i.e., in summing point two or more signals
can be added or subtracted. C
+
A A+B A A-B A +
A-B+C
-
B B B
Fig (ii) (a) Fig (ii) (b) Fig (ii) (c)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Fig (iii)
The points at which the output signal of any
block can be applied to two or more points is
known as Take off Point
(This output is analogous to voltage but not to
current)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Forward Path:
The direction of flow of signal from Input to output is
Known as Forward Path.
Input Output
R(S) G1(S) R (S) G1(S) G2(S)
R (S) C (S)
G1(S) G2(S) G3(S)
= R (S) G1(S) G2(S) G3(S)
Output C(S)
Input = = G1(S) G2(S) G3(S)
R(S)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Feedback Path:
The direction of flow of signal from output to
Input is Known as Feedback Path.
Feed Forward
R(s) C(s)
_ G (S)
+
H (S)
Feedback
Output C(S) ?
Input = =
R(S)
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
The following Equations refer to a Tension Regulating
Apparatus such as used in the Paper Industry.
(a) Main Input x =Fr A.,
(b) Lever Measurement. e = (x-y)/2
(c) The change in torque provided
by motor tm = [Km/(1+τ p )e
(d) Roll tension Fc = tm/R
(e) Tension of Control Spring y = 2 Fc/K
Draw individual Block Diagram and
Determine overall Transfer function
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Solution : Individual Block Diagrams:
Fr x
(a) Main Input x =Fr A., A
x x-y e
(b) Lever Measurement. e = (x-y)/2 1/2
y
(c) The change in torque tm= (Km/(1+ e tm
Km/(1+τ p)
provided by motor
τ p))e
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
(d) Roll Tension, Fc = tm/R tm Fc
1/R
(e) Tension of Control Fc y
y = 2 Fc/K 2/K
Spring,
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
ME – 55 – Control Engineering
Complete Block diagram and
overall transfer function :
Fr x-y e Km tm Fc
A 1/2 1/R
(1+τ p)
2/K
Overall Fc
Transfer Function
=
Fr
= ?
Dr.D.V.Girish, Professor & Head (Mechanical) MCE, Hassan
