西安理工大学自动化与信息工程学院自动控制理论Chapter2 Mathematical Models of Systems(2).pptVIP

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西安理工大学自动化与信息工程学院自动控制理论Chapter2 Mathematical Models of Systems(2).ppt

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2.6 block diagram models (dynamic) 2.6.2.2 block diagram transformations 2.6 block diagram models (dynamic) 2. Moving a pickoff point to be: 2.6 block diagram models (dynamic) 3. Interchanging the neighboring— 2.6 block diagram models (dynamic) 4. Combining the blocks according to three basic forms. Chapter 2 mathematical models of systems 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models Example 2.20: 2.7 Signal-Flow Graph Models Loop —— a closed path that originates and terminates on the same node, and along the path no node is met twice. 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models Example 2.21 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models Example 2.22 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models Example 2.23 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models 2.7 Signal-Flow Graph Models We have * Three basic forms G1 G2 G2 G1 G1 G2 G1 G2 G1 G2 G1 G1 G2 1+ cascade parallel feedback behind a block x1 y G ± x2 ± x1 x2 y G G Ahead a block ± x1 x2 y G x1 y G ± x2 1/G 1. Moving a summing point to be: behind a block G x1 x2 y G x1 x2 y 1/G ahead a block G x1 x2 y G G x1 x2 y Summing points x3 x1 x2 y ＋－ x1 x3 y ＋－ x2 Pickoff points y x1 x2 y x1 x2 Notes: 1. Neighboring summing point and pickoff point can not be interchanged！ 2. The summing point or pickoff point should be moved to the same kind！ 3. Reduce the blocks according to three basic forms！ Examples: Moving pickoff point G1 G2 G3 G4 H3 H2 H1 a b G4 1 G1 G2 G3 G4 H3 H2 H1 Example 2.17 G2 H1 G1 G3 Moving summing point Move to the same kind G1 G2 G3 H1 G1 Example 2.18 G1 G4 H3 G2 G3 H1 Disassembling the actions H1 H3 G1 G4 G2 G3 H3 H1 Example 2.19 Block diagram reduction ——is not convenient to a complicated system. Signal-Flow graph —is a very available approach to determine the relationship between the input and output variables of a sys-tem, only needing a Mason’s formula without the complex redu