(P2) Method of Operation of the Closed-Loop Control System
For the same motor speed control system described in Task 1, explain the method of
operation using clearly labelled block diagrams and show how the closed-loop transfer
function is obtained. The answer must show how the closed-loop transfer function is
derived and explain how feedback affects system performance.
Use diagrams, images and calculations where appropriate.
This task provides evidence for P2.
Introduction to the Control System Analysis
In Task 1 the main components of the conveyor motor control system were identified and
explained. In this task the same system is analysed from a control engineering perspective
using block diagrams and transfer functions in the Laplace domain.
In industrial control engineering, physical components such as controllers, motors and
sensors are represented by mathematical models called transfer functions which describe
the relationship between input and output signals.
For the refinery conveyor system the control loop consists of:
Reference input (desired speed)
Comparator (summing junction)
Controller / driver
DC motor
Mechanical load (conveyor system)
Speed sensor (feedback device)
Closed-Loop Control System Block Diagram (Analytical Form)
Each component can be represented using transfer functions in the Laplace domain.
R(s) → Comparator → Gc(s) → Gm(s) → GL(s) → C(s)
↑
H(s)
Where:
R(s) = reference input (desired speed)
C(s) = output speed (actual motor speed)
Gc(s) = controller transfer function
Gm(s) = DC motor transfer function
GL(s) = load (conveyor) dynamics
H(s) = speed sensor transfer function
Forward Path Transfer Function
The forward path consists of all blocks between the comparator output and the system
output.
Forward path components:
Controller / driver
DC motor
Load dynamics
Combined forward path transfer function:
G(s) = Gc(s) × Gm(s) × GL(s)
Feedback Path Transfer Function
The feedback path represents the measurement system that senses the actual speed and
returns it to the comparator.
In the conveyor system this is normally a tachogenerator or encoder.
Feedback transfer function:
H(s)
Derivation of the Closed-Loop Transfer Function
For a standard negative feedback system the closed-loop transfer function is:
T(s) = G(s) / (1 + G(s)H(s))
Where:
T(s) = closed-loop transfer function
G(s) = forward path transfer function
H(s) = feedback path transfer function
Effect of Feedback on System Performance
Feedback improves the behaviour of the control system by continuously comparing the
actual speed with the desired speed and correcting any error.
Improved accuracy of speed control
Reduced steady-state error
Compensation for load disturbances
Improved stability of the system
Better dynamic response
Assessor Guidance (P2)
Evidence for P2 should include:
A clearly labelled closed-loop block diagram with transfer functions
A written explanation of system operation
Correct identification of forward and feedback transfer functions
A correct derivation of the closed-loop transfer function
Explanation of the effect of feedback on performance
Appropriate engineering terminology
(Assessor guidance: learners may present the block diagram using different notation or
graphical styles. As long as the forward path, feedback path and signal flow are clearly
identified and the closed-loop transfer function is correctly derived, the response should be
accepted.)