Project of Control System IV----Semester 2 2013 (Pretoria Campus)

Due on 15th October 2013 at 8.00am Antenna Azimuth: An Introduction to Position Control Systems A position control system converts a position input command to a position output response. Position control systems find widespread applications in antennas, robot arms, and computer disk drives. Figure 1 is the block diagram and schematic parameters and block diagram parameters.

Km

(a)

(b)

(c)
1

Block diagram parameters Parameter

K pot

Configuration 3 1

K
K1

K 100
100 0.8 1.32 0.2

a
Km am

Kg

The open-loop transfer function for Configure 3

Power amplifier
Vp ( s)

Motor and load

o ( s ) ( s) 1 100 Ea ( s) 0.8 0.2 o ( s 1.32) s s 100

The closed-loop transfer functions relating the output angular displacement to the input angular displacement are shown in figure 2. The input potentiometer was pushed to the right past the summing junction, creating a unity feedback

Input potentiometer

Preamplifier

Power amplifier

Motor and load

i ( s )

Ve ( s )

Vp ( s)

0.16 100 Ea ( s) s( s 1.32) s 100

o ( s )

Figure 2. Block diagram reduction for the antenna azimuth position control system

Type and print your report and all Matlab figures required should be copied and pasted to your report file. No code required. Do not copy each other among students. If copy is found, your mark will be reduced n-fold where n is total number for the copy. For example, your project mark is 90, but 10 people have copied each other for this answer, so each one is 9. PROBLEM 1 [40]

(hint: referring to Case study in Chapters 10 and 11 but do not use approximation method instead use Bode diagram through Matlab code: bode or margin): Given the antenna azimuth position control system shown in Configuration 3, do the following: a.) Calculate the range of preamplifier gain, K, required for stability using the Routh-Hurwitz criterion. Plot the root locus and compare the results. (10) b). Calculate the percentage overshoot if the preamplifier gain is set to K 10 (10) c.) Determine the preamplifier gain required for a closed-loop response of 10% overshoot for a step input. Plot the step response and find the settling time Ts by checking the figure of step response (settling within 2% of final value). (10)

d.) Estimate the settling time using bandwidth and damping ratio. Compare it with the result in part (c) above (10)

PROBEM 2

[50]

Given the antenna azimuth position control system block diagram shown Figure 2, use frequency response techniques a. design a Lead compensator (Hint example 9.4) for a closed-loop response of 5% overshoot for a step input, a tenfold improvement (compared with initial K=1 in

16 K ) in steady-state error for ramp input and a settling time of 3 s( s 1.32)( s 100)
seconds. Write down the all formulas and result as possible as you can. (35) b. Plot the step response and find the settling time Ts by checking the figure of step response (settling within 2% of final value). (10) c. Calculate the steady state error for ramp input. Plot the ramp input response. (5)