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Cairo University Faculty of Engineering Electrical Power and Machines Dept.

3 rd year Control Lab. Simulink

Introduction

A position control system converts a position input command to a position output

response. Position control finds widespread applications in antennas, robot arms, and computer disk drives. The radio telescope antenna in Fig. 1 is one example. The purpose

of this system is to have the azimuth angle output follow the input angle. The input

command is an angular displacement. The potentiometer converts the angular displacement into a voltage. Similarly, the output angular displacement is converted to a

voltage by the potentiometer in the feedback path. The signal and power amplifiers boost the difference between the input and output voltages. This amplified actuating signal drives the plant. The system operates to drive the error to zero when the input and the

output match, the error will be zero and the motor will not run. The objective, of the lab.,

is to analyze and design a control system for the antenna azimuth position using

Figure 1

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Cairo University Faculty of Engineering Electrical Power and Machines Dept.

3 rd year Control Lab. Simulink

Figure 2

Figure 3

Table 1

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Cairo University Faculty of Engineering Electrical Power and Machines Dept.

3 rd year Control Lab. Simulink

Table 2

Procedure

1- Find the transfer function for each subsystem of the antenna azimuth position control system schematic shown in Fig. 2-3. Use Configuration 1, Table 2.

2- Find the state space representation for each dynamic subsystem in Fig. 3.

3- Assume the feedback path is disconnected. a- Predict, by inspection, the form of the open loop angular velocity response of the load to a step- voltage input to the power amplifier. b- Find the damping ratio and natural frequency of the open loop system. c- Obtain the open-loop state and output equations. d- Use SIMULINK to plot the open loop angular velocity response to a step voltage input.

4- Design a closed-loop response as follows:

a- Find the closed loop transfer function using block diagram reduction. b- Replace the power amplifier with a transfer function of unity and evaluate the closed loop : peak time, percent overshoot, settling time for K=1000. c- Use SIMULINK to plot the step response of the transfer functions in a and b. d- For the simplified model in b, find the value of K that yields 10% overshoot. Verify by simulation.

5- Find the range of the amplifier gain required to keep the closed loop system stable. Verify by simulation.

6- Find the value of K that yields a 10% error in steady state.

7- Use the root locus to find the preamplifier gain required for 25% overshoot. Hint: use the MATLAB command rlocus and rlocfind.

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Cairo University Faculty of Engineering Electrical Power and Machines Dept.

3 rd year Control Lab. Simulink

8- Use the root locus technique to design a cascade compensator to meet the following requirements: 25% overshoot, 2-second settling time, and K v =20. Use simulation to plot the step response of the closed loop system.

9- Figure 4 shows the digital implementation of the antenna azimuth position control system. Use the MATLAB command c2d to find the plant transfer function in z- domain assuming a sampling interval 0.1 second. Use the root locus to determine the gain K corresponding to a closed- loop damping ratio of 0.5. Verify your answer by simulation.

Figure 4.

Report

Your report should include all the steps from 1 to 9 for Configuration 2 in Table 1. You may need to refer to the following reference:

Control System Engineering, By Norman Nise.

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