EE-371
LINEAR CONTROL SYSTEMS
Lecture No 6
“CONTROL SYSTEMS ENGINEERING”
Text Book: Chapter 2 (Modeling in the Frequency Domain)
Case Studies Page 92
Antenna Control: Transfer Functions
Instructor: Dr. Farid Gul
Class: : BEE-2k20-AB
Electrical Engineering Department
1
Antenna Azimuth Position Control System
PROBLEM:
Find the transfer function for each subsystem of the
antenna azimuth position control system.
• Schematic shown on the
front endpapers.
• Use Configuration 1.
Layout
2
Antenna Azimuth Position Control System
PROBLEM: Find the transfer function for each subsystem of the
antenna azimuth position control system.
Use Configuration 1.
Schematic
3
Antenna Azimuth Position Control
System
Schematic Parameters
4
5
Antenna Azimuth Position Control
System
Block Diagram Parameters
Home assignment: Please fill in Configuration 2 & 3 columns
6
Motor & Load
θi(s) θo(s)
G(s)
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
7
%Antenna Azimuth Position Control System
syms s
K=1;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
8
%Antenna Azimuth Position Control System
syms s
K=10;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
1
0.9
0.8
0.7
0.6
Amplitude
0.5
0.4
0.3
0.2
0.1
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
9
%Antenna Azimuth Position Control System
syms s
K=100;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
1.4
1.2
0.8
Amplitude
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
10
%Antenna Azimuth Position Control System
syms s
K=1000;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
2
1.8
1.6
1.4
1.2
Amplitude
0.8
0.6
0.4
0.2
0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
11
θi(s) θo(s)
G(s)
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
Step Response Step Response
1 1
0.9 0.9
0.8 0.8
0.7 0.7
0.6 0.6
Amplitude
K=10
Amplitude
0.5 0.5
K=1
0.4 0.4
0.3 0.3
0.2 0.2
0.1 0.1
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)
Step Response
Step Response 2
1.4
1.8
1.2
1.6
1 1.4
1.2
Amplitude
0.8
Amplitude
K=100
0.6 0.8
K=1000
0.6
0.4
0.4
0.2
0.2
0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)
12
d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
an 1 n 1
a0 c(t ) bm m
bm 1 m 1
b0 r (t )
dt dt dt dt
13
d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
an 1 n 1
a0 c(t ) bm m
bm 1 m 1
b0 r (t )
dt dt dt dt
an s nC ( s ) an 1s n 1C ( s ) a0C ( s) bm s m R ( s ) bm 1s m 1R ( s ) b0 R ( s )
n n1
a s n
a s n 1
a0 C ( s ) m m 1 b0 R(s)
b s m
b s m 1
C (s)
m m1 b0
b s m
b s m 1
R ( s ) an s n an 1s n 1 a0
14
???
15
