Presented By:

Junaid Iqbal ( 2010-EE-42 )

(3rd Year Electrical Engineering) University College of Engineering & Technology BZU Multan

Antenna Azimuth Position Control System

 System Concept

 Textbook Schematic

 Textbook Schematic Parameters

 Block Diagram

Parameters

 Modeling in the frequency domain

Subsystem
Input potentiometer

Input
Angular rotation from user, i(t) Voltage from potentiometers, ve(t) = vi (t) v0(t) Voltage from preamp, vp(t) Voltage from power amp, ea(t) Angular rotation from load, 0(t)

Output
Voltage to preamp, vi (t) Voltage to power amp, vp(t)

Preamp

Power amp

Voltage to motor, ea(t) Angular rotation to load, 0 (t) Voltage to preamp, v0(t)

motor

Output potentiometer

 Input Potentiometer; Output Potentiometer:

Vi (s)/i (s) = 10/10 = 1/

Pre-amplifier:

Vp (s)/Ve (s) = K
Power Amplifier:

Ea (s)/Vp (s) = K1/(s+a) = 100/(s+100)

 Motor and load:

Transfer function of motor from armature voltage to

armature displacement

m(s)/Ea(s) = Km / s(s+am) = 2.083/s(s+1.71)

Transfer function relating load displacement to armature

voltage

0(s)/Ea(s) = gear ratio* [m(s)/Ea(s)] = N1/N2* [2.083/s(s+1.71)] Given that N1=25 and N2=250. So, 0(s)/Ea(s) = 0.1* [2.083/s(s+1.71)] = 0.2083/s(s+1.71)

 State-Space Representation
We fill find state-space representation of each dynamic

subsystem in the azimuth position control system.

Dynamic means that system dont reach its steady state

immediately and it is described by the differential equation of 1st order or higher order.
Potentiometers and pre-amplifiers have pure gains and are

non-dynamic.
Power amplifiers and motorload subsystem are dynamic.

 Power Amplifier:
G(s) = Ea(s) / Vp(s) = 100 / (s+100) (s+100)Ea(s) = 100Vp(s) sEa(s) + 100Ea(s) = 100Vp(s)
Taking inverse Laplace Transform we get differential equation as:

dea /dt + 100ea = 100vp(t)

So, state equation becomes:

dea /dt = -100ea + 100vp(t)

Since output is ea(t) so the output equation is:

y = ea

 Motor and Load:

Now find state space representation for load and

motor
Ea(t)=Ia(t)Ra + Kbdm/dt Torque

Tm(t)=K 1i(t)=Jmd2m /dt2 + Dmdm /dt Now further solving we get output equation y=0.1x1

 Antenna Control: Open Loop Response

Poles are used in determining the transient response

of the system.
The open loop function we will deal with consist of

power amplifier and motor with no load.

Differentiating the angular position of the motor and

load out put by multiplying s , we obtain the output angular velocity 0 .

Using the Transfer function we can predict the

nature of the step response.

 The step response consists of the steady-state

response generated by the input. Transient response is the sum of two exponentials generated by each pole of the Transfer Function. The damping ratio and natural frequency of the open loop can be found by expanding the denominator. First convert the transfer function into state space representation. Cross multiplying and taking inverse Laplace transform with zero initial conditions. Finally output equation y = x1

 Closed loop transfer function using block diagram reduction

 Signal-Flow Graph Representation

The original block diagram representation is given below:

In order to obtain the signal-flow graph of each

subsystem, we use the following state equations of power amplifier and motor and load which were derived previously.

 For Power amplifier, the state equation is:

For motor and load, the state equation is:

So, the signal-flow graph of above block diagram

representation is:

 Closed-Loop Transfer Function using Masons Rule

Consider the following Signal-Flow Graph representation of

antenna azimuth position control system.

1st Step: Find the forward-path gain: Here k = no. of forward paths = 1. So, Tk = T1 T1 = (1/)(K)(100)(1/s)(2.083)(1/s)(1/s)(0.1) = 6.63K/s3

 2nd Step: Identify the Closed-Loop Gains There are 3 closed loops whose gains are as follows: Power amplifier loop gain = GL1(s) = -100/s Motor loop gain = GL2(s) = -1.71/s Entire system loop = GL3(s) = (K)(100)(1/s)(2.083)(1/s)(1/s)(0.1)(-1/) = -6.63K/s3
3rd Step: Find the non-touching loop gain: Only GL1(s) and GL2(s) are non-touching loops. So, non-touching loop gain becomes: GL1(s)GL2(s)=171/s2

 4 Step: Find the values of and k : Since, = 1 - sum of loop gains + sum of non-touching loop gains taken two at a time So, = 1 [GL1(s) + GL2(s) + GL3(s)] + [GL1(s)GL2(s)] = 1 + 100/s + 1.71 /s + 6.63K/s + 171/s2 Now, K= 1= - sum of loop gains that touch the k th forward path gains. So, 1 = 1 Now, put the above values in Masons Rule given as: Closed-Loop transfer function = T(s) = C(s)/R(s) = T11/ T(s) = 6.63K/(s3 + 101.71s2 + 171s + 6.63K)

 Finding the values of Tp, %OS, Ts

Consider again the block diagram representation of

antenna azimuth position control system.

Replacing the power amplifier gain with unity and

letting the pre-amplifier gain K equal to 1000, we find G(s) and closed loop transfer function T(s) as: G(s) = 66.3/s(s+1.71) and T(s) = 66.3/s2 + 1.71s + 66.3

 From above equation of T(s) we get n= 8.14 and

damping ratio = 0.105. Putting these values in following equations we get values of Tp, %OS, Ts .

For Tp:
For %OS: For Ts:
Hence we get, Tp = 0.388s, %OS = 71.77% and

Ts = 4.68s.

 We found above that closed loop transfer function T(s)

= C(s) / R(s) = 66.3/s2 + 1.71s + 66.3 From above equation we get, C(s) = R(s)* [66.3/s2 + 1.71s + 66.3] To find the step response we take input signal as 1/s So, the output becomes: C(s) = 66.3/s(s2 + 1.71s + 66.3) Expanding the above equation by partial fractions we get, C(s) = 1/s (s+0.855)+0.106(8.097)/[(s+0.855)2+(8.097)2] Taking the inverse Laplace Transform we get, c(t) = 1 e - 0.855r (cos8.097t + 0.106sin8.097t)

 Finding the value of K that gives a specific value of %OS

Consider again the following block diagram:

Given that power amplifier gain= unity. So, G(s)=0.0663K/s(s+1.71) and T(s)=0.0663K/s2+1.71s+0.0663K
We have to find the value of K for 10% Overshoot.

 From the following equation, a 10% Overshoot yields a

damping ratio of 0.591.

Using the denominator of T(s) we get n= (0.0663K)1/2

and a=1.71 Thus damping ratio = a / 2n= 1.71/2*(0.0663K)1/2 = 0.591 from which K=31.6

 Finding the Stability of antenna azimuth position control system

The antenna azimuth position control system is represented by block diagram as:

Its Closed-Loop transfer function was found as:

 The K in the above expression is the pure gain of a

non-dynamic system which is pre-amplifier.

As pre-amplifier is non-dynamic which means that it

reaches the steady state instantaneously.

So the gain K of pre-amplifier determines the stability

of the closed-loop system.

When the loop gain is changed then there is a

possibility that the location of poles may also change and go into right half plane.

 So, proper gain selection is essential for the stability of

closed loop systems.

To determine the value of K we make the Routh table

as follows:

There will be no sign changes in the first column if

0<K<2623. System will be stable on the value of K in this range.

Thanks!