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Reduction of Multiple Subsystems

# Reduction of Multiple Subsystems

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control system chapter no 5
control system chapter no 5

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12/15/2012

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F I V E
Reduction of MultipleSubsystems
SOLUTIONS TO CASE STUDIES CHALLENGES
Antenna Control: Designing a Closed-Loop Response
a.
Drawing the block diagram of the system:
+-10
Π
iuK 150s+150uo0.16s(s+1.32)
Thus, T(s) =
76.39Ks3+151.32s2+198s+76.39K
b.
Drawing the signal flow-diagram for each subsystem and then interconnecting them yields:
10
Π
iuKuo1s1s
-150-1.321500.8
1s
0.2
10
Π
x
12
x
3
x

Solutions to Case Studies Challenges 127

x
.

1
= x
2
x
.

2
= - 1.32x
2
+ 0.8x
3
x
.

3
= -150x
3
+150K(
10
π
(q
i
0.2x
1
))
= -95.49Kx
1
- 150x
3
+ 477.46K
θ
i

θ
o
= 0.2x
1
In vector-matrix notation,
x
=0100-1.320.8-95.49K0-150
x
+00477.46K
θ
i
θ
o
= 0.200
x

c.

1
=
10
π
⎛ ⎝  ⎞ ⎠
(
)(150)1
s
⎛ ⎝  ⎞ ⎠
(0.8)1
s
⎛ ⎝  ⎞ ⎠
1
s
⎛ ⎝  ⎞ ⎠
(0.2)
=
76.39
s
3

G
L
1
=
150
s
;
G
L
2
=
1.32
s
;
G
L
3
=
(
)(150)1
s
⎛ ⎝  ⎞ ⎠
(0.8)1
s
⎛ ⎝  ⎞ ⎠
1
s
⎛ ⎝  ⎞ ⎠
(0.2)
10
π
⎛ ⎝  ⎞ ⎠=
76.39
s
3
Nontouching loops:G
L1
G
L2
=198s
2

= 1 - [G
L1
+ G
L2
+ G
L3
] + [G
L1
G
L2
] = 1 +150s+1.32s+76.39K s
3
+198s
2

1
= 1T(s) =T
1
1
=76.39K s
3
+151.32s
2
+198s+76.39K
d.
The equivalent forward path transfer function is G(s) =10
π
0.16K s(s+1.32).Therefore,T(s) =2.55s
2
+1.32s+2.55 The poles are located at -0.66 ± j1.454.
ω
n
= 2.55 = 1.597 rad/s; 2
ζω
n
= 1.32, therefore,
ζ
= 0.413.

128 Chapter 5: Reduction of Multiple Subsystems

%
OS
=
e
ζπ
/1
ζ
2
x
100
=
24%
; T
s
=4
ζω
n
=40.66= 6.06 seconds; T
p
=
π
ω
n
1-
ζ
2
=
π
1.454=2.16 seconds; Using Figure 4.16, the normalized rise time is 1.486. Dividing by the natural frequency,T
=1.4862.55= 0.93 seconds.
e.

f.
Since G(s) =0.51K s(s+1.32), T(s) =0.51K s
2
+1.32s+0.51K . Also,
ζ
=- ln (%OS100)
π
2
+ ln
2
(%OS100)= 0.517 for 15%overshoot;
ω
n
= 0.51K ; and 2
ζω
n
= 1.32. Therefore,
ω
n
=1.322
ζ
=1.322(0.5147)= 1.277 = 0.51K .Solving for K, K=3.2.
UFSS Vehicle: Pitch-Angle Control Representation
a.
Use the observer canonical form for the vehicle dynamics so that the output yaw rate is a statevariable.

-22-1-0.125
1s
1
1s
11-1u
1s
1yx10.437
1s
1-0.24897-1.483x2x3x4

b.
Using the signal flow graph to write the state equations: