Chapter 2: Challenge: we now give you a problem to test your knowledge of this chapter s objectives: Referring to the antenna

azimuth position control system schematic shown on the front endpapers, evaluate the transfer function of each subsystem. Use configuration 2. Record your results in the table of block diagram parameters shown on the front endpapers for use in subsequent chapter s case study challenges. The table below shows individual subsystems for which we must find the transfer functions:

Subsystem Input potentiometer Preamp

Input Angular rotation from user, i(t) Voltage from potentiometers, Ve(t) = Vi(t) Vo(t) Voltage from preamp, Vp(t) Voltage from power amp, ea(t) Angular rotation from load, o(t)

Output Voltage to preamp, Vi(t) Voltage to power amp, Vp(t)

Power amp Motor Output potentiometer

Voltage to motor, ea(t) Angular rotation to load, o(t) Voltage to preamp, Vo(t)

Table 1: Subsystems of the antenna azimuth position control system The table that is shown below represent the schematic parameter of the antenna azimuth position control system for configuration 2: Parameter V n K K1 a Ra Ja Configuration 2 10 1 150 150 5 0.05

01 +3( = 0.05 + 5( 0.Da Kb Kt N1 N2 N3 JL DL Now we proceed and find each transfer function.25 = 0. Potentiometer: 0.13 .01 1 1 50 250 250 5 3 Preamp: Power Amp:  Motor: Jm = Ja + JL( Dm = Da + DL( We have that: Kt/Ra = 1/5 KtKb/Ra = 1/5 So: = 0.

32 0.8 1.= And we also have that:   The results are summarized in the following block diagram and the table of block diagram parameters: Parameter Kpot K K1 a Km am Kg Configuration 2 3.2 .183 150 150 0.

find the state-space representation of each dynamic subsystem. we will only find the statespace representation for these two systems. Power amplifier: The transfer function of the power amplifier is given by: G(s) = = = When we take the inverse Laplace transform we get the following expression: + 150ea = 150vp(t) When we rearrange the above equation we get: And since the output of the power amplifier is ea(t). Referring to the antenna azimuth position control system shown on the front endpapers.Chapter 3: Challenge: You are now given a problem to test your knowledge of this chapter s objectives. Since only the power amplifier and the motor and load are dynamic systems. Use configuration 2. then the output equation is: y(t) = ea(t) Motor and Load: ea(t) = ( Defining the state variables x1 and x2 as x1 = m x2= Solving for =yields  .

And the state equations are written as follow:   (Dm + x2 + ( Using the gear ration. the output equation is: In vector matrix form.  But we already know that:        So our final state and output equations are:    . which is 1/5.

Predict the open-loop angular velocity response of the power amplifier. Power amp Ea(s) motor and load 0(s) • • convert to Angular velocity 0(s) s Vp(s) • • 0(s) Using the transfer function above. b. we can predict the step response being: Wo(t) = A + B‡ + C‡ . c. configuration 2. Solution: a. Use MATLAB to obtain a plot of the open-loop angular velocity response to a step-voltage input. motor. Find the damping ratio and natural frequency of the open-loop system. e. and load to a step-voltage input using transfer functions. d. motor. Assume an open-loop system (feedback path disconnect) and do the following: a. and load to a step voltage at the input to the power amplifier. Obtain the open-loop state and output equations. Derive the open-loop angular velocity response of the power amplifier.Chapter 4: Challenge: you are now given a problem to test your knowledge of this chapter s objectives: Referring to the antenna azimuth position control system shown on the front endpapers.

b.07. First we need to convert the transfer function into the state-space representation: Wo(s)/Vp(s) = o + 151. 2 wn = 151.32 o + 198wo = 24Vp(t) then we define x1 = wo x2 = o thus. and = 5.32.12121 + 0. wn = 14. we get: Wo(s) = 0.38 c. To find the damping ratio and the natural frequency we need to expand the denominator of the transfer function found in (a). 1/s. For us to get the angular velocity response to a step input.12229‡ d. and the resulting transfer function is: G(s) = Thus. we will multiply our transfer function by a step input.0010761‡ 0.32x2 + 24Vp(t) . the state space equation are: 1 = x2 2 = -198x1 151. and we get: Wo(s) = Expanding into partial fractions we get: Wo(s) =   Transforming the above equation into time domain.

Now we run the MATLAB. den) Step(G) Response from the computer: Ans = Transfer function: 24 ------------------------S^2 + 151.1.writing the above in vector-matrix form we get: = Y= X X + Vp(t) e.3s + 198 .32]). den = poly([-150 . G = tf(numg. Program: numg = 24.