Oct 7, 2020

Progress Test-1 (FOR LAST NAME E TO Z)

Control Theory I (MECH 3221-1 and 2)

Instructions:

• Please be sure to PRINT name and student ID on each page(s) that you upload
• Must show all steps in your work clearly to receive full credit
• If you have uncertainties about the exam, make sure you have read the entire
question, state your assumptions, and proceed. The instructor will be available
on Blackboard Virtual classroom from pm 5.30-6.50 pm during the exam
schedule for any clarification
• Open book and open notes
• MATLAB is not required
• Individual work, must be completed by the student without any
assistance/collaboration from others
• The exam requires a maximum of 80 minutes to complete. However, the online
Blackboard submission folder will be kept open for additional (1 hr) time till 8pm
by considering any slower connectivity, availability and other remote access
issues.

I, _____________________, verify that the submitted work is my own and adheres

to all my Academic Rights and Responsibilities as outlined in the Student Code of
Conduct.

_________________________________

Signature Date

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 Problem Statement:
The purpose of this example is to develop an understanding of a control system used
for pointing a parabolic antenna in the direction towards a satellite to maintain
various communications connections going uninterrupted. The parabolic satellite
dish shown in Figure 1 need to maintain a direct line of sight of the signal with the
satellite. The parabolic antenna shown in figure 1 stationed in the ground is therefore
required to track a satellite by controlling its elevation and azimuth angles. The
purpose of a control system is to follow the movement of the satellite. One aspect of
the control system is to control the antenna elevation angle θ(t) as shown in Figure
2. Elevation angle is the angle between the beam pointing direction and the local
horizontal plane as shown in Figure 2.

Figure 1. Satellite antenna (Courtesy Space Systems/Loral)

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 Figure 2. Schematic of antenna system showing elevation angle
The antenna is driven by a motor, shaft and some gear mechanism to drive and
control the elevation angle θ(t). In a simplified model of the drive system, the
antenna drive parts have the equivalent moment of inertial J, damping B and
stiffness k1. These arise to some extent from the bearing, aerodynamic friction and
back emf of the DC motor.
The simplified equation of motion of the system is given by:

𝐽𝜃̈ + 𝐵𝜃̇ − 𝑘1 𝜃 = 𝑇𝑐
Assume,
J = XXX kg.m2,
B= 20.XXX N-m-sec,
k1 = 30.XXX N/m
Where XXX is last three digits of your own student ID for example if a student’s ID
is 102020710 then XXX would be the last three digits 710

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 Find:
(a) Find the transfer function between the applied torque Tc(t) and the antenna
angle θ(t)

(b) Find the transfer function between the applied torque Tc(t) and the antenna
speed 𝜽̇(t).

(c) Suppose the feedback is added to the system in part (a) so that the torque
applied is calculated such that the antenna angle tracks a reference command θr
(t) as per the feedback formula given below
𝑇𝑐 = 𝐾2 (𝜃𝑟 − 𝜃)
where K2 is a gain.

Find the transfer function between θr and angle θ

(d) Create a block diagram (by hand-sketch and using fundamental blocks)
representing the system given below. No MATLAB Simulink block is
required, by hand drawing only. Here the antenna angle 𝜽 (t) tracks a reference
command θr (t)

𝐽𝜃̈ + 𝐵𝜃̇ − 𝑘1 𝜃 = 𝐾2 (𝜃𝑟 − 𝜃)

(e) Reduce the block diagram drawn in part (d) following block diagram
reduction method learned in the class and verify that the transfer function
obtained by block diagram reduction is the same as the transfer function
found in part (c).

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