EE-379

LINEAR CONTROL SYSTEMS

Lecture No 6

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2 (Modeling in the Frequency Domain)

Case Studies Page 94

Antenna Control: Transfer Functions

Instructor: Dr. Farid Gul

Class: BEE 4A/B
Electrical Engineering Department
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
 Antenna Azimuth Position Control System
PROBLEM: Find the transfer function for each subsystem of the
antenna azimuth position control system.
Use Configuration 1.

Schematic
 Antenna Azimuth Position Control
System
Schematic Parameters
 Antenna Azimuth Position Control
System
Block Diagram Parameters

Home assignment: Please fill in Configuration 2 column.

Motor & Load

θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
%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)
%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)
%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)
%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)
 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

Amplitude
0.5 0.5

K=10
0.4

0.3 K=1 0.4

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

0.6 0.8

K=100 0.6
0.4

0.2
0.4

0.2
K=1000
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)
 d n c(t ) d n1c(t ) d m r (t ) d m1r (t )
an n
 an 1 n 1
   a0c(t )  bm m
 bm1 m 1
   b0 r (t )
dt dt dt dt
 d n c(t ) d n1c(t ) d m r (t ) d m1r (t )
an n
 an 1 n 1
   a0c(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 )

a s
n
n
 an 1s n 1   
 a0 C ( s )  bm s m  bm1s m 1  
 b0 R( s)

C ( s)  b s  bm1s m1  b 
m


m 0

R( s )  a s
n
n
 an1s n1  a 
0
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