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 Output
Input potentiometer Angular rotation from user, θi(t) Voltage to preamp, Vi(t)
Preamp Voltage from potentiometers, Voltage to power amp, Vp(t)
Ve(t) = Vi(t) – Vo(t)
Power amp Voltage from preamp, Vp(t) Voltage to motor, ea(t)
Motor Voltage from power amp, ea(t) Angular rotation to load, θo(t)
Output potentiometer Angular rotation from load, θo(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 Configuration 2
V 10
n 1
K -
K1 150
a 150
Ra 5
Ja 0.05
Da 0.01
Kb 1
Kt 1
N1 50
N2 250
N3 250
JL 5
DL 3
Now we proceed and find each transfer function.
Potentiometer:
Vi( s) 10
= =3.183
θi (s) π
Preamp:
Vp(s )
=K
Vi( s)
Power Amp:
Ea(s) 150
=
Vp( s) s +150
Motor:
50 2 50 2
Jm = Ja + JL( ¿ ¿ = 0.05 + 5( ¿ ¿ = 0.25
250 250
50 2 50 2
Dm = Da + DL ( ¿ ¿ =¿0.01 +3( ¿ ¿ = 0.13
250 250
We have that:
Kt/Ra = 1/5
KtKb/Ra = 1/5
So:
0.8
=
s (s +1.32)
θo( s) 1 θm(s) 0.16
And we also have that: = =
Ea(s) 5 Ea(s) s (s+1.32)
The results are summarized in the following block diagram and the table of block diagram parameters:
Parameter Configuration 2
Kpot 3.183
K -
K1 150
a 150
Km 0.8
am 1.32
Kg 0.2
Chapter 3:
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, find the state-space
representation of each dynamic subsystem. Use configuration 2.
Since only the power amplifier and the motor and load are dynamic systems, we will only find the state-
space representation for these two systems.
Power amplifier:
The transfer function of the power amplifier is given by:
Ea(s) K1 150
G(s) =
Vp(s)
= ( s+ a) = s +150
When we take the inverse Laplace transform we get the following expression:
dea
+ 150ea = 150vp(t)
dt
When we rearrange the above equation we get:
dea
=−150 ea+ 150 vp(t )
dt
And since the output of the power amplifier is ea(t), then the output equation is:
y(t) = ea(t)
Motor and Load:
RaJm dx 2 DmRa dθm
ea(t) = ( ¿ +( + Kb)
Kt dt Kt dt
Defining the state variables x1 and x2 as
x1 = θm
dθm
x2=
dt
dx 2
Solving for yields
dt
dx 2 1 KtKb Kt
dt
=- (
Jm
Dm+
Ra ) (
x 2+
RaJm
ea(t))
And the state equations are written as follow:
dx 1
=x 2
dt
dx 1 −1 KtKb Kt
= (Dm + ¿x2 + ( ¿ ea (t)
dt Jm Ra RaJm
Using the gear ration, which is 1/5, the output equation is:
y=0.2 x 1
In vector – matrix form,
0 1 0
dx
=
dt 0 [
−1 Dm+
jm
KtKb
(
Ra )
x+ Kt ea (t)
RaJm ][ ]
But we already know that:
Kt 0.8∧1 KtKb
Jm=0.25 ; Dm=0.13 ;
RaJm
=
Jm
Dm+( Ra )
=1.32
So our final state and output equations are:
dx 0 1 0
= [
dt 0 −1.32
x+
0.8] [ ]
ea(t )
y= [ 0.2 0 ] x
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, configuration 2. Assume an
open-loop system (feedback path disconnect) and do the following:
a. Predict the open-loop angular velocity response of the power amplifier, motor, and load to a
step voltage at the input to the power amplifier.
b. Find the damping ratio and natural frequency of the open-loop system.
c. Derive the open-loop angular velocity response of the power amplifier, motor, and load to a
step-voltage input using transfer functions.
d. Obtain the open-loop state and output equations.
e. Use MATLAB to obtain a plot of the open-loop angular velocity response to a step-voltage
input.
Solution:
a.
Power amp motor and load convert to
Angular velocity
Ea(s) θ0(s) ᴪ0(s)
150 0.16 s
(s+150) s (s +1.32)
Vp(s) 24 ᴪ0(s)
(s+150)( s+1.32)
Using the transfer function above, we can predict the step response being:
−150 t
Wo(t) = A + Be + Ce−1.32 t
b. To find the damping ratio and the natural frequency we need to expand the denominator of
the transfer function found in (a), and the resulting transfer function is:
24
G(s) = 2
s + 151.32 s+198
Thus, 2ᶘwn = 151.32, wn = 14.07, and ᶘ = 5.38
c. For us to get the angular velocity response to a step input, we will multiply our transfer
function by a step input, 1/s, and we get:
24
Wo(s) = s (s +150)(s +1.32)
Expanding into partial fractions we get:
0.12121 + 0.0010761 0.12229
Wo(s) = −
s s+ 150 s+1.32
Transforming the above equation into time domain, we get:
Wo(s) = 0.12121 + 0.0010761e−150 t – 0.12229e−1.32 t
d. First we need to convert the transfer function into the state-space representation:
24
Wo(s)/Vp(s) = 2
s + 151.32 s+198
ẅo + 151.32ẇo + 198wo = 24Vp(t)
then we define x1 = wo
x2 = ẇo
thus, the state – space equation are:
ẋ1 = x2
ẋ2 = -198x1 – 151.32x2 + 24Vp(t)
writing the above in vector-matrix form we get:
0 1 0
Ẋ= [−198 −151.32
X +] [ ]
24
Vp(t)
Y = [ 1 0 ]X
e. Now we run the MATLAB.
Program:
numg = 24;
den = poly([-150 - 1.32]);
G = tf(numg, den)
Step(G)
Response from the computer:
Ans =
Transfer function:
24
-------------------------
S^2 + 151.3s + 198
