Lecture 8

Modelling a practical control problem from

scratch

Operational Amplifiers as Controllers

Modelling DC motors etc

Antenna Azimuth Position Control System
Concept

©2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 Antenna Azimuth Position Control System

What we are going to learn today:

1. About a practical system  how it works and how it is modeled

2. DC motor operation  type of control of DC motors and its transfer function

3. Operational amplifiers (op-amps) and how to obtain their transfer functions

4. How to refer a load to the motor shaft, especially when there is a gear train
Antenna Azimuth Position Control System
Schematic

©2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
 Antenna azimuth position control system:

c. schematic; d. functional block diagram

Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
Potentiometer

+20 V -20 V

 i (t ) Pot
Vi (t )

300 turn  40 V
Vi (t ) 40 24
   K pot
 i (t ) 300   / 180 

Vo (t )
 K pot
 o (t )
 Signal conditioning

 The output signal from the sensor of a measurement has to generally be processed in
some way to make it suitable for the next stage of operation:
 Contain interference (noise)  has to be removed (filtered)
 Be non-linear  requires linearization
 Be analogue and to be made digital or vice versa
 Change type of signal, say from voltage to current etc
 Too small  has to be amplified
 Amplifiers

 Pre-amp: used to condition the signal and power-up to take to the Power-amp
Near the sensor  effects of noise to be reduced  preserve SNR
The dynamics is significantly faster than the power-amp; hence, can neglect the dynamics

 Power-amp: used to boost the signal to drive the actuator

 Operational Amplifiers

Used for addition, subtraction, integration and differentiation and realize various T.F.s
An op amp, given in the figure is a basic building block to implement transfer functions.
It has the following characteristics:
1. Differential input, v2(t) – v1(t)
2. High input impedance, Zi = ∞ (ideal)
3. Low output impedance, Zo = 0 (ideal)
4. High constant gain amplification, A = ∞ (ideal)

• High I/P impedance  no current  Voltages are the same

• Gain is HUGE  even if (v1 – v2) is small  Vo is large
Operational Amplifiers
• High I/P impedance  no current  Voltages are the same

𝑉𝑖 − 𝑉1 = 𝐼1 𝑍1
𝑉𝑜 − 𝑉1 = 𝐼2 𝑍2
𝐼1 = −𝐼2
𝐼𝑎 = 0
𝑉1 = 0

𝑉𝑜 𝑍2
=−
𝑉𝑖 𝑍1

a. Operational amplifier;
b. schematic for an inverting operational
amplifier;
c. inverting operational amplifier configured for transfer
function realization.
Typically, the amplifier gain, A, is omitted.
 Homework: obtain the Transfer Functions for the following two cases

V0 ( s) Z1 ( s)  Z 2 ( s)

Vi ( s) Z1 ( s)

Non-inverting Amplifier

R2

V1 R1
-
V2 R1
+
R2
R2 Vp  (V2  V1 )
Differential Amplifier R1
 DC motors PWM – Pulse-width-modulation
V  I a Ra Using ‘on’, ‘off’ pulses the average
 Speed n  voltage per pulse can be varied
k thereby varying the speed.
 To vary speed, vary V , Ia or Φ Using power electronic circuits
 DC motors PWM – Pulse-width-modulation
V  I a Ra Using ‘on’, ‘off’ pulses the average
 Speed n  voltage per pulse can be varied
k thereby varying the speed.
 To vary speed, vary V , Ia or Φ Using power electronic circuits

PWM per se can be operated

Open-loop

DC motors
V  I a Ra
 Speed n 
k
 To vary speed, vary V , Ia or Φ
Armature control DC motor
Add resistance in series with armature.
Simple and inexpensive but higher power
losses and only speed reduction to about
50% of rated speed is possible
PWM – Pulse-width-modulation
Using ‘on’, ‘off’ pulses the average
voltage per pulse can be varied
thereby varying the speed.
Using power electronic circuits
Field control DC motor
Add resistance in series with
the field winding
- Lower Φ and increase speed
to higher than rated speeds
- Low power applications
 Control Systems Engineering, Fourth Edition by Norman S. Nise
Copyright © 2004 by John Wiley & Sons. All rights reserved.
For the armature,
dia
ea  vb  Ra ia  La
dt
Ea  Vb  ( Ra  La s ) I a (1)
Back emf;
V  k
b m since the field is constant, is constant
Vb  K b s m (2) Ea + 1 Ia T m
Kt m
Ra  La s
Motor torque; -
Tm  kI a  K t I a (3) Vb
Kbs
For the load,
T  J   D 
m m m m m

Tm  ( J m s 2  Dm s) m (1)

J m includes both armature inertia J a

and refered load inertia J L to the
motor through the gear train.
 N 
2

J m   J a  J L  1  
  N2  
similarly,
 N 
2

Dm   Da  DL  1  
  N2  
 θm

θL
≡ Motor
θm
Load

Jm,Dm

Kinetic energy of the system,

i.e. K.E. of motor + load

1 2 1 1 1
J a m  Dam2  J LL2  DLL2

≡
2 2 2 2
1 1
N
 L  1  m J mm2  Dmm2
N2 2 2
2 2
1 2 1  1  N1   2 1  N1  2
J a m  Da m  J L 
2
  m  DL    m
2 2 2  N2  2  N2 
1  2

 N1   2 1   N1    2
2

 J a  J L    m   Da  DL    m
2  N 2   2  N 2  
 

  N1  
2
  N1  
2

J m   J a  J L    and Dm   Da  DL   
  N 2     N 2  
For the load,
T  J   D 
m m m m m

Tm  ( J m s 2  Dm s) m (1)

 N 
2
 Ea + Ia m
J m   J a  J L  1   1 Tm 1
Kt J m s 2  Dm s
  N2   Ra  La s
-
similarly, Vb
 N 
2
 Kbs
Dm   Da  DL  1  
  N2  
 N1
o  m
N2

Ea + 1 Ia Tm 1  m N1 o
Kt J m s 2  Dm s
Ra  La s N2
-
Vb
Kbs
 Antenna Azimuth Position Control System

Ea + 1 Ia Tm 1 m m Kt
Ra  La s Kt J m s 2  Dm s 
- Ea Ra s ( J m s  Dm )  K b K t s
Vb
Kbs

N1
N2
 DC motors
Typical constants for small DC motor (Modern Control Systems – Dorf and Bishop)

Field time constant τf = Lf /Rf 1 ms

Rotor time constant τa = La /Ra 100 ms
Load time constant τL = J / B Much larger compared to
above two
Maximum output power ¼ Hp, 187 W
Motor Constant Kt 50 x10-3 Nm/A
Rotor inertia Ja 1 x 10-3 Nms2/rad
4. Antenna Azimuth Position Control
System
Schematic Parameters

©2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e