EE-371

LINEAR CONTROL SYSTEMS

Lecture No 6

“CONTROL SYSTEMS ENGINEERING”

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

Case Studies Page 92

Antenna Control: Transfer Functions

Instructor: Dr. Farid Gul

Class: : BEE-2k20-AB
Electrical Engineering Department

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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
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 Antenna Azimuth Position Control System
PROBLEM: Find the transfer function for each subsystem of the
antenna azimuth position control system.
Use Configuration 1.

Schematic

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 Antenna Azimuth Position Control
System
Schematic Parameters

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5
 Antenna Azimuth Position Control
System
Block Diagram Parameters

Home assignment: Please fill in Configuration 2 & 3 columns

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Motor & Load

θi(s) θo(s)
G(s)

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

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%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)

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%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)

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%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)

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 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

K=10

Amplitude
0.5 0.5

K=1
0.4 0.4

0.3 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

K=100
0.6 0.8

K=1000
0.6
0.4
0.4
0.2
0.2

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)

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 d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
 an 1 n 1
   a0 c(t )  bm m
 bm 1 m 1
   b0 r (t )
dt dt dt dt

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 d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
 an 1 n 1
   a0 c(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 )

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

C (s)

 m m1    b0 
b s m
 b s m 1

R ( s )  an s n  an 1s n 1    a0 

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???
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