U.D.C. 621-521 : 621.396.

67

"State Variable Methods in Antenna Servo Analysis

By The state space method is applied to the analysis of a servomechanism to
demonstrate how the method can be used to find the response of a proposed
D. R. W I L S O N , M.Sc.(Tech.), system to any type of deterministic input or disturbance. It is shown that linear
Ph.D., C.Eng., M.I.E.E.f input signals can be simply incorporated in the A matrix as input state variables.
The A matrix for two realistic models of an antenna control system are then
developed inclusive of the system inputs. The state transition matrixes of the
servos discussed are evaluated. The variation of all the variables in the servo-
mechanism is defined by the transition matrix, without any further manipulation
of system functions and leads to a method of solution which is simpler than the
conventional manipulation of transfer functions.

List of Symbols
A = nxn matrix
[x(/) ]T = transpose of [x(t) ]
[x(0) ] = initial condition matrix of [x(t)]
[<K01 = s t a t e transition nxn matrix
JL = load inertia kg m 2
Jm — motor inertia kg m 2
J = Jm+JjN2
, N = gear box ratio
Kt — tachogenerator constant Vs/rad
Kx = electronic gain associated with the tacho-
generator feedback signal
KT = motor torque constant in Nm/A
KA = electronic transconductance A/V
Tt,T2 = stabilizing time-constants
oc, K2 = stabilizing gains
<jR = tracking receiver gain V/deg offset
TR = tracking receiver cut-off frequency
Ks = motor back e.m.f. constant Vs/rad
Gv(s) = velocity loop compensation
1. Introduction
At the present time power servomechanisms, such as
are found in large antennas, missile launchers, rolling
mills etc., are primarily designed by the linear frequency
response technique in one of its various guises1, while
the usual servo non-linearities such as backlash, stiction,
saturation effects etc. can be incorporated in the design
by the describing function technique.2 The basic servo
configuration of a high performance servo drive3 will
usually incorporate both torque (armature current) and
tachogenerator feedback loops. This together with the
load defines the 'plant', which is to be controlled by the
position loop. The definition of the plant is then used
with an appropriate error transducer to design the
compensating function to meet both the steady and
dynamic conditions. The complexity of the compensating
networks obviously depends on the complexity of the
plant model and particularly on the definition of the
mechanics, which are absorbed in the plant. The resulting
transfer function of the servo will normally be of fifth-
or sixth-order at its simplest, consequently the manipula-
fRadar Engineering Laboratories, Plessey Radar Limited, Cowes,
Isle of Wight.
tion of the servo transfer function into a desired form,
i.e. output to input, error to input, output to torque
disturbance etc., necessitates a considerable amount of
tedious manipulation even allowing for digital computer
evaluation of the transfer function for a given input.
The state space technique removes the necessity for
tedious transfer function manipulation in that the system
A matrix can be defined from the servo block diagram
and the designed values of system variables directly
inserted. Calculation of the output state vector allows
the response of any system state to be observed once and
for all without any further manipulation. It is the pur-
pose therefore of this paper to illustrate the application
of the State Space method in power servo analysis and in
the first instance the state equations are summarized.
2. The State Equations
Engineers are familiar with manipulating system
variables in a feedback system such as position, velocity,
torque etc., by the transfer function technique. The
State Equations simply provide an alternative method of
defining a system and by the use of computing tech-
niques a general solution can be evaluated which
completely predicts the control system performance.
The definition of a control system in the state variable
notation simply means that the system is described by a
set of first-order differential equations. Each equation
describes one of the variables in the control system, i.e.
one of the chosen states.
Fig. 1. LCR circuit.
As an example consider the LCR circuit shown in
Fig. 1. The equations of the network can be written
(1)
where / is the circuital current
and Vo = iR (2)
Writing
x2 = xj = i (3)

The Radio and Electronic Engineer, Vol. 41. No. 11. November 1971 501
D. R. WILSON

Hence of the transition matrix can be guaranteed, it is necessary

di to select T to be an order lower than the smallest time-
constant of the system.
~dt
It follows from equation (6) that
The variables xt and x2 are a conveniently selected «KnT) = (eAr)" (lO;
pair of state variables.
Thus by choosing a sufficiently small interval of time
It follows that (1) and (3) can be written in terms of the the state transition matrix can be evaluated for the firs'
state variables interval and the state transition matrix at the following
xl = 0 + x 2 intervals calculated by repeated multiplication. Liou5
has developed a method for evaluating e Ar by writing it
Xz in the form
~ LC L2 + L
and hence the state equation for the network can be AT V"1
e =
written in matrix form as: kh~k\
0 where
V ' 0' A0 = I = unity matrix
1 R +
LC L. x2m and by letting
e Ar = M + R
Similarly the output equation can be written
where
Vo = [0 R

from which it can be seen that the state equation corre-

sponds to the general form R =
x(0 = k\
If each element in the matrix e Ar is required to within
In the general case x(t) is a column matrix representing an accuracy of d significant digits then
the n state variables of the system, A is a n x n matrix of
system coefficients, D is an nxl matrix and m(t) [r y ] < l<r'[mv] for alii,;
describes the input state variables. where r y and ray are the elements of matrices R and IV
When a linear system is defined by the state equation respectively. It follows that M can be evaluated to
whatever accuracy is required. The results of the
x(0 = Ax(0 + Dm(0 (4) computation can be printed out for each small interva
the solution can be written of time or an appropriate multiple of the basic computing
period, e.g. if T = 0-005 seconds the results could be
x(0 = <KOx(0)+ /<K'-*).D. (5) printed out for every fifty iterations to give results at
0-25 s intervals.
where the state transition matrix is defined by the It follows the method only requires the A matrix to be
identity defined and that once this has been done there are
«K0 = eA< (6) effectively no lengthy manual manipulations to obtain
and T is a dummy variable having the dimensions of the desired results. As examples, the A matrix for two
time. antenna servos will be developed with sample computa-
tions, but first the method of representing system inputs
It follows that if the inputs to the system defined by as input state variables will be discussed.
m(t) are incorporated as additional states of the system,
such that they are assumed to be input state variables4,
then the equation of the system is defined by 2.1. Input State Variables
x(0 = Ax(0 (7) The conventional test signals that are applied to a
control system are steps, ramps, parabolas and simple
and a complete solution to the problem is defined by harmonic motion. Figure 2 represents three state
x(0 = <K0x(0) (8) variables (r^t), r2(t), r3(t)), which in terms of the time
whereby the actual system inputs are defined by the variable, t, and the initial condition on rx(t) can be
initial conditions on the input state variables. expressed:
Now let r^i) = R = step input
t = nT (9) r2(t) = Rt = ramp input = step of velocity
n
which implies that the continuous time variable t is r3(t) = — t2 = parabola input = step of acceleration
represented at discrete intervals defined by nT, where
0 < n <, oo and nT is the time at which the continuous from which it follows that any particular input or
output is computed. In order that a stable computation combination of input can be simulated by addition of the

502 The Radio and Electronic Engineer, Vol. 41, No. 11

 STATE VARIABLE METHODS IN ANTENNA SERVO ANALYSIS

-' appropriate states into the control system. A simple factors of the order of 0 • 1. Further when it is considered
s harmonic input can be incorporated by application of that a large structure such as a 28 m (90 ft) antenna can
, the variable rjt) and rs(t) which can be generated by be reasonably sub-divided into 6 or 7 significant inertias
the circuit shown in Fig. 3. coupled by resiliences the complexity of the resulting
model can be self-defeating. Fortunately realistic results
can be obtained in many cases for much simplified
mechanical structural models.
In practice therefore if a mechanical resonance occurs
within the bandwidth of a servo loop it presents severe
stability problems, and the mechanical engineer is
r,(t) normally asked to produce a structure with a minimum
natural frequency, which is a factor, say 10, higher than
Fig. 2. State representation of an input sequence R-\- Rt-\--~t
the desirable servo bandwidth. With large antennas the
predominant mechanical resonance can be kept to the
Integrators are assumed to have sign reversal. order of 2 Hz, while optimum servo bandwidths, with
respect to noise and disturbance inputs, are of the order
of 0-1 Hz. Consequently a linear model of motor inertia
O R cos oat coupled to a load inertia through a stiff gear box is
quite reasonable. However in the case of a wide band-
OR sin tot width tracking antenna with, say, a 3 Hz bandwidth
requirement, it follows that an extremely stiff structure is
required with the lowest mechanical resonance about
30 Hz. Unless the mechanical resonant frequency (locked
rotor frequency) is high then a design based on the linear
model would almost certainly have to be tuned on site
Fig. 3. State representation of simple harmonic motion. Integrators with anti-resonant elements before the desired band-
are assumed to have sign reversal. width could be achieved. For reasons discussed above it
is not practical to set out to design anti-resonant elements
3. Antenna Servo Models for an assumed mechanical resonance within or near the
servo bandwidth. In the servo designs used to illustrate
The design of antenna servos has been reviewed3 this paper no attempt will be made to do so, because the
67
and detailed design examples given ' , consequently it assumption is made that a satisfactory ratio of mechanical
is sufficient to note that when the coefficients of the frequency to servo frequency can be achieved and under
velocity loop have been chosen the position loop design these conditions a stiff motor-gearbox-load model is
should produce a single pair of predominant closed loop acceptable.
complex poles, which effectively define the natural
frequency of the position loop and hence the servo
bandwidth.
3.1. A 20-foot (61 m) Diameter Antenna
It has been inferred above that the complexity of the
servo plant is largely a function of the load structure. The 20 ft antenna servo model discussed in an earlier
2
The linear model of an electric or hydraulic drive is paper is shown in Fig. 4 and the block diagram in Fig. 5.
relatively easy to define, but the problem of definining the The state space diagram which is, in effect, an analogue
mechanics, albeit only a linear model, is extremely computer diagram for the control system is shown in
difficult with any complex structure, such as a large Fig. 6, where input state variables representing a torque
antenna. Canfield8 treats a simple two-inertia system disturbance, a velocity demand and the input signal, are
coupled with a resilience and three damping terms, included. The states are:
viscous friction to ground at the motor and load and *i(0 = 0L(O> output shaft position
viscous friction across the resilience. This simple x2{t) = ^m(0) motor shaft velocity
definition allows six variants depending on which x3(t) - output of the velocity loop compensating circuit
combination of viscous damping is taken. Further, no x (t) = output of the position loop electronic integrator
4
matter what structural model is assumed, the assessment
of the mechanical structural damping in a numerical x5(t) = output of the tracking receiver
sense is a wellnigh impossible task and at best can only x6(t) = input state variable. An initial condition on
be quantitatively assessed by assuming a certain damping x6(t) represents a demand of position
factor to be associated with the resonance. It follows x7(t) = input state variable representing a disturbance
therefore that although the inertias and stiffnesses in a torque
mechanical structure can be reasonably accurately x (t) = input state variable at the input to the velocity
8
calculated and hence the likely natural frequency
calculated, the effect on the servo loop is virtually loop
impossible to predict, without reasonable data as to i.e. [x(0] = [*! x2 x3 x 4 x5 x6 x7 x 8 ] T
magnitude and nature of the damping. Typically and the A matrix can be written down from inspection of
mechanical resonances are lightly damped with damping Fig. 6 as follows:

November 1971
503
 D. R. WILSON

Jm= motor armature

inertia JL= load
inertia

Fig. 4. Servo control system for a

satellite tracking antenna.

Velocity demand

Fig. 5. Servo block diagram.

10 6
ibf-ft
y/v
I.C

Fig. 6. State variable diagram

of the servo control
system.

Table 1
Numerical data from which the A matrix of the 20 ft
diameter antenna is calculated
Antenna load inertia /L = 2720kgm2 (2000 slug ft2)]
Motor armature inertia / M = 7-1 x 10" 3 kgm 2 (5-23 x 10~3
slug ft2)
Motor torque constant KT = 0-49Nm/A (O-361bfft/A)
Tachogenerator constant Kt = 0-172Vs/rad
Gear box ratio N = 12000 : 1
Tracking receiver cut-off frequency = 20Hz(r B = 1/40^)
Tracking receiver sensitivity GB = 5Vs/deg
Electronic position loop gain a = 10
Electronic position loop
time-constant r = (i/2-2)s
Electronic gain of the velocity
loop K2 = 6-05
} dKt = (l/26-2)Vs/rad
:1/Tt = 207TS-1
Armature current feedback
resistance R = \Q

504 The Radio and Electronic Engineer. Vol. 41, No. 11

D. R. WILSON

3.2. A 90-foot (254 m) Diameter Antenna with
opposed Motor Drive
The principle of the opposed motor drive9 to eliminate
backlash is shown in Fig. 9. The linearized system block
diagram, assuming the motor is coupled to the load with
an infinitely stiff shaft, is shown in Fig. 10. The servo
model includes the effect of motor armature back e.m.f.
as opposed to the current drive assumption made in the
20ft diameter antenna analysis. The state space model is
shown in Fig. 11 with the torque bias incorporated as an
input state variable, however for the purpose of a linear
analysis it can be ignored. From observation of the state
space diagram the A matrix can be defined:

1 7 3 4 5 6 7 8 9 10
Table 2 1
1
Computer print-out of the state transition matrix at N

selected time intervals for the 20-ft diameter antenna 2

"T *T 1
j
example. Basic computing period T = 0-005s. J J

-Kv _1 1
3
ia

TIME INTERVAL= .2 _ Kv 1 i
.834695 2.34288E-06 2.9946PE-06 P.45563E-04 L83992 4 r
6. 4451 4E-07 ~a a La
.79 530 5 6.33128E-37

-S5747. -.318375 -.3268 48 ! 3 - 69 69 7.2034S

55747- 2.81253E-02 3.59 498E-02 5 K2KA

-3774.76 1 . 62898E-03 rl .94067E-02" -1 -81265 -26.9184

3774.78 -1 .91903E-02 -4.7S761 E-33 6 K2KA
Wt*A
-898.761 -3.S4754E-33 -3-91 675E-03 -88303 5 -.042211
898.761 -3.37892E-04 -3-37072E-04

.445834 7
69.3724 -8.12637E-04 -8-271 51 E-34 -6.7831IE-'32
-69.0728 -1 .74888E-04 -1 -78034E-34

_ l
8 -1 +1

10

TIME INTERVAL= . 4 TIME INTERVAL= .8

. .11 18?!2 -1 • 311';9i:-=i6 - 1 .P79 39E-16 2i 6 539* E-3 4 9-8I426E-^6 -•108503 - 7 . 08532E-37 - 8 . 3 3 692E-0 7 6.59563E-05 -1 • S0 684E-05
1.3113 1 -1085 1 . 462 5.6E-3 7 1 .731 14E-37
4?41.56 -8. 1 1 61 44 -5-85171 1 -94729 6512.16 3- 65938E-32 4.23364E-02 -3.79944 2 . 15965
4S41.SM -1 • 57393E-02 -1 -6512.18 - 8 . 50 542 E-0 3 -9.9T230E-0 3
1 5) 2 1 . 41 1 .9455IE-02 .79055E-<:12 -.64411 5 -1 1.8774 -1131.7 - 1 . 0 70 33E-03 - S . I 31 36E-03 .234791 - 2 . 81967
-1 • 5S418E-02 -1 . 690 59E-9 3 1131-73 40234E-32 6. 1 6249E-04
751.224 - 4 . 2S02B E-03 -4 . 51 6263 -9.43377E-32 -145.243 - 9 . 568 79E-34 -1 • 13572E-03 8.81825E-02 - 2 . 89484E-02
751 . 2 2 5 -1 . 23"395E-33 -1 • 26965E-03 145.243 - 2 . 23 562E-33 -2.39322E-03

154.322 3 . 1 7S85E-04 3 .85412E-04 -8-23065E-32 .226953 47.3705 2* 01 179E-04 2 . 559 50E-04 - 1 . 9 668 5E-02 5 . 68 727E-32
154.323 -1 • 93191E-04 - 2 • 1 7343E-04 -47.3713 - 4 . 34945E-05 -5.1623SE-05

TIME INTERVAL= • 6
.241382 -1 .41973E-06 -1 .60 483 E-0 6 1.58 79 3E-0 4 - 2 .28B02E-05 TIME INTERVAL = 1 -
1 .24138 3-57869E-07 4-16779E-07 -3.9897fE:-02 -2.71518E-CI7 - 3 • 23103E-07 2.44194F.-0S -6.24388E-0-6
1-0399 5-39228E-38 6 .40929E-08
9888-18 3.89281*E-32 .039732 -7.34007 3 .05815
9888-2 -1-70436E-02 -1.92653E-02 2697.1 6 1 -65391 E-32 1 •98143E-02 -1.47782 1.08722
-2697.15 -3-25951 E-03 - 3 .8 78 79 E-0 3
1602-52 3-57474E-03 2.58516E-03 .220347 - 5 .741 64
1602-56 -1-39894E-02 5.78339E-04 -569.721 -9.26125E-04 - 1 . 5S513E-03 .109887 .-1.36333
569.759 -1 .43153E-02 2 • 8B41 7E-04
369-298 -2-32436E-33 -2.71174E-33 •228242 - 6 • 26461E-03
369-298 -1-89233E-03 -2.02561 E-33 -53-3548 - 3 . 53251 E-34 - 4 • 21 593E-04 3.31 1 53E-02 -1.16848E-02
53-3553 -2.32742E-03 - 2 • 53775E-03
102-512 3-951 49E-34 4.87364E-04 - 4 . 6 9 623E-02 . 1165
102-513 -1-05653E-04 -1.23261E-34 19-12^9 7.6838 5E-0 5 1 • 01 129E-04 -7.33133E-33- 2.68559E-02
-19.1217 -1.63569E-05 - 1 .91 635E-05
0 0 0
1 0 0 0 0 0 0
0
1 0 0
0 0 0 0
0 J 0 0 0 0 0 0
0 1 0
0 a 0 0 0

506 The Radio and Electronic Engineer. Vol. 41, No. 11

 STATE VARIABLE METHODS IN ANTENNA SERVO ANALYSIS

>+ve torque bias

1
/

Electronic Electronic
compensation gain
Fig. 9. Servo system with opposed
motor drive taking up the

Tracking
receiver
X backlash zone.

Tachogenerator

'nput

1
s - *A

CC(S+VT)
L
*
Fig. 10. Servo block diagram of
the opposed motor drive.

_1_
S -

+ve torque bias

Fig. 11. State space diagram

of the opposed drive
servo.
UC.s1«0

November 1971 507

D. R. WILSON

Table 3
Computer print-out of the state transition matrix at
selected time intervals for the 90-ft diameter antenna
sample. Basic computing period T = 0-005s.

•TIME INTERVAL=
. 3 4 9 588 1 .97123E-35 -2.56464E-39 -2.56464E-09 1 .321936-07 TIMS" INTERV/AL = 2 .
.653411 4.57468E-05 •3SP873 -8-16217E-07. -4.00435E-09 -4.00435E-09 -S.23S1 1E-39
1 .32193E-37 8-30242E-04 •913895
5 . 2 3 51 1E-39 1.28793E-0 3 .345911 1.3S28 7 7.34403E-05
-.1913 -1 . 1S352E-34 -1 .28343E-03
.821579 518&•"3 -.298129 4.00397E-05 4.30097E-05 -1.99918E-33
14.4282 1 3656.6
1 .99918E-P3 -.568125 -10 503.1 5186.37 -3-40195E-02
735.543 - . 179 688 7.19944E-04 4.07419E-04
-3.9854 -735.544 3413.38 6.48124E-02 2.21613E-05 2.21 532E-05 4.33540E-04
-1 -22363E-03 -7914.17
4.32634E-34 - 4 . 72533 842.932 -3410.09 - 1 • 1 71 69
735.543 -.179688 4.37419E-34 7.19944E-34 -1 .22360E-03
-1.37526 341 3 • 38 6.48124E-32 2.21 532E-0 5 2.21 613E-0S 4.32634E-04
-1 -33558E-03 -3.3264 •7914.17 -735.544
4.38543E-B4 -4.72533 342.932 -3413.09 -1 .1 7169
-.233977 8-1 529 5E-3 4 4 . I 8 7S6E-3 5 -9.82341E-34
13900.8 2788-46 -.217382 4.34566E-05 4.30137E-05 -1 .4S623E-33
-1 .24241 E-03 10.4343 -42SS-99 .172389
1.45618E-33 - 2 . 5 9 68 -8294.93 S788.46 -.57SB93
-10900.8 -.233977 4. 1878 6E-05 8-1 5295E-34 -1 .24241E-33
• 17233 9 2738-46 - . S I 7382 4.33137E-05 4.34566E-35 -1.4S618E-03
-9-82341E-04 10.4343 -4255.39 13933-3 2788.46
1 .456SDE-33 -2.5963 -8294.93 - • 5 7209 3
-212.102 - 4 . 61 70.8E-03 -1 . 13445E-36 -1 . 1 3445E-06 -3.33435E-35
20 3.78 7 -7.53429E-03 3.29451E-08 3.29455E-08 -S.0S533E-05
-3.38435E-35 .909929 131-874 212.102 -5-1 653 5E-3 3 20 3.78 7
5-32533E-35 .59318 - 9 0 . 6 9 37 -2.34154E-32
-3.5871 1 E-03 -1.98358E-07 2.4799SE-1 1 2.47995E-1 1 -1.33019E-09
3.19344E-03 6.1 6353E-39 4.330 58E-1 1 4.030 58E-1 1 3.86290E-1 1
-1 .33019E-39 -7.93559E-36 -9.12244E-03 3.58 71 1 E-03 -4.51954E-37
3.8 6293E-1 1 -1.28818E-05 -3.52934E-03 -3-19344E-03 -7.34575E-07

TIME INTERVAL:
TIME INTERWL = - . 1 58871 - 9 . I 5404E-36 1 .31 599E-09 1 .3I599E-09 - 6 . 1 3839E-08
-.376325 -1 .22194E-05 -5.36839E-15 -5.36809E-10 - 8 . 1 79 42E-33 -6.13839E-38 3.40 337E-34 -.2210 58 1.1 523 7 1 .93638E-05
-8.17942E-08 8.93927E-04 -•164099 1 .37602 5.1 1977E-35
• 9-81854E-02 8.22572E-06 8.22571 E-06 6. 5733 7E-34
2463-25 -3.95685E-32 A. 7330 1 E-0 5 -6.69979 1459.1 6 -3314.23 -.381533
- 2 . 68032E-04 -8-92-7 48 -2469.26
-473.752 1.31747E-02 -1 .11454E-0S -l'.11454E-3 5 8.89341E-05
7.6S635E-02 -1 .3 6393 E-0 5 -1 .36393E-35- 5-11394E-34 8-89341 E-05 1.55292 9 1 7 . 33 1 473-746 -.813976
-.633466 2466.29 -1296-34 -•938312
-473-752 1 -31747E 8.89341E-3S
1296.84 7.62605E-32 -1 .36389E-05 -1 .06393E-35 5.1 1394E-34 8.89341 E-05 -.813976
1.5S292
5. 1 1 394E-04 -.633466 2466.29 -1296-54 -.938312
8537.25 8- 70 683E-02 1 -93671E-06 1.93671E-06 5.8a95SE-04
2602. 1 4 8.62495E-04 3.43844E-35 3.43843E-05 3.58 583E-36 -4.88652 -•701331
S.829S5E-04 I 604-48 -2537.25
3.58585E-06 -7.69155 -2225.37 -2632.1 5 -.861439
2537.25 8 . 7 3 633E-02 1 . 9 3 6 7 ] E-06 1 .93671 E-B6
2 6 3 2 . 14 3.43844E-05 3.58 5S7E-0 5.82955E-34 -4-88652 1 63 4. 48 -2537-25
3-58 581 E-06 -2602-1 5 -.861439
-15.565 -2.30404E-03 5-27S36E-07 5-27236E-07 -1.345S5E-05
-92-51 58 -5.26493E-03 6.95971E-07 6-95971 E-37 -3-52998E-35 -1 .34525E-05 9-I5466E-02 -44.0461 1 5.5649 -S.1B215E-32
-3.52998E-05 •265337 -107-25 92-51 57 --34192S

3.77639E-03 1 .2191 4E-07 5. 68575E-12 5. 63574E-12 8. ] 6949 E-13

1 .55392E-33 9-21925E-08 -1.31327E-11 -1.31337E-11 0
6.18233E-10 - 3 . 4 4 8 43E-36 2.22312E-33 -1 .5539 3E-0 3 -1 -9 61 71 E-3 7
8-1 6349E-10 -9.04870E-06 1 • 61383E-03 -3.77643E-33 -5-1 5367E-37

TIME INTERVAL = 5.
! .51 795E-33 -2.761 50E-06 1 .33275E-09 1.33275E-39 -1 .85566E-08
-1.85566E-38 5.S730-6E-0S - 8 - 13221 E-02 .998481 3. 1 6470E-06

1219.?2 7.6S80 6E-32 - 1 . 1 9 1 l»1E-3 5. 1 5601 E-04

5.1 560 1 E-04 -2.32539 -1219-24 -•11 5398
-630.163 -1.92484E-02 -2-01955E-06 -2.01955E-06 -1 .28778E-04
-1 -28 7 78E-3 4 1 .218 69 -312-133 680.156 -.833235

-1.9S4S4E-02 -2-31955E-06 -2.31955E-06 -1 .28778E-34

1 .218 69 -312.133 680-156 -.833235

715-912 5.53277E-02 -1 -07266E-05 -1 -07266E-0S 3 . 71 193E-04

3-71 199E-34 -1 . 16326 1 59 6.48 -715.923 -•48871 6

715-912 5-53277E-32 -1 .07266E-35 -1 .37266E-05 3.71193E-04

3-71 193E-34 -1 . 16026 1 59 6.48 -715-923 -•48871 6

-3-31281E-04 1 . 6121 7E-07 1 .6121 7E-07 -2.22779E-36

4. 19947E-32 • 1961 57 -2.96199 • 5.46387E-32

-6-931 73E-96 -1 .04365E-I 1 -1 .04065E-I 1

1.89033E-13 8.27258E-04 6.89398E-06

508 The Radio and Electronic Engineer, Vol. 41, No. 11

 STATE VARIABLE METHODS IN ANTENNA SERVO ANALYSIS

Table 4. Numerical data for 90 ft diameter antenna It follows that the response of any other variable, i.e.
» Motor-load gear ratio = N = 1500 : 1 state, in the system can be observed and hence the limit
of linear performance deduced by approximately scaling
'- Motor armature inductance = La = 0-03H
the input demand, until a particular state reaches the
.- Motor armature time constant = !Ta = 0-064 s
extremity of its linear range.
,1 Motor armature feedback resistance = Rf = 0-01Q
Motor torque constant = Kr = 0-75 Nm/A
Total referred inertia of load and
4. Conclusion
both motor armatures at motor
speed = J = 049kgm 2 The paper has illustrated the application of the state
Motor back e.m.f. constant = Kv = 0-85Vs/rad space technique in servomechanism analysis. The system
A matrix has been derived for two antenna servo models
"- Typical figures for a 90-foot diameter antenna are and the methods of applying inputs to the system via
, given in Table 4, from which the electronic gains input state variables has been illustrated. The advantage
/ required to achieve the desired natural frequency can be of the method is that by using computer evaluation of the
^ easily determined using the specified root method referred state transition matrix directly from the A matrix the
^ to above. For the purpose of the example a desired response of the servo can be predicted without any
; natural frequency of lHz is specified with the pre- manipulation of the transfer functions of the system. In
dominant complex roots lying on the zeta = 0-8 line so the case of a realistic design employing a sixth- or
that an acceptable transient response can be guaranteed. seventh-order servo model the manipulation of the transfer
. The electronic gains satisfying this requirement are: functions is time consuming, tedious and a likely source
of numerical errors. It follows that by eliminating the
• KtKt = 0-0378Vs/rad
necessity for transfer function manipulation by applica-
K2 = 1-58V/V
tion of the state transition matrix approach, an overall
i KA = 2300 V/V
increase in the accuracy and efficiency of the analysis will
GK = 20V/deg
result.
TR = 0-01 s
a = 35-4V/V
5. Acknowledgment
from which the numerical values of the A matrix can be The Author wishes to thank the Directors of Plessey
- computed: Electronics Group for permission to publish this paper
and Dr. K. Milne for useful discussions. Thanks are
1 2 3 4 5 6 7 8 9 10 also due to one of the Papers Committee's referees for
t 1
6-67 helpful suggestions.
x10~5

2 1-54 1-54 2-78 6. References

1. Wilson, D. R., 'Modern Servo Design Practice'. (Pergamon
3 -28 -15-6 33-3 Press, Oxford 1970.)
2. Shinners, S. M., 'Control System Design'. (Wiley, New York
4 -28 -15-6 33-3 1964.) ' '
25-8 x 3. Wilson, D. R., 'A survey of the developments in antenna servo
/U5 -137 -230 3640
107
techniques', The Radio and Electronic Engineer 38 No 3
pp. 169-77, September 1969. ' '
25-8X
6 -137 -230 3640 4. Wilson, D. R., 'The analysis and synthesis of optimal control
107
systems incorporating a digital computer', Control 12 No 126
7
28-4x pp. 1031-36, December 1968. ' '
10 3
5. Liou, M. L., 'A novel method of evaluating transient response'
-1 -100 1
Proc. Inst. Elect. Electronics Engrs, 54, No. 1, pp. 20-23, January
8 1966.
6. Prime, H. A. et al, 'Electric drive system for a steerable aerial at a
9
satellite-communications earth station', Proc. Instn Elect Enpn
111, No. 3, pp. 556-64, March 1964. ' 8
,10
7. Wheeler, R. G., 'Design study of control system for 210 ft radio
telescope', I.F.A.C., Basle 1963.
8. Canfield, E. B., 'Electromechanical Control Systems and Devices'
and the state transition matrix evaluated. Table 3 gives ( Wiley, New York, 1965.) '
I -a series of typical print-outs where in this case the output 9. Stallard, D. V., 'Servo problems and techniques in large antennas'
•response is defined by <£li9(0 for a step input, i.e. I.E.E.E. Trans on Applications in Industry, No. 71 pp 105-14
March 1964. '
> x(0) = [ 0 0 0 0 0 0 0 0 1 0 ] T
Manuscript first received by the Institution on 23rd September 1970
land the response to a step of wind is defined by 0i,lo(O» in revisedform on 10th December 1970 and infinalform on 7th Mav
U.e. for a step of wind: 1971. {Paper No. 1418/IC 53.)
' x(0) = [0 0000 00 0 0 1]T.
© The Institution of Electronic and Radio Engineers, 1971

November 1971
E
509