MEC522: CONTROL ENGINEERING

PBL ASSIGNMENT
An Armature controlled dc motor is used to control the position of an antenna azimuth which
is shown in Figure 1. The schematic diagram for this system is shown in Figure 2
Figure 1: An Antenna Azimuth Position Control System
Figure 2: Schematic Diagram of Antenna Azimuth
Parameter Configuration 1 Configuration 2 Configuration 3
V 10 10 10
n 10 5 5
K - - -
K1 100 150 100
a 100 150 100
Ra 8 5 5
Ja 0.02 0.05 0.05
Da 0.01 0.01 0.01
Kb 0.5 1 1
Kt 0.5 1 1
N1 25 50 50
N2 250 250 250
N3 250 250 250
JL 1 5 5
DL 1 3 3
Table 1: The Schematic Parameters
By neglecting the dynamics of potentiometers the relationship between the output voltage
and the input angular displacement is given by;

1
) (
) (

s
s V
i
i
(1.1)
The relationship between motor and load is given by;
1
]
1

+ +

) (
1
) /(
) (
) (
a
b t
m
m
m a t
a
m
R
K K
D
J
s s
J R K
s E
s
(1.2)
The equivalent inertia,
m
J
is
2
2
1

,
_

+
N
N
J J J
L a m
(1.3)
Similarly the equivalent viscous damping,
m
D
is
2
2
1

,
_

+
N
N
D D D
L a m
(1.4)
These quantities are substituted into the motor equation, yielding the transfer function of the
motor from the armature voltage to the armature displacement. The gear ratio to arrive at the
transfer function relating load displacement to armature voltage is;
) (
) (
) (
) (
2
1
s E
s
N
N
s E
s
a
m
a
o

,
_

(1.5)
From parameter values in Table 1, design a controller consisting of P-I-D actions to improve
the performance of the antenna system. The requirement is open which means that you
should try to achieve as good as possible performance for transient, stability as well as signal
tracking. Use a unit step signal.
To justify the reasonability of your results, simulate the system using MATLAB/SIMULINK.
Submit a full project report to document your results
Or use this requirement as a guideline
Overshoot (%) PO < 15%
Peak Time (s) Tp < 0.5 s