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CONTROL SYSTEMS ENGINEERING
Fourth Edition

Norman S. Nise
California State Polytechnic University, Pomona

JOHN WILEY & SONS, INC.

Antenna Azimuth Position Control System
Layout

Potentiometer
θ i(t)

Antenna

Desired azimuth angle input

θ o(t) Azimuth angle output

Differential amplifier and power amplifier Motor Potentiometer

Schematic
Desired azimuth angle input +V θ i(t) n-turn potentiometer Power –V Differential preamplifier amplifier vp(t) ea(t) vi (t) + K1 K vo(t) – s+a Ja Da Kb Kt Motor Ra Fixed field

θ m(t)
kg-m2 N-m s/rad V-s/rad N-m/A Armature N2 Gear –V N3 Gear +V N1 Gear JL kg-m2

Azimuth angle output θ o(t)

DL N-m-s/rad n-turn potentiometer

Block Diagram
Desired azimuth angle Potentiometer θ i(s) Vi(s) + Kpot – Power amplifier K1 s+a Ea(s) Motor and load θm(s) Km s(s + am) Azimuth angle θ o(s)

Preamplifier Ve(s) Vp(s) K

Gears Kg

Potentiometer Kpot

Schematic Parameters
Parameter Configuration 1 Configuration 2 Configuration 3

V n K K1 a Ra Ja Da Kb Kt N1 N2 N3 JL DL

10 10 — 100 100 8 0.02 0.01 0.5 0.5 25 250 250 1 1

10 1 — 150 150 5 0.05 0.01 1 1 50 250 250 5 3

10 1 — 100 100 5 0.05 0.01 1 1 50 250 250 5 3

Block Diagram Parameters
Parameter Configuration 1 Configuration 2 Configuration 3

Kpot K K1 a Km am Kg

0.318 — 100 100 2.083 1.71 0.1

Note: reader may fill in Configuration 2 and Configuration 3 columns after completing the antenna control Case Study challenge proglems in Chapters 2 and 10, respectively.

EXECUTIVE EDITOR ASSISTANT EDITOR SENIOR MARKETING MANAGER SENIOR PRODUCTION EDITOR DESIGN DIRECTOR PRODUCTION MANAGEMENT SERVICES

Bill Zobrist Catherine Mergen Katherine Hepburn Patricia McFadden Harry Nolan Publication Services

Cover Photo: U.S. Department of Energy/Science Photo Library/Photo Researchers Manny, a robot mannequin, was built at the Department of Energy’s Pacific Northwest Laboratory. The robot was designed to simulate human movements, sweating, and breathing in order to test protective clothing worn by firefighters and handlers of hazardous material. Protective clothing is stressed by Manny’s 40 joints, which move with the help of hydraulic actuators. Water is conducted through tubes to simulate perspiration, while breathing is imitated by introducing moist air through the nose and mouth to produce human-like chest motion. This book was set in Times Roman by Publication Services, Inc. and printed and bound by Donnelley/Crawfordsville. The cover was printed by Lehigh Press, Inc. This book is printed on acid-free paper. The software programs available with this book have been included for their instructional value. They have been tested with care but are not guaranteed for any particular purpose. The publisher and author do not offer any warranties or restrictions, nor do they accept any liabilities with respect to the programs. Copyright 2004 John Wiley & Sons, Inc. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning or otherwise, except as permitted under Sections 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc. 222 Rosewood Drive, Danvers, MA 01923, (508)7508400, fax (508)750-4470. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201)748-6011, fax (201)748-6008, E-Mail: PERMREQ WILEY.COM. To order books or for customer service please call 1-800-CALL WILEY (225-5945).

Library of Congress Cataloging-in-Publication Data: Nise, Norman S. Control Systems Engineering/Norman S. Nise.—4th ed. Includes bibliographical references. 1. Automatic control. 2. Systems engineering. I. Title. TJ213 .N497 2004...
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