Controlsystem

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

Bibliography: Appendix G Control System Computational Aids CD-ROM G.1 Step Response of a System Represented in State Space G.2 Root Locus and Frequency Response xxiv Contents Appendix H Derivation of a Schematic for a DC Motor Appendix I Derivation of the Time Domain Solution of State Equations Appendix J Solution of State Equations for t 0 0 CD-ROM CD-ROM CD-ROM CD-ROM CD-ROM Appendix K Derivation of Similarity Transformations Appendix L Root Locus Rules: Derivations L.1 Behavior of the Root Locus at Infinity L.2 Derivation of Transition Method for Breakaway and Break-in Points Solutions to Skill-Assessment Exercises Control Systems Engineering Toolbox Lecture Graphics Cyber Exploration Laboratory Experiments CD-ROM CD-ROM CD-ROM CD-ROM