antenna azimuth position control system team:by tyrone tracy sukhbir hundal bee thao me 270 12/13/07

Antenna Azimuth Position Antenna Azimuth Position Control SystemControl System

Team: Team:

ByByTyrone TracyTyrone Tracy

Sukhbir HundalSukhbir HundalBee ThaoBee Thao

ME 270ME 27012/13/0712/13/07

OverviewOverview

Objective

System Concept

Textbook Schematic

Bondgraph Models

Results

Conclusion

Demonstration ModelDemonstration Model

Objective Objective

Replicate results from Norman S. Nise’s Antenna Azimuth Position Control System Using Camp-G/Matlab/Simulink Transfer Functions System Response Graphs

System Concept*Control System Engineering by Norman S. Nise

Textbook SchematicTextbook Schematic

Textbook Schematic ParametersTextbook Schematic Parameters

Block DiagramBlock Diagram

ParametersParameters

Bond Graph ModelsBond Graph Models

Three individual systemsThree individual systems– Differential preamplifierDifferential preamplifier– Power amplifierPower amplifier– DC motorDC motor

Complete SystemComplete System

Differential PreamplifierDifferential PreamplifierControl System Engineering ModelControl System Engineering Model

CampG Model Modified ModelCampG Model Modified Model

Differential Operational AmplifierDifferential Operational AmplifierTextbook ResultsTextbook Results

Transfer Transfer FunctionFunction

Step Step ResponseResponse

Differential PreamplifierDifferential PreamplifierOur ResultsOur Results

SimulinkSimulink

MatlabMatlab

Differential Preamplifier EquationDifferential Preamplifier Equation

dQ5=SE1/R3-Q5/C5/R3dQ5=SE1/R3-Q5/C5/R3

Power AmplifierPower AmplifierControl System Engineering ModelControl System Engineering Model

CampG Model Modified ModelCampG Model Modified Model

Power AmplifierPower AmplifierTextbook ResultsTextbook Results

Transfer Transfer FunctionFunction

Step Step ResponseResponse

Power AmplifierPower AmplifierOur ResultsOur Results

SimulinkSimulink

MatlabMatlab

Power Amplifier EquationPower Amplifier Equation

dQ6=-SF1+SE12/R11dQ6=-SF1+SE12/R11-Q6/C6/R11-Q6/C6/R7-Q6/C6/R11-Q6/C6/R7

DC MotorDC MotorControl System Engineering ModelControl System Engineering Model

CampG Model Modified ModelCampG Model Modified Model

DC MotorDC MotorTextbook ResultsTextbook Results

Transfer Transfer FunctionFunction

Step Step ResponseResponse

DC MotorDC MotorOur ResultsOur Results

SimulinkSimulink

MatlabMatlab

DC MotorDC Motor Equations Equations

dP8=SE1/R2/G3x4/T6x7dP8=SE1/R2/G3x4/T6x7-P8/I8/T6x7/G3x4/R2/G3x4/T6x7-P8/I8/T6x7/G3x4/R2/G3x4/T6x7-P8/I8/T6x7*R5/T6x7-P8/I8*R9-P8/I8/T6x7*R5/T6x7-P8/I8*R9

-P8/I8*T10x11*R12*T10x11-P8/I8*T10x11*R12*T10x11

Modified Bond Graph Modified Bond Graph withoutwithout Derivative Causality Derivative Causality

Complete SystemComplete SystemTextbook ResultsTextbook Results

Transfer Transfer FunctionFunction

Step Step ResponseResponse

Complete System Complete System Our ResultsOur Results

SimulinkSimulink

MatlabMatlab

Differential EquationsDifferential Equations

1. dQ24=SF1-Q24/C24/R231. dQ24=SF1-Q24/C24/R23

2. 2. dQ28=SE25/R27-Q28/C28/R27dQ28=SE25/R27-Q28/C28/R27

3.dP8=P8/I8/T6x7/G3x4/R2/G3x3.dP8=P8/I8/T6x7/G3x4/R2/G3x4/T6x74/T6x7

+SE18/R2/G3x4/T6x7+SE18/R2/G3x4/T6x7-P8/I8/T6x7*R5/T6x7-P8/I8/T6x7*R5/T6x7

P8/I8*R9*P8/P8/I8*R9*P8/I8*T10x11*R12*T10x11I8*T10x11*R12*T10x11

ConclusionConclusion

ComparisonComparison– Results Very CloseResults Very Close– Graphs were similarGraphs were similar– Transfer Functions almost exactTransfer Functions almost exact

ErrorError– About 5 percent errorAbout 5 percent error

ConclusionConclusion– We are able to use CampG/Matlab/Simulink to We are able to use CampG/Matlab/Simulink to

reproduce Nise’s book results!!!reproduce Nise’s book results!!!

Demonstration ModelDemonstration ModelOur Antenna Azimuth Position Control SystemOur Antenna Azimuth Position Control SystemThe video is also located in the folder!The video is also located in the folder!