Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise ...
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Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 G c (s) Controller + + n sensor noise + w load disturbance + G p (s) Plant u control y output + - r reference input, or set-point e sensed error
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Transcript of Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller n sensor noise ...
Final Exam
M.Eng. Amjad Elshenawy
RTECS 2010
11
Gc(s)Gc(s)
Controller
+ + n
sensornoise
+
w load disturbance
+Gp(s)Gp(s)
Plant
ucontrol
youtput
+-
rreferenceinput, orset-point
esensed
error
Instructions
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Instruction
•The exam is an open book exam•Internet and network connections are not
allowed•Create a new folder
“FirstName_LastName”
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Antenna Azimuth Position Control System
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Problem Description
•The aim is to control the antenna azimuth angle
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System Concept
•Closed loop control is used to control the antenna position
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Block Diagram
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Modelling The Physical System
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Model Name
•Create a model named▫FirstName_LastName_PhysicalSystem.mdl
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Physical System DescriptionPower Amplifier [2.5 Points]•Power Amplifier
▫To drive the dc Motor•The transfer function of the power
amplifier is given as
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100
100)(
ssG
Physical System DescriptionDC Motor [10 Points]•Armature controller DC Motor
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neglected isfriction Static
02.0 :tcoefficienfriction Dynamic
03.0 :Inertia
:tCoefficien EMFBack
5.0 :constant ueMotor torq
0:inductance Armature
8:resistance Armature
d
TEMF
T
a
a
K
J
KK
K
L
R
Where
Block Diagram
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Check Your Model (Optional)Compare with S-Function Model
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Plant_Model_SFunction_Verification.zip
Analogue Controller Design & Tuning
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Model Name
•Create a model named▫FirstName_LastName_Analogue_Controller
.mdl
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Potentiometer Transfer Functoin [2.5 Points]•Both input and output potentiometers
map the angle range [0 ... π] to the voltage range [0 ... 5V]
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Controller Implementation[15 Points]•Implement a PID controller•Tune the controller parameters using
Ziegler-Nichols Oscillation Method with the Tyreus & Luyben Tuning Values using either▫Manual tuning▫Tuning using Simulink control design and
the PID controller block from Simulink Extras Additional linear
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Controller Implementation (Cont.)[15 Points]•Apply a unit step input then using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
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Digital Controller Design
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Model Name
•Create a model named▫FirstName_LastName_Digital_Controller.m
dl
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Digital Control Loop[5 Points]•Introduce the elements of the digital
control loop▫Quantizer▫Delay
•Design the system with a sampling time = 2ms
•No. Of bits used in quantization = 8 bits•Time delay in the loop = 1ms
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Controller Discretization[5 Points]•Perform discretization of the analogue
PID controller using Trapezoidal discretization method for both the integrator and the derivative.
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Results Comparison[Bonus Points]•Apply a unit step input and using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
•Compare the results with those of the analogue controller results
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Software In the LoopTesting
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Model Name
•Create a model named▫FirstName_LastName_Digital_Controller_SI
L.mdl
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Model Configuration[10 Points]•Configure the model to be suitable for SIL•Create an S-function wrapper in which
the PID gains are tunable•Replace the controller by the S-function
wrapper•Perform simulation
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Results Comparison[Bonus Points]•Apply a unit step input and using Matlab
calculate▫RiseTime▫SettlingTime▫Overshoot
•Compare the results with those of the digital controller results
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References
•Norman S. Nise, “Control Systems Engineering”
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