PBL-A1/MEC522

UNIVERSITI TEKNOLOGI MARA

Code

: MEC522

Course

: CONTROL ENGINEERING

GROUP ASSIGNMENT-PROBLEM BASED LEARNING ASSIGNMENT

Problem Statement:
An Armature controlled dc motor is used to control the position of an antenna azimuth in
which is shown in Figure 1. While the schematic diagram for this system is shown in Figure 2
and its corresponding parameters are highlighted in the Table 1.
Equation of motion which represents the system dynamics is derived by neglecting the
dynamics of potentiometers. Thus, the relationship between the output voltage and the input
angular displacement is given by;

Vi ( s) 1

i ( s)

(1.1)

The relationship between motor and load is given by;

m ( s)
E a (s)

K t /( Ra J m )

KK
1
s s
( Dm t b )
Jm
Ra

In which the equivalent inertia, J m is derived from

(1.2)

PBL-A1/MEC522

N
J m J a J L 1
N2

(1.3)

Similarly the equivalent viscous damping, Dm is

N
Dm Da D L 1
N2

(1.4)

These quantities are substituted into the motor equation (i.e. eq. 1.2), 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;

o ( s)

N ( s)
1 m
Ea ( s) N 2 Ea ( s)

(1.5)

From parameter values in Table 1, (i.e. choose your parameter configuration) 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 under unit step signal input.
To justify the reasonability of your results, simulate the system using MATLAB/SIMULINK.
Submit a full project report to document your results

PBL-A1/MEC522

Figure 1: An Antenna Azimuth Position Control System

Figure 2: Schematic Diagram of Antenna Azimuth

Parameter

Configuration 1

Configuration 2

Configuration 3

10

10

10

10

K1

100

150

100

PBL-A1/MEC522
a

100

150

100

Ra

Ja

0.02

0.05

0.05

Da

0.01

0.01

0.01

Kb

0.5

Kt

0.5

N1

25

50

50

N2

250

250

250

N3

250

250

250

JL

DL

Table 1: The Schematic Parameters

The Marking Scheme

The overall mark for the Group will be derived based on the following criteria;
PO
PERFORMANCE
CRITERIA

i. Ability to analyze
control system
engineering
problem s. (C4)

ii. Explores
Alternative
Designs or
solution to the
problems (P5)
iii. Uses analytic
tools to aid in
method of
approach and
support final
solution. (P4)

POOR

ACCEPTABLE
(2.5)

EXCELLENT
(7.5)

(1)

(5)

(10)

Evidence of no
ability to
analyze
control system
engineering
problems.

Evidence of
acceptable level
in analyzing
control system
engineering
problems.

Clear and
complete
analyze of
control system
engineering
problems.

Single design
presented or
unreasonable
alternative
presented.

Alternative
approaches
explored to a
limited depth.

Reasonable
alternatives
explored to
arrive at final
design.

Minimal
application
and use of
appropriate
tools.

Uses some
analytic tools
with moderate
effectiveness.

Selects
appropriate
tools and uses
them
effectively in
developing

PBL-A1/MEC522

PO
PERFORMANCE
CRITERIA

POOR

ACCEPTABLE
(2.5)

(1)

EXCELLENT
(7.5)

(5)

(10)
design.