1. Final Exam M.Eng. Amjad Elshenawy RTECS 2010 1 1 Gc(s)Gc(s) Gc(s)Gc(s) Controller   n sensor noise  w load disturbance  Gp(s)Gp(s) Gp(s)Gp(s) Plant u control y output   r reference input, or set-point e sensed error

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3. Instruction The exam is an open book exam Internet and network connections are not allowed Create a new folder “FirstName_LastName” RTECS 2010 3

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5. Problem Description The aim is to control the antenna azimuth angle RTECS 2010 5

6. System Concept Closed loop control is used to control the antenna position RTECS 2010 6

7. Block Diagram RTECS 2010 7

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9. Model Name Create a model named ▫FirstName_LastName_PhysicalSystem.mdl RTECS 2010 9

10. Physical System Description Power Amplifier [2.5 Points] Power Amplifier ▫To drive the dc Motor The transfer function of the power amplifier is given as RTECS 2010 10

11. Physical System Description DC Motor [10 Points] Armature controller DC Motor RTECS 2010 11

12. Block Diagram RTECS 2010 12

13. Check Your Model (Optional) Compare with S-Function Model RTECS 2010 13

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15. Model Name Create a model named ▫FirstName_LastName_Analogue_Controller.mdl RTECS 2010 15

16. Potentiometer Transfer Functoin [2.5 Points] Both input and output potentiometers map the angle range [0... π ] to the voltage range [0... 5V] RTECS 2010 16

17. 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 RTECS 2010 17

18. Controller Implementation (Cont.) [15 Points] Apply a unit step input then using Matlab calculate ▫RiseTime ▫SettlingTime ▫Overshoot RTECS 2010 18

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20. Model Name Create a model named ▫FirstName_LastName_Digital_Controller.mdl RTECS 2010 20

21. 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 RTECS 2010 21

22. Controller Discretization [5 Points] Perform discretization of the analogue PID controller using Trapezoidal discretization method for both the integrator and the derivative. RTECS 2010 22

23. 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 RTECS 2010 23

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25. Model Name Create a model named ▫FirstName_LastName_Digital_Controller_SIL.m dl RTECS 2010 25

26. 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 RTECS 2010 26

27. 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 RTECS 2010 27

28. References Norman S. Nise, “Control Systems Engineering” RTECS 2010 28