Apago PDF Enhancer
, Antenna Azimuth Position
Control System
Layout
Potentiometer
Antenna
θ i(t)
θ o(t)
Desired Azimuth
azimuth angle angle
input output
Differential amplifier
and power amplifier
Motor Apago PDF Enhancer
Potentiometer
Schematic
+V
n-turn potentiometer
Fixed
Differential Power Motor field
–V
preamplifier amplifier Ra
vi(t) + vp(t) ea(t)
K1
vo(t) – K s+a
Ja kg-m2 N1
Da N-m s/rad Gear
Kb V-s/rad
Armature
Kt N-m/A N2
JL kg-m2
–V Gear
DL N-m-s/rad
N3
n-turn potentiometer
Gear
+V
,Block Diagram
Desired Power Motor
azimuth Azimuth
Potentiometer Preamplifier amplifier and load Gears angle
angle
qi(s) Vi(s) + Ve(s) Vp(s) K1 Ea(s) K1 qm(s) qo(s)
Kpot K Kg
s+a s(s+am)
–
Potentiometer
Kpot
Schematic Parameters
Parameter Configuration 1 Configuration 2 Configuration 3
V 10 10 10
n 10 1 1
K — — —
K1 100 150 100
a 100 150 100
Ra 8 5 5
Ja 0.02 0.05
Apago PDF Enhancer 0.05
Da 0.01 0.01 0.01
Kb 0.5 1 1
Kt 0.5 1 1
N1 25 50 50
N2 250 250 250
N3 250 250 250
JL 1 5 5
DL 1 3 3
Block Diagram Parameters
Parameter Configuration 1 Configuration 2 Configuration 3
Kpot 0.318
K —
K1 100
a 100
Km 2.083
am 1.71
Kg 0.1
Note: reader may fill in Configuration 2 and Configuration 3 columns after completing
the antenna control Case Study challenge problems in Chapters 2 and 10, respectively.
, Unmanned Free-Swimming
Submersible Vehicle
Pitch Control System
Commanded
Pitch elevator Elevator Elevator Vehicle
command Pitch gain deflection actuator deflection dynamics Pitch
θc(s) + + δec(s) 2 δe(s) –0.125(s + 0.435) θ (s)
–K1
s+2 (s + 1.23)(s2 + 0.226s + 0.0169)
– –
Pitch rate
sensor
–K2s
Apago PDF Enhancer
Heading Control System
Commanded Heading
Heading Heading rudder Rudder Rudder Vehicle (yaw)
command gain deflection actuator deflection dynamics rate Heading
ψc(s) + + δrc(s) 2 δr(s) –0.125(s + 0.437) ψ (s) ψ (s)
–K1 1
s+2 (s + 1.29)(s + 0.193) s
– –
Yaw
rate
sensor
–K2s
, Antenna Azimuth Position
Control System
Layout
Potentiometer
Antenna
θ i(t)
θ o(t)
Desired Azimuth
azimuth angle angle
input output
Differential amplifier
and power amplifier
Motor Apago PDF Enhancer
Potentiometer
Schematic
+V
n-turn potentiometer
Fixed
Differential Power Motor field
–V
preamplifier amplifier Ra
vi(t) + vp(t) ea(t)
K1
vo(t) – K s+a
Ja kg-m2 N1
Da N-m s/rad Gear
Kb V-s/rad
Armature
Kt N-m/A N2
JL kg-m2
–V Gear
DL N-m-s/rad
N3
n-turn potentiometer
Gear
+V
,Block Diagram
Desired Power Motor
azimuth Azimuth
Potentiometer Preamplifier amplifier and load Gears angle
angle
qi(s) Vi(s) + Ve(s) Vp(s) K1 Ea(s) K1 qm(s) qo(s)
Kpot K Kg
s+a s(s+am)
–
Potentiometer
Kpot
Schematic Parameters
Parameter Configuration 1 Configuration 2 Configuration 3
V 10 10 10
n 10 1 1
K — — —
K1 100 150 100
a 100 150 100
Ra 8 5 5
Ja 0.02 0.05
Apago PDF Enhancer 0.05
Da 0.01 0.01 0.01
Kb 0.5 1 1
Kt 0.5 1 1
N1 25 50 50
N2 250 250 250
N3 250 250 250
JL 1 5 5
DL 1 3 3
Block Diagram Parameters
Parameter Configuration 1 Configuration 2 Configuration 3
Kpot 0.318
K —
K1 100
a 100
Km 2.083
am 1.71
Kg 0.1
Note: reader may fill in Configuration 2 and Configuration 3 columns after completing
the antenna control Case Study challenge problems in Chapters 2 and 10, respectively.
, Unmanned Free-Swimming
Submersible Vehicle
Pitch Control System
Commanded
Pitch elevator Elevator Elevator Vehicle
command Pitch gain deflection actuator deflection dynamics Pitch
θc(s) + + δec(s) 2 δe(s) –0.125(s + 0.435) θ (s)
–K1
s+2 (s + 1.23)(s2 + 0.226s + 0.0169)
– –
Pitch rate
sensor
–K2s
Apago PDF Enhancer
Heading Control System
Commanded Heading
Heading Heading rudder Rudder Rudder Vehicle (yaw)
command gain deflection actuator deflection dynamics rate Heading
ψc(s) + + δrc(s) 2 δr(s) –0.125(s + 0.437) ψ (s) ψ (s)
–K1 1
s+2 (s + 1.29)(s + 0.193) s
– –
Yaw
rate
sensor
–K2s
