SCHOOL OF ELECTRICAL AND ELECTRONOIC ENGINEERING

POWER ELECTRONICS AND DRIVE SYSTEMS

(2920_ELEC_ENG_COMBINED_0010)

Project
Antenna Azimuth and its simulation by lab view program

Semester 2, 2009

Student : Rohit Godara Teaching Supervisor

SID: 1196024 Dr. Nesimi Ertugrul
 Table of Contents

1. Introduction

2. Antenna Azimuth

2.1 Control system for Antenna Azimuth

2.2 System Modelling

3. Lab view Program Design

3.1 Calculation for the system of constants with and without compensation

3.2 Calculation of parameter for Tachometer and Amplifier gain

3.3 Time response for the realisation

3.3.1 with compensation

3.3.2 without compensation

4. Front Panel Navigation and functions

5. Program Results

5.1 Discussion on the result produced

6. Conclusion

7. References
1. Introduction

The control system of the antenna azimuth consists of the armature dc servo motor,
potentiometer, and amplifier.

Labview is a graphical programming language which is used by the engineer and

qualified persons to solve the engineering difficulty and analysis. The graphical
characteristic has good advantage for text programming this is due to construct the
program more easily and troubleshooting is made simpler. Lab view is generally
used in different applications like control applications and simulation, image
processing, multimedia, signal processing and mathematics.
2. Antenna Azimuth

2.1 Control System For Antenna Azimuth

It is necessary to set the position of antenna by giving the input via input
potentiometer. The real antenna Azimuth output is the system output. Block diagram
is shown below[2].

Anyways there will be a huge increase in the percentage of overshoot in regards to

the result of the system. In turn this will result in the azimuth angle to go higher than
the expected angle, which is strictly underdamped. The time taken by the antenna
for settling is also comparatively larger. To put an end to this a tachometer is
introduced which acts as a feedback compensator for the antenna load and the
motor will be the best result[2].

By introducing tachometer, the main aim is to decrease the percentage of overshoot

and also the settling time in regardless to the preference of the engineer. The
engineers specify the parameter mention above which will result in a certain profit for
the amplifier as well as the tachometer.
2.2 System Modelling

We have to obtain the constants for the potentiometer, motor and the gears for
modelling the whole system without compensating and feedback.

DC Servomotor

Armature-controlled DC servomotor is used in this system. A fixed field is created by

which means a magnetic field is produced by magnets or electromagnet which is
stationary. The current is flows through from the rotating circuit which is called
armature, passes from the magnetic field at the accurate angle and sense a force[1].

F= Blida Where

B = Magnetic field strength

l = Conductor length

The conductor is moving in a correct angle with of result of that magnetic field
produce a voltage on the terminals of the conductor which is equal to e= B/ v, where
v is the velocity of conductor which is ordinary to the magnetic field and e is voltage.
The voltage ∝ speed because the current moving armature is rotating in the
magnetic field [1].

dθm
vb (t) = Kb (t) where
dt
vb (t) = Back electromotive force, back emf

Kb = Back emf constant

dθm
(t) = Angular velocity of the moter
dt

With the result of that Laplace Transform is:

Vb(s) = Kb sθm(s)
The loop equation show the relationship between the back emf, vb (t), the functional
voltage of armature, ea(t), and armature current ,ia(t);
RaIa(s) + LasIa(s) + Vb(s) = Ea(s)
The torque is produce by the motor ∝ armature current,
Tm(s) = KtIa(s) Where
Tm = Motor torque
Kt = Constant of proportionality, called the motor torque constant
In the consistent set of units Kt = Kb, to solve the above equation:
1
Ia(s) = Tm(s)
Kt

Calculate the motor transfer function, putting the earlier equation in the loop
equation:
1 dy
(Ra + Las) Tm(s) + Kb sθm(s) = Ea(s)
Kt dx

Equation connecting with the viscous damping D m , Inertia of the armature Jm with
the torque of the motor:

Tm(s) = (Jms2 + Dms)θm (s)

Substituting the equation in it

1 dy
(Ra + Las) (Jms2 + Dms)θm ( s ) +¿ Kb sθm(s) = Ea(s)
Kt dx

In Dc motor armature induction La is very less then resistance, Ra with the result of
this the equation:
Ra
[ Kt ]
(Jms + Dm) + Kb sθm(s) = Ea(s)

The motor transfer function is:

Kt /( RaJm)
θm(s) 1 Km
= s [s+ ] =
Ea(s ) KtKb s (s +am)
Jm Dm+( Ra )
To find out the mechanical constants;
Jm, Dm = load inertia
JL and the viscous damping of the load, DL is the reflected back to the armature
which is equal to equivalent inertia and viscous damping, where J a and Da are the
armature parameter.
2 2
Jm = Ja + JL¿) Dm = Da + DL¿) Where

N1 = Gear teeth which is connected to the motor

N2 = Gear teeth at the load of antenna
To find out the rest of parameter, dynamometer test is performed from the equation
Kbkt Kt
Tm = - wm + ea
Ra Ra

This is described as a straight line. Tm ∝ wm this plot is called torque –speed curve.
The torque axis intercept occurs when the angular velocity reaches zero. At that
point the torque value is called stall torque T stall. Thus
Kt
Tstall = ea
Ra

When the torque is zero then angular velocity is occurring and it is called the no-load
speed, Wno-load, thus:
ea
Wno-load =
Kb

The electrical constant of the motor’s transfer function is:

Kt Tstall ea
= and Kb =
Ra ea Wno−load

Potentiometer

In the potentiometer there are number of turns, N and v is the positive and negative
voltage, v is corresponding to the turn made[2].

V
Kpot =
N∗π
; Where

V is Positive and negative voltage and N is the number of turns.

The potentiometer which is used in the system consist input and output
potentiometer.

For the gear

The gear which is modelled as a gain, Kg which is equal to;

N1
Kg = Where
N2

N1 = Number of gear teeth at the motor

N2 = Number of gear teeth at the load

3. Lab view design of the program

3.1 Calculation for the system of constants with and without compensation

With the help of front panel we are putting the inputs and we are using the digital
control from numeric selection[2].

Figure3; The inputs for the calculations to model the system

From the inputs the program can be calculates with the help of formulas:

1 Kt
Km = ( )
Jm Ra

1 KtKb
am =
Jm
( Dm+
Ra
)

Kt Tstall ea
Where
Ra
= Ra
and Kb =
Wno−load
is it achieve by the dynamometer test

2
Jm = Ja + JL¿) ; is it not display in the front panel of the main VI
 2
Dm = Da + DL¿) ; is it not display in front panel of the main VI
V
Kpot =
N∗π

N1
Kg =
N2
; is it not display in front panel of the main VI

This program is used to calculate the parameter which is saved in the other VI called
Calc parm.
Figure4: The program diagram for the calc parm.vi to calculate the constant for the
system.

3.2 Calculation of parameter for Tachometer and Amplifier gain

The inputs which is comes from the front panel are preferred percentage overshoot
(%OS) and desired setting time (Ts) with the help of these parameter amplifier gain
and tachometer gain calculated in a very easily ways and in the desired outputs[4].

8
−am
The tachometer gain is; Tsd
Kf =
Km

Where Tsd = Desired settling time

Am and Km = Constant for the motor

This can be calculated with the help of labview:

4 ¿ ln ⁡( %
OS
( )2 OS
√
)
KA = Tsdδ
KmKpotKg
δ=
100
(
( π 2+ ln %
100))

Where δ =Damping ratio

Km,Kpot,Kg = Constant for the motor, potentiometer and gear.

Figure5; The front panel which display the output, in this amplifier gain required, the
tachometer gain required and also the compensated system response.

Figure 6; Part of program that calculates the required tachometer gain,Kf

Figure7; Part of program that calculates the required amplifier gain,K A or K1

3.3 Time response for the realisation

For the compensated and uncompensated system the time response is formed with
the help of generated angular response plotted against the time array through an XY
graph. In this loop is using to produce the output and the formulation for the
uncompensated system is get with the hand computations and for the compensated
system is get with Matlab[4].

3.3.1 The angular response for the system with compensation:

C2 (t) = 1/(Km * k1) + (4*Y*Z/X) – (Y*pow(a,2)*Z/Km/k1/x) – (2*Y*a*Kf*Z/w/x) -

(Km*Y*pow(Kf,2)*Z/K1/x) – ( Y*sqrt(w)*Kf*sin(0.5*sqrt(w)*t)/k1/x) +
(Y*sqrt(w)*a*sin(0.5*sqrt(w)*t)/km/k1/x);

Where, W = 4KmK1- am2 – 2am KmKf- Km2 Kf 2;

X = - (4KmK1- am2 – 2am KmKf- Km2 Kf 2);

Y = exp[-(0.5am + 0.5 kmkf)t];

Z = cos(0.5❑√ W )t, K1 is the product of KA,Kg and Kpot.

Figure8; This diagram realises the angular response of the compensated system.

3.3.2 The angular response for the system without compensation

C1(t) = d - d
e−t
[
cos
√ KmKAKgKpot
( -(am/2)2 )
1
t + √ KmKAKgKpot −( am/2) 2

¿
sin -(am/2)2 )t ]
Where d = desired azimuth angular position

It is only applicable for the underdamped system and it is not work for an
overdamped system.
Figure9: Part of the program which realises the angular response of the
uncompensated system.

A) Inputs to navigate the response

graph

B) Inputs for modelling the system

 C) Desired value for theG)
inputs
Required constraint for the
output
F) Uncompensated
system

Figure10; Front panel navigation and functions

H) Block diagram for understanding system of study

 D) Angular response for feedback
compensated structure
E) Angular response for uncompensated
system:

Figure 11; Front panel navigation and functions

The front panel is shown in the figure and its consists of 9 segments which are
classified for showing the output result and control system[4].

A) Inputs to navigate the response graph:

With the help of these inputs function are adjusting the response graph which is
based on the observer choice. These section consists three inputs; accuracy,
observation period and desired angular position.

 Accuracy:
The accuracy of the plot is dependent on the difference of the instance and
the instance before

 Observation period :
The highest time of surveillance is display on the XY graph.

 Desired angular position:

The load position which is connected to the motor is in the radians.

B) Inputs for modelling the system: The input parameter that are needed to model
the block available in the system. It consists of load,gears,amplifer,motor
and potentiometer.

C) Desired value for the inputs: In this section desired values of percentage of
settling time and overshoot. With the help of these two parameters gain for
the tachometer and amplifier can be calculated. In this section the preferred
values must be in a certain range for the necessary gain and response graph
to be correct.

D) Angular response for feedback compensated structure: The response for the
compensated system and this is better than uncompensated system in terms
of settling time and percentage overshoot.

E) Angular response for uncompensated system: In this the angular response of the
uncompensated system versus time. The uncompensated system must be
underdamped otherwise graph will be not plotted. This corrects the
percentage overshoot which is arising for in the underdamped system.

F) Uncompensated system: This includes the percentage of overshoot, gain and

constant for the motor which is calculated from the section B for the
uncompensated system.
G) Required constraint for the output: There are the values for the amplifier gain
(KA) and tachometer gain (Kf) to be applied to the system to yield the
preferred value of settling time and overshoot. The values change as the
preferred values change.

H) Block diagram: With the help of block diagram we explain the system with
feedback and without feedback compensation. This block diagram are
labelled and modelled. For the potentiometer gain, gear gain and feedback
compensated are accumulated together to simplify the modelling.
5. Program Results

Results are gained for that value which is given in the digital controls of inputs.

Figure 12: The result for desired overshoot of 10% and settling time of 1 seconds.

The value desired is achieved as given in the graph, with the amplifier gain of and
tachometer gain of 2.84 and amplifier gain of 105.487.

The values for modeling the system is the same throughout the results produced
next. If we put different armature controlled dc servomotor or amplifier or
potentiometer is put to practice, with the help of new inputs we can get desired
responses and required gains.

The following results which are presented in the next 4 diagram and it is based on
the required desired outputs;

i) % OS = 40, Tsd = 2 seconds

ii) % OS = 60, Tsd = 3 seconds
iii) % OS =100, Tsd = 3 seconds
iv) % OS = 0, Tsd = 3 seconds
Figure 13: Results for the desired overshoot of 40% and settling time of 3 seconds
Figure 14; Results for the desired overshoot of 60% and settling time of 3.0 seconds

Figure 15; Result for desired overshoot of 100% and settling time of 3.0 seconds
Figure16; Results for desired overshoot of 0% and settling time of 3 .0 seconds

5.1 Discussion on the result produced

This program is works on the underdamped response, if any values leading to an

overdamped system or critical system will not produce response for the
uncompensated scheme and thus, none whatsoever for the feedback compensated
system. It is thus a requirement for the correct combination of values for load,
potentiometer, load and gears.

The program returns an error message which is based on three conditions, the
desired values are greater than the real system arrangements or the percentage of
overshoot is hundred or percentage of overshoot is zero. We can determine this from
the last three figures;

 For the 60% of overshoot, a set of gain for tachometer and amplifier is
produced.
 For the 100% of overshoot, the amplifier gain is infinity.
 For the 0 % of overshoot, the amplifier gain is NA.

The tachometer gains are still available for zero and a hundred percentage
overshoot. This is because the tachometer gain only depends on the desired
settling time given.
Conclusion:

The stimulation of the antenna azimuth and the other component of the system DC
motor is successfully done. The lab view program can especially get input values of
any requirement of the potentiometer, gain amplifier, gears which is considered as
the main advantage in any case the electric motor which is used should be controlled
only by the armature which is a direct current servomotor. So these values should
only guide you to the underdamped position control system. The load can be
changed until the inertia and viscous damping of the load is identified. The
equivalent inertia and viscous damping at the armature has the motor of the inertia
as well as the viscous damping which is for the analysis made on the motor shaft
position only.

.
References

1. Mableskos, V.E Electric Machine Theory for Power Engineers.harper &Row,

Cambridge, MA, 1980

2. Nise, N.S. Control System Engineering, 3rd ed.John Wiley and Sons Inc,

California, 2000

3. Hughes, Austin.Electric Motors and Drives; Fundementals, Types and

Applications.Newnes, Leeds, 1996

4. (Online) LabVIEW graphical programming, viewed on 23 rd Nov. 2009

http://www.ni.com/labview