DC Servomotor-based Antenna

Positioning Control System Design

using PID

By:
1. Thina Kumaran A/L Letchumanan
2. Veenosh A/L Baskaran

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 INDEX

1. INTRODUCTION…………………………………3-4
1.1 BACKGROUND…………………………3
1.2 PROBLEM STATEMENT……………….3
1.3 OBJECTIVE……………………………...4
1.4 BENEFIT…………………………………4

2. THEORETICAL…………………………………......5-7
2.1 DC MOTOR……………………………………5
2.2 (PID)……………………………………………6-7
2.3 MATLAB……………………………………….7
3. METHODOLOGY…………………………………...8-9
3.1 TOOLS AND EQUIPMENT……………………8
3.2 SIMULATION………………………………….8-9
4. RESULT AND ANALYSIS……………………….10-14
4.1 RESULT WITHOUT PID………………….10-13
4.2 RESULT WITH PID……………………….13
4.3 ANALYSIS………………………………….14

5. CONCLUSION AND REFRENCE………………..15

5.1 CONCLUSION……………………………….15
5.2 REFRENCE…………………………………...15

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 1.INTRODUCTION

1.1 Background
The requirement for control systems that can automatically align DC servomotor-
driven parabolic antennas with moving targets is growing, particularly in satellite monitoring,
to keep the intended line of sight for effective communication. This article concludes that a
well-designed optimal linear controller can still produce satisfactory results at lower system
cost and complexity, even though many researchers these days concentrate on artificial
intelligence (AI) techniques. This study discusses and uses MATLAB to simulate the design
and control of a DC servomotor-based antenna positioning system. Results are acquired by
employing a precisely calibrated Proportional-Integral-Derivative (PID) controller to analyse
the system's reaction. Commonly utilised in satellite tracking applications, parabolic antennas
installed at ground stations are vulnerable to environmental disruptions.

The satellite dishes have long been automatically positioned using controllers based on
DC servomotors. Over time, several controller models have been created to address the issues
of satellite antenna pointing and servomechanism-based tracking of mobile targets. In, the
case of international satellite telecommunication is examined, in which a motorised antenna
on board is directed towards a designated satellite by the control system. The ship simulator
feature is used in the creation of the Fault Tolerant Control (FTC) system to preserve tracking
functionality. But defect estimate has shown out to be a very difficult undertaking. An outline
of the most popular linear antenna pointing systems based on servomotors. They function
better when there is noise from wind gusts. Nevertheless, the precision of system models and
characteristics determines how well these approaches work. In general, it is challenging to
locate a realistic non-linear model of a genuine DC motor.

1.2 Problem Statement

 tracking the ideal antenna orientation in real time.
 perturbations of the environment (e.g., wind, temperature fluctuations).
 characteristics of the servomotor system that are not linear.

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1.3 Objective
 To understand a design for PID controller for the system under the study.
 Meet a certain tracking specification.
 Performance conforms to standards of a practical industrial system.
 To further understand the functionality of MATLAB

1.4 Benefit
 seamless, real-time operation appropriate for applications involving communication.
 constant precision and dependable, disturbance-resistant performance.

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 2.THEORETICAL
2.1 DC Motor
A DC servomotor is a specific type of DC motor made to precisely control acceleration,
velocity, and angular or linear position. When accurate and reliable control of the motor's
position or speed is needed, as in robotics, industrial automation, and antenna positioning
systems, these motors are frequently employed in feedback control systems.

Key components of a DC servomotor system:

1. DC motor: the main element responsible for the rotational motion. It provides steady
and seamless control over position and speed and runs on direct current.
2. Feedback Mechanism: Usually, a sensor like a potentiometer or encoder measures the
motor shaft's actual position or speed and relays that information to the control
system.
3. Controller: The feedback is processed by the control system, which frequently uses
PID (Proportional-Integral-Derivative) control, and compared to the intended setpoint.
It modifies the motor's input to reduce the discrepancy between the intended and
actual positions based on this comparison.
4. Drive circuit: Using signals from the controller, this regulates the amount of power
supplied to the motor. It can precisely control the motor's speed and torque by
modulating the voltage or current.

Benefits of DC Servomotors High Precision:

 DC servomotors are perfect for positioning applications because of their feedback
loop, which allows for extremely precise control.
 Smooth Operation: In applications where accuracy is required, the feedback and
fine control enable smooth motion changes.
 Fast Response: DC servomotors react swiftly to control inputs, enabling stability
and real-time adjustments in dynamic settings.

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2.2 Proportional-Integral-Derivative (PID)
In automation, robotics, and other systems where exact control over position, speed, or other
process variables is necessary, PID (Proportional-Integral-Derivative) control is a popular
feedback control technique. Three terms proportional, integral, and derivative that react to the
discrepancy between a desired setpoint, and the actual output are used by PID control to
modify the output.

i. Control by Proportionality (P):

 An output directly proportionate to the present mistake is produced by the
proportional term.
 The control output is large if the error is significant, and small if the error is minor.
 Proportional gain (Kp): Faster response times are offered by high Kp values, but if
they are too high, they may cause oscillations and instability.
ii. Integral Control (I):

 By integrating the error over time, the integral term resolves cumulative prior errors.
 This aids in removing steady-state mistakes, which might not be eliminated by the
proportional term alone.
 Gain Integral (Ki): The degree to which historical errors impact the control output
is determined by this constant. While a high Ki might reduce error more quickly, it
can also lead to oscillations or overshoot.

iii. Control of Derivatives (D):

 The derivative term provides a dampening effect by forecasting future error based
on the current rate of error change.
 By slowing the system as it gets closer to the target, it helps minimise overshoot and
enhance stability.
 Derivative Gain (Kd): This variable affects the output's response to the rate of
error change. Stability can be enhanced by high Kd, however noise sensitivity may
result.
Equation for PID Control
The total of the three terms is the PID controller's overall control output (U):

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2.3 MATLAB

A popular high-level programming environment for numerical computing,

visualisation, and programming is called MATLAB (short for Matrix Laboratory), and it was
created by MathWorks. MATLAB, which was first developed for matrix computations, has
developed into a flexible tool that facilitates a broad range of scientific and technical
applications, making it a mainstay in both academia and business. Another advantage of
MATLAB is its visualisation capabilities.

Users may create excellent plots and graphs with just a few commands, which
facilitates data analysis and interpretation. In domains such as data science, where lucid data
visualisation is essential for efficient communication and decision-making, this capability is
priceless. Furthermore, model-based design is made possible by MATLAB's Simulink
extension, which lets users simulate complicated systems without the need for complex
coding and generate dynamic system models visually.

In summary, MATLAB is an effective tool for engineering, scientific research, and

academia that lets users visualise data, simulate models, and carry out intricate computations.
Because of its broad toolboxes and user-friendly interface, MATLAB can be used by people
with different degrees of programming knowledge, solidifying its position as a crucial
platform for computation and creativity in a variety of fields.

3.METHODOLOGY

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3.1Tools and materials
I. Laptop
II. MATLAB software

3.2Simulation

Programming code without PID:

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Programming with PID:

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 4.RESULT AND ANALYSIS

4.1 Result without PID

Using Kirchhoff’s voltage law, the input armature voltage Va(t) and motor torque Tm(t) is
related to:

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The motor torque Tm(t) is related to the armature current Ia(t) by a constant factor Kt

(1)

Back electromotive force (e.m.f) Eb(t) is related to the angular velocity of equation (1).

(2)

(3)

Following Newton’s and Kirchhoff’s law we can obtain the equation (2) and (3).

(4)

(5)

Applying Laplace on the equation (2) and (3) we can assume it as zero for the initial
condition we would get the equation (4) and (5).

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(6)

By substituting equation (5) into (4), we would receive this equation (6).

This figure is a block diagram of DC servomotor system showing elements of the transfer
function and the input Va(s) to the output angle ϴ we would get the equation below and the
angular velocity m(s).

Once we received the finalized transfer function and applying it into MATLAB to simulate a
bode diagram, we would receive the graph as shown below:

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4.2 Simulation without PID

4.2 Simulation with PID

4.3 Analysis

In the task that we conducted to simulate a bode diagram using MATLAB of a DC motor we
can evaluate it into three various steps, from a basic circuit diagram to finding the transfer
function

as shown and with the usage of MATLAB to create the simulation that was shown based on
set values. With the PID gain values that we assumed we would be able to receive the
according graph, those set values are (Kp) = 18, (KI) = 4, and (KD) = 2. The final PID
controller gain parameters which gave the most appropriate response and this meeting the
design constraints were stated as the values above.

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 5.CONCLUSION AND REFRENCE

5.1 Conclusion

In conclusion, we can see how a DC Servomotor-based antenna positioning control system

design using PID is done, we can also see how the simulation of a bode diagram using a PID
system for a DC motor is made using MATLAB. Thus, we can state the simulation of the
bode diagram is appropriate due to the set values of the Kp, Ki, and Kd.

5.2 Suggestion
1. Applying proper analysis for set PID parameters to easily identify the
exchange of values parameters and DC motor performance.
2. Using values to test the simulation comparing with the actual result.
3. Expanding a more complex mathematical for to represent control system of
DC motor and the integration of PID.

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Reference
I. "Control Systems Engineering" by Norman S. Nise
II. Automatic Control Systems" by Benjamin C. Kuo
and Farid Golnaraghi
III. "Control System Design: An Introduction to State-
Space Methods" by Bernard Friedland

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