Special electrical engineering

ATS Servosystem

TD SERVICING

APPLICATION EXERCISES OF THE COURSE:

1) Let a signal with the Laplace expression: Y(p) =

Donner la valeur finale de y(t), puis la valeur initiale de y(t) et de dy/dt.

FTBF
Calculate the transmittance (FTBF) of the following block diagram:

3) Block diagram with two inputs

Consider the two-input system defined by the following block diagram:

Calculate the expression of the two transmittances:

Give the expression S(p) in terms of E(p) and P(p)

4) Identification
A) Identify the parameters of the systems whose response to a unit step is:
a) b) for this example, indicate the method, do not
make the complete calculation

B) A frequency response test of a system allowed us to plot the Bode diagram provided on the next page. In
deduce the transfer function to model the system.

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5) Bode Diagram Plot

a)

b)

6) Interest of the closed loop on performance

a) Express and graphically represent the response to a step
of amplitude X0 of the linear system of transfer function
represented here.

b) With = 1s, what is the response time t5%?

We insert this first-order system into a feedback system represented opposite. A pure gain K. 1is
placed upstream of the comparator. The action chain consists of a pure gain K = 9 and G(p). The
the return is unitary.

c) What is the transfer function H(p) = why a looped scheme? What type of system is it?
?
d) What value to give to K1so that the final value of the response at a level is the same with the
two diagrams?
What does feedback bring to the speed of the system?
f) Determine and graphically represent the signal v(t) of the Laplace transform V(p) that is sent
to the linear system of transfer function G(p) in the loop configuration if x(t) is a step
of amplitude X0.
7 - Conclude regarding the limitations of the method used.

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ATS Servomechanism

7) Modeling of a direct current motor:

a) The armature of a direct current motor can be modeled by an electromotive force E in series with a resistance.
R and an inductance L. Draw the diagram by placing Umand Im, then give the time equation.
link Um, Im and E.

b) The behavior of the engine is complemented by the following relationships

Cm=k.i (Cmcouple motor, I current)
E = k. Ω (Ω: angular velocity)

The mechanical equation of the engine is given by:

Ω
J Ω (Inertia of the motor, Cr: resistant torque, f friction coefficient)
viscous

Transform the 4 time equations into Laplace.

c) Then complete the following block diagram:

Ω
d) Give the transfer function (without taking Cr. into account)
e) Numerical application: f is negligible compared to other values f = 0

k = 0.1 N.m/A U = 25 V J = 0.01 kg.m²

L = 0.5 mH R = 0.1 Ohm

Calculate: the static gain K

the natural pulsation 0
-the damping coefficient m

f) According to the value of m, in what form can we express H(p)? Proceed with this change.

g) We conduct a test with a voltage of the type U(t) = 25 u(t) (note that u(t) is the existence function)
u(t) = 1 when t > 0
- Express (p) in the form of a sum of known Laplace transforms. (Cr(p)=0)
Give the expression of the index response. (t) in the real domain
What is the speed reached in steady state?

8) Consider a system defined in closed loop by the following transfer function:

HBF(p)= =

a) Calculate the static error (in %) for a step input.

b) Provide the value of m and w0(damping coefficient and natural frequency).
c) Plot the shape of the impulse response. (justify)

9) Consider the system defined by the following block diagram:

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Position assignment
C(p)

a) Give the closed-loop transfer function.

b) Give the value of K in order to have a damping coefficient of 0.7.
c) Give the static error for a step input of amplitude 50.

PROBLEM I: POSITION CONTROL

Study of position control of a casting robot (solid S) along x relative to the frame.

The kinematic diagram opposite presents the mechanism for setting into
movement of S.
The robot is connected to the structure by a sliding joint along the x-axis.
The motor is embedded in the robot, the motor shaft drives the shaft of
exiting through a gear reducer.
The output shaft of the reducer is equipped with a toothed wheel (of diameter ),
which rolls without slipping on a rack embedded in the structure.

The motor is direct current, it is modeled here by a function of

first order transfer of static gain Km and time constant m.
The engine is powered by a modulator. The modulator is controlled
by a voltage Uα and schematized by a gain Kmod20.

Data:
um(t): the voltage of the motor's armature L(um(t))=Um(p)
m (t) : the angular speed of the motor shaft L( m (t))= m(p)
r(t) : the angular velocity of the output shaft of the reducer r (t))= r(p)
r(t) : the angular position of the output shaft of the reducer L( r(t))= r(p)
x(t): the linear position of the rack L(x(t))=X(p)

We set: r = 0.2 = 200 mm Km = 0.3 rad/s/V m= 0.2 s

1) The following block diagram is given:

Uα(p) Um(p) m(p) r(p) r(p) X(p)
H0(p) H1(p) H2(p) H3(p) H4(p)

1.1) Express the transfer functions H0(p),H1(p), H2(p), H3(p), H4(p).

X(p)
1.2) Express the open-loop transfer functionH ( p )
U (p)

2) Calculate, then plot the response to a unit step of this position control.

3) The designer chooses to control this position command. An angular position sensor is then
placed in position B. The transfer function of this sensor will be taken equal to one. A proportional controller
gain Kv is inserted.

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ATS Servitude

Draw the block diagram corresponding to this situation.

4) For Kv = 1, plot the Bode diagrams of the open-loop transfer function.

Give the phase margin. Will the closed-loop system be stable?
[Link]
5) Graphically determine what the value of Kv should be in order to
that the phase margin be 45°.

6) For the previously calculated value of Kv, calculate the

closed-loop transfer function.
By identification with the canonical form, give the values of
m et w0(damping coefficient and natural frequency of the
FTBF).

7) Calculate, for the value of Kv calculated in 5, the performance

subsequent temporalities of this system (still for an input
indexical).
static precision.
response time via the abacus opposite. m

PROBLEM II: HANDLING ROBOT

In an automotive manufacturing plant, a gantry robot ensures

the movement of mechanical parts. It includes a column whose
The lower end is equipped with a claw - This column moves
between the arrival mat of the parts and the machining station.

The movement of these pieces can occur in three directions.

(horizontal or vertical). The vertical movement of this column allows
to capture, deposit, or hold mechanical parts. To ensure
a continuity of service, the control room is equipped with a
backup power supply.

The study will focus on a motor ensuring the vertical movement of the column, on the control of its
position and on the backup power supply of the control probe.

A - DC MOTOR

A -I Engine at Steady State

The motor enabling the vertical movement of the column is a DC motor with magnets.
permanents, for which a test allowed the following measurements to be recorded:

Leverage the results of these measurements to deduce, under these operating conditions:
A -l-1 the moment of the useful couple Cu developed by the engine.

A -l-2 the electrical power absorbed Po

The value of the yield r of the engine.

A -2 Engine in transitional state

The rotation frequency n of the direct current motor depends at each instant t on the applied voltage U.
at the induced of this motor.

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In the following, n is expressed in [Link]-1, U in V, and time t in s. We denote N(p) and U(p) respectively.
The Laplace transforms of the time quantities n(t) and u(t).

The dynamic behavior of the engine is modeled by the transfer function M(p) such that:

What is the order of the system modeled by this transmittance M(p)? Name the two parameters.
allowing to characterize a system of this kind and provide their numerical values for the system
given.

From the function M(p), deduce the differential equation linking n(t) and u(t).
Specify the numerical value of the time constant of the engine.

B - POSITIONING CONTROL

The robot is designed to position the captured part despite disturbances. For this, a control system
allows to adjust the actual vertical position x(t) of the robot's column based on the setpoint position
The gap between the setpoint position and the actual position represents the error signal {t).

B -1 Closed-loop transmittance

The modeling of the control leads to the following block diagram:

Establish the expression of the closed-loop transfer function HBF(p) in terms of T(p).

B -2 Open Loop Study

The expression of the isomorphic transmittance of the open-loop system is:

B -2-1 Using the correspondence p→jw, give the expression of the complex transmittance in
Open loop T (jw) corresponds. Give the modulus and the argument of this transmittance.

B-2-2 Draw the Bode diagrams of T(jw).

B-2-3 Deduce the phase margin.

Will the closed-loop system be stable enough? Why?

B-3 Proportional Corrector

An analog corrector consisting of an amplifier block A (A=4) is introduced into the action chain. The
The block diagram of the control system becomes:

B -3-1 Calculate the closed-loop transfer function. Put it in canonical form:

HBF(p) = =

B-3-2 Give the value of m.

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B-3-3 Calculate the index error.

B-3-4 Trace the Bode diagram of the transfer function obtained in open loop in red with
the gain A. (on the same curve as in B.2.2) How did the gain modify the Bode diagram?

B-3-5 Give the new value of the phase margin obtained. Conclusion, what modifications have
brought the corrector?

Problem III: radar control

We study the angular position control of a tracking radar intended to know precisely
the position and velocity of a mobile body moving in airspace.

The system includes a parabolic antenna emitting in a specific direction called the axis.
radioelectric. This axis is marked by the site and azimuth angles as shown in the figure below.

Position sensors provide a continuous image. and In the presence of a target

Reflective, the echo received by the parabola depends on the "angular misalignment" between the radioelectric axis and
the line of sight. The radar system is capable of providing two voltages proportional to the deviations.
angular e- s) and ( e- s).

We propose to study the azimuth control of the parabolic dish turret whose organization
The material is given below. The site control will be done on the same principle.

Modeling hypotheses:
we neglect the frictions;
the armature inductance of the motor is neglected;
It is assumed that the change of site does not modify the moment of inertia around the z-axis.

1– Calculate the equivalent inertia J of the assembly on the drive shaft. Create a block diagram in the form:

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ATS Servomechanism

2–We envision the operation of the system in

servitude, which leads to the functional diagram
from the figure opposite:

2.1–Show that the FTBF is of second order.

Express the usual coefficients, Kf, mfand ωf.

2.2–What value should be given to the coefficient α so that the response time at 5% after an excitation
at the lowest possible position level. Calculate tR.

2.3 - For the previously calculated value of α, express and then calculate the tracking error.
(or tracking error) if the target moves at a substantially constant angular velocity:

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