(a) Find the transfer function (s) / i (s) for the antenna pointing system of Problem 1.5-1(b). This transfer function yields the angle (t) in

(a) Find the transfer function Θ(s) / Θi (s) for the antenna pointing system of Problem 1.5-1(b). This transfer function yields the angle θ(t) in degrees.

(b) Modify the transfer function in part (a) such that use of the modified transfer function yields θ(t) in radians.

(c) Verify the results of part (b) using the block diagram of Problem 1.5-1(b).

Problem 1.5-1(b)

The system block diagram is given in Fig. P1.5-1(b), with the angle signals shown in degrees and the voltages in volts. Add the required gains and the transfer functions to this block diagram.

Voltage proportional to desired angle Voltage proportional to angle (s) Difference amplifier Vo Motor shaft Input gain Vi-Vo Error Power amplifier V(s) + e(1) Top view of pedestal (a) Power amplifier K V (s) Motor voltage (b) Fig. P1.5-1 0 (t) E(s) Sensor Motor Gears Data hold Motor/antenna Antenna Side view of pedestal A- Jan (s) Shaft encoder Binary code