The state-variable model of a servomotor is given in Section 1.5. Expand these state equations to model the antenna pointing system 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.

Transcribed Image Text:

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 Antenna Motor/antenna. Side view of pedestal A- Jan (s) Shaft encoder Binary code