- 2 Turret Controlled In The Azimuth Axis The Dynamics Of A Turret Actuated About Its Azimuth Axis By A Hydraulic Motor C 1 (78.66 KiB) Viewed 31 times
J = 7900kg m² is the load inertia; • K₂ = 94.3 is the servo valve gain; and • K₁ = 6.33 × 10-6 is the differential pressure feedback coefficient. (a) Design a state feedback control system satisfying the following specifications: It should be able to track a train of steps (desired azimuth angle) that alternates between -1 and 1 radians, at a frequency of 1 Hz. The settling time should be at most 0.25 seconds (using the 98% criterion). Show your tracking performance via a plot of the step train reference and the actual angle superimposed. Show two full periods. (b) Now let the azimuth reference be a sawtooth signal, also with frequency of 1 Hz. Your control system should be able to track this reference, where the steady-state error when tracking the ramp parts of the sawtooth should be less than 0.2 rad. Demonstrate the performance of your design by providing a corresponding plot, and make sure you show a zoom of the plot that allows one to verify that the steady-state error requirement has been met. (c) Design a PID controller that achieves the same performance specifications stated in part (a), and show tracking results for the same train of steps reference angle as in (a), and the sawtooth reference of part (b). Feel free to use the PID block in Simulink to implement your PID controller. (d) Discuss the differences between the two designs (state feedback vs PID). Is one easier to design than the other? Is it possible to achieve better results with one vs the other? Are there any advantages or disadvantages you can identify with the two approaches?