Upload
serenity-waite
View
213
Download
0
Tags:
Embed Size (px)
Citation preview
Control System TerminologyControl System Terminology
Input – Excitation applied from external source Output - Response obtained from a system Feedback – System output returned to modify
input Error - Difference between input and output.
Thermostat
Temp Wanted
Air Temp
Heater Control
Example of Negative Feedback Example of Negative Feedback Control SystemControl System
Types of Control SystemsTypes of Control Systems
Open-Loop– Simple system which performs function without
concern for initial conditions or external inputs– Must be closely monitored
Closed-Loop (feedback)– Uses the output of the process to modify the
process to produce the desired result– Continually adjusts the process
Advantages of Closed-Loop Advantages of Closed-Loop Feedback SystemFeedback System
Increased Accuracy– Ability to reproduce output with varied input
Reduced Sensitivity to Disturbance– Self-correcting minimizes effects of system changes
Smoothing and Filtering– System induced noise and distortion are reduced
Increased Bandwidth– Produces satisfactory response to increased range of
input changes
Major Types of Feedback UsedMajor Types of Feedback Used
Position Feedback– Used when the output is a linear distance or
angular measurement.Rate & Acceleration Feedback
– Feeds back rate of motion or rate of change of motion (acceleration)
– Motion smoothing– Uses a electrical/mechanical device called an
accelerometer
Building a Gun Fire Control System
Job Description: Train the gun turret to the proper firing position by moving a joy stick left or right depending on the direction needed. This must be performed as fast as possible.
Safety Consideration:For your protection,you will be located insidea windowless protectiveenclosure inside the gunturret.
Time
Old Position
NewPosition
Turret Position with Feedback
DampingDampening
Old Position
New Position
Automatic Tracking Systems Automatic Tracking Systems (Related to Feedback)(Related to Feedback)
1. Target Tracking Parameters
2. Line-of-Sight(LOS)
3. Tracking Line
Target Tracking ParametersTarget Tracking Parameters
AzimuthElevationRangeRelative Target Velocity
– Target’s motion with respect to the platform’s motion
Tracking TermsTracking Terms
TrackingElement
Line-of-Sight
Tracking Line
Error
Angle-Tracking Servo SystemsAngle-Tracking Servo Systems
Five Basic FunctionsSense position error magnitude and
directionProvide position feedbackProvide data smoothing / stabilizationProvide velocity feedbackProvide a power-driving device
Uses of Angle-Tracking Servo Uses of Angle-Tracking Servo SystemsSystems
Monotrack fire control radarsHoming missilesAcoustic homing torpedoesAviation fire control tracking systems
Methods of trackingMethods of tracking
Conical scanConical scan on receive only (COSRO)Monopulse
Basic Principle: Target energy return is strongest on the axis of the beam, diminishes further from the axis.
axis
Methods of Tracking: * Sequential Lobing * Conical Scan * COSRO * Monopulse
Position Error Magnitude & Position Error Magnitude & DirectionDirection
Sequential LobingSequential LobingL L LR R R
Antenna looking left of target
Antenna Pointing directly at target
Antenna looking right of target
Return Signals form Two Beams
* Simplest Method
* Multiple Beams * Compare Returns
* Relatively Slow
* Still used by some countries
Conical ScanningConical Scanning
* Rotates a beam in a circle producing a cone of energy.
*Rotate the feed horn in a small circle around the axis of the fixed parabolic antenna.Antenna
Lobe Of Energy
Pattern of scanning
Determining Tracking Error Determining Tracking Error Using Conical ScanUsing Conical Scan
Locus of Beam Centers
Beam
Time
PulseReturnAmplitude
Equal AmplitudeSensor Return Signal
Antenna Axis
Target Position is in the Center of the Conical Scan (On Antenna Axis)
Determining Tracking Error Determining Tracking Error Using Conical ScanUsing Conical Scan
Locus of Beam Centers
Beam
Time
PulseReturnAmplitude
Varying AmplitudeSensor Return Signal
Antenna Axis
Target Position Off the Center of the Antenna Axis
COSROCOSROConical Scan on Receive OnlyConical Scan on Receive Only
* Transmits pulses on antenna axis * Measures strength of return around axis of the antenna* Positions antenna based on return
Antenna
MonopulseMonopulse Developed to overcome tracking errors involved
with conical scanning and sequential lobing Two or more beams transmitted simultaneously and
amplitude comparison is mode between returns– One reflector but uses two or more feed horns
– Each simultaneous beam can be identified by tagging it with some type of information such as slight polarization
Very complex and expensive!!!!
Providing a Stable Tracking Providing a Stable Tracking SystemSystem
All tracking systems require some stabilization Three classes of tracking system stabilization
– Unstabilized - Not stabilized in any axis
– Partially Stabilized - Stabilized on one axis
– Fully Stabilized - Free of all rotational disturbances
Gyroscopes provide the stable reference
Basic Gyroscopic PrinciplesBasic Gyroscopic Principles
Gyro spins at a very high velocity– Spin axis remains aligned with terrestrial meridians
Inertia– Rigidity - gyro will remain at a fixed orientation in
space if no force is applied to it– A gimbaled gyro makes a good reference to cancel
out platform role, pitch and yaw (ship or aircraft)
Basic Gyroscopic PrinciplesBasic Gyroscopic Principles
Precession– A gyro’s spin axis has a tendency to turn at right angles
to the direction of the force applied to it
– Torque required to move the gyro is converted into a means of controlling system gain
The gyro has three axes– spin axis
– torque axis
– precession axis
Gyroscopic TheoryGyroscopic Theory
Accelerometers!!!
Now, put ‘em together!!!!Now, put ‘em together!!!!
Range Tracking Angle Tracking
One dead duck…………………..One dead duck…………………..
Questions?Questions?