CONTROL ENGINEERING

EE006-3.5-2-CE
UC3F1508TE
AZIMUTH POSITIONAL CCTV CONTROL
SYSTEM
NAME:MOHAMED AMIRUL ZAHIM BIN AZHAR
TP :TP033114
LECTURER:NASRODIN TABARA
TITLE: Azimuth Positional CCTV Control System

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Table of Contents
Introduction ............................................................................................................................................. 4
Abstract ................................................................................................................................................... 7
Objective ................................................................................................................................................. 7
Derivation of the System Model ............................................................................................................. 8
Modelling ............................................................................................................................................ 8
Physical Layout ................................................................................................................................ 8
Schematic Block Diagram ................................................................................................................ 8
Functional Block Diagram ............................................................................................................... 9
Design Parameters ........................................................................................................................ 10
Simplicfication Of Block Diagram .................................................................................................. 12
Conclusion ............................................................................................................................................. 18
References ............................................................................................................................................ 19

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Figure 1:Open Loop System .................................................................................................................... 4
Figure 2:Closed Loop System .................................................................................................................. 6
Figure 3:Detailed Physical Layout ........................................................................................................... 8
Figure 4:Schematic Block Diagram.......................................................................................................... 8
Figure 5:Functional Block Diagram ......................................................................................................... 9
Figure 6:Mathematical Expression of Schematic Diagram ..................................................................... 9
Figure 7:Mathematical Expression of Schematic Diagram ................................................................... 11
Figure 8:Original Block Diagram............................................................................................................ 12
Figure 9:Simplified Schematic Diagram ................................................................................................ 12
Figure 10:Schematic Diagram with Open Loop .................................................................................... 13
Figure 11:Closed Loop Transfer Function ............................................................................................. 13
Figure 12:Open Loop Transfer Function ............................................................................................... 13
Figure 13:Closed Loop Transfer Function ............................................................................................. 13
Figure 14:Step Response of the System................................................................................................ 14
Figure 15:Zero Pole Map of the System................................................................................................ 14
Figure 16: Step Response of Compensated System.............................................................................. 16
Figure 17:Pole Zero Map of Compensated System............................................................................... 17

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Introduction

Currently the modern world depends on control systems. Various applications in our
surrounding use the concepts of control systems. Such applications include the automatic lifts,
robotics, the rocket fire and the space shuttle lifts of to earth, cars hydraulic pistons and many
other real life applications. Our body organs as pancreas which regulates our blood sugar, heart
which pumps through all parts of our body and brain which controls electric pulses through our
backbone etc. all are natural control systems. So control systems have lot of applications in our
life, we are surrounded by modern technologies which based on scientific innovations. One
would have heard about an aircraft flying in auto mode, a moving vehicle without operator and
an CCTV which gives maximum auto signal strength all are the applications of control systems.
Control system is a system designed for obtaining required characteristics of a process. For
getting desired yield with desired performance many subsystems and processes linked in a
control system (Nise, 2000).

Advantages of a Control System

Power amplification

Remote control

Convenience of input form

Compensation for disturbances

Open-Loop Systems

An open-loop system cannot compensate for any disturbances that add to the
controllers driving signal or to the process output.

An open-loop system has no feedback path.

Figure 1:Open Loop System

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Figure 1 shows the Open Loop System.

Closed-Loop (Feedback Control) System

A closed-loop system can compensate for disturbances by measuring the output,

comparing it to the desired output, and driving the difference toward zero.

Greater accuracy than open-loop systems

Transient and steady-state responses can be controlled more easily

More complex and expensive than open-loop systems

Requires monitoring the plant output

Introduces the possibility of instability

There is a trade-off between the simplicity and low cost of an open-loop system and the
accuracy and higher cost of a closed-loop system.

Analysis and Design Objectives

Transient Response must meet certain criteria.

Steady-State Response must meet certain criteria.

The system must have Stability.

Other Considerations

Hardware limitations

Finances

Robust Design

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 Figure 2:Closed Loop System

Figure 2 shows the Closed Loop System.

A position control system converts a position input command to a position output response.
Position control finds widespread applications in antennas, robot arms, and computer disk
drives.. The purpose of this system is to have the azimuth angle output follow the input angle.
The input command is an angular displacement. The potentiometer converts the angular
displacement into a voltage. Similarly, the output angular displacement is converted to a
voltage by the potentiometer in the feedback path. The signal and power amplifiers boost the
difference between the input and output voltages. This amplified actuating signal drives the
plant. The system operates to drive the error to zero when the input and the output match, the
error will be zero and the motor will not run.

The position of CCTV is controlled by using gears and feedbackpotentiometer. CCTV azimuth
is also controlled by using some controllers. Response of the system will be analysed without
using any compensator, while for getting a better response, a further analysis of suitable
compensator will be used in the system . Commanding the place of an CCTV is called azimuth.

Getting the output angle of the CCTV o(t) from the angle of potentiometer i(t) as input is the
purpose of this system.

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Abstract

A position control system converts an input position command to an output position response.
One of the applications that applies position control system is Azimuth Positional CCTV
Control System. MATLAB software will be utilised to obtain the design specification by
simulating the parameters .

All the design specifications;stability of the system,transient state response and steady state
response shall be obtained. Upon completing this system, further understanding of how control
engineering as well as telecommunication engineering could be achieved as this system related
to field.

Objective

The purpose of this system is to have the azimuth angle output of the CCTV,() follows the
input angle of the potentiometer, ().

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Derivation of the System Model
Modelling
Physical Layout

Figure 3:Detailed Physical Layout

Figure 3 shows the detailed physical layout of the azimuth positional CCTV control system.

Schematic Block Diagram

Figure 4:Schematic Block Diagram

Figure 4 shows the Schematic Block Diagram of the system.

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Functional Block Diagram

Figure 5:Functional Block Diagram

Figure 5 shows the Functional Block Diagram of the system.

Figure 6:Mathematical Expression of Schematic Diagram

Figure 6 shows the mathematical expression of schematic diagram of the system.

Subsystem In Out
Input Potentiometer Angular rotation from the Preamplifier voltage,Vi(t)
user,i(t)
Preamplifier Voltage from potetiometer, Power amplifier voltage,Vp(t)
Ve(t )= Vi(t)-Vo(t)
Power amplifier Voltage from preamplifier,Vp(t) Motor voltage,ea(t)
Motor Voltage from power amplifier, Angular rotation of the load,
ea(t) O(t)
Output potentiometer Angular rotation from the Preamplifier voltage,Vo(t)
load,O(t)

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Design Parameters

Parameters Value
V 10
N 1
K -
K1 150
a 150
Ra 5
Ja 0.05
Da 0.01
Kb 1
Kt 1
N1 50
N2 250
JL 5
DL 3

By neglecting the dynamics of potentiometers the relationship between the output voltage and
the input angular displacement is given by:

() 1
= =
()

The relationship between motor and load is given by:

()
=
() [ + 1 ( + )]

The equivalent inertia, Jm is

2
= + ( )

Similarly the equivalent viscous damping, Dm is

2
= + ( )

By using gears the damping and the inertial components of the system can be modified as
1 50
= = = 0.2
2 250
In the above equation, N1 and N2 represent the gear teeth. The calculation of inertial and damping
components is given as
2
= + ( )

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 = 0.05 + 5(0.2)2
= 0.25
2
= + ( )

= 0.01 + 3(0.2)2
= 0.13

Figure 7:Mathematical Expression of Schematic Diagram

1
= = 0.318

1
() 5(0.25)
=
() [ + 1 (0.13 + 1 1)]
0.25 5
() 0.8
= =
() ( + ] ( + 1.32]

1 50
= = = 0.2
2 250

() 0.8 0.16
= =
() ( + 1.32] ( + 1.32)

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Simplicfication Of Block Diagram

Original Block Diagram

Figure 8:Original Block Diagram

Pushing input potentiometer to the right past the summing junction

Figure 9:Simplified Schematic Diagram

Showing equivalent forward transfer function (open loop)

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 Figure 10:Schematic Diagram with Open Loop

Final closed loop transfer function

Figure 11:Closed Loop Transfer Function

5.09
() =
( + 1.32)( + 100) + 5.09

Figure 12:Open Loop Transfer Function

Figure 13:Closed Loop Transfer Function

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 Figure 14:Step Response of the System

Step response info:

RiseTime: 55.2535

Overshoot: 0

SettlingTime: 99.1616

Undershoot: 0

Peak Amplitude:0.997

Figure 15:Zero Pole Map of the System

Step response info:

Rise Time: 55.2535

Overshoot: 0

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Settling Time: 99.1616

Undershoot: 0

Peak Amplitude:0.997

Gain value K represents the preamplifier block. The value of preamplifier gain K can be found out
for stable system by utilizing the Routh-Herwitz criterion.
5.09
() =
( + 1.32)( + 100) + 5.09
The characteristic equation is:
( + 1.32)( + 100) + 5.09

s3 1 132
s2 101.32 5.09K
s1 a1 b1
s0 a2 b2

101.32(132)1(5.09)
1 = 101.32
=0

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 K=2627.55

a2=0

Thus,the system will be stable when 0<K<2627.55

According to this this criterion, system will give stable response if we take the value of gain K in the
range 0-2627.55. Here, the value of gain taken is 100 which is in the above mentioned range. The
close loop transfer function of system for controlling the position of CCTV azimuth (Nise, 2000) is
provided as
5.09
() =
( + 1.32)( + 100) + 5.09

If we use the value of gain K as we have find by using Routh-Herwitz criterion. Then, the equation i
can be written as

K=100
509
() =
( + 1.32)( + 100) + 509

Figure 16: Step Response of Compensated System

Rise Time: 0.576

Overshoot: 39.8%

Settling Time: 6.12

Peak Amplitude:1.4

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Figure 17:Pole Zero Map of Compensated System

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Conclusion

Upon completing the assignment, CCTV azimuth positional control system has been
successfully designed and the analysis of the modelling of the system has been achieved. The
CCTV azimuth position control systems greatly simplify and reduce the human work. Theyre
used in many areas of daily life such as security surveillance. The understanding of how the
system works has also been achieved thoroughly. On top of that, software which is used in
analysis of the system has been greatly utilised and understood. It is hopefully that the
completion of this analysis and simulation will be helping us in the future particularly in control
engineering field as this field is one of the widest field in the industry as every single
engineering field will be utilizing the understanding and fundamental of control engineering.

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References
Nise N.S, Control System Engineering. 6th Ed., John Wiley & Sons, 2000.

Okumus H.I., Sahin E., Akyazi O., Antenna Azimuth Position Control with Classical PID
and Fuzzy Logic Controllers. IEEE Transaction on Education, 2012.

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