4. A laser guidance system was used to control the boring machines drilling the channel tunnel to ensure that the machines, which were drilling from either end, met in the middle. The desired angle of heading of the boring machine ,, compared with the measured heading angle y and the error is used in a proportional controller of gain Kp, Figure Q4. Encountering non-uniform layers of earth or rock can cause disturbances in the heading of the boring machine denoted by D(s).
4. A laser guidance system was used to control the boring machines drilling the channel tunnel to ensure that the machines, which were drilling from either end, met in the middle. The desired angle of heading of the boring machine ,, compared with the measured heading angle y and the error is used in a proportional controller of gain Kp, Figure Q4. Encountering non-uniform layers of earth or rock can cause disturbances in the heading of the boring machine denoted by D(s).
Introductory Circuit Analysis (13th Edition)
13th Edition
ISBN:9780133923605
Author:Robert L. Boylestad
Publisher:Robert L. Boylestad
Chapter1: Introduction
Section: Chapter Questions
Problem 1P: Visit your local library (at school or home) and describe the extent to which it provides literature...
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Transcribed Image Text:4. A laser guidance system was used to control the boring machines drilling the channel tunnel to ensure
that the machines, which were drilling from either end, met in the middle. The desired angle of heading
of the boring machine y,, compared with the measured heading angle y and the error is used in a
proportional controller of gain Kp, Figure Q4. Encountering non-uniform layers of earth or rock can
cause disturbances in the heading of the boring machine denoted by D(s).
(a) Derive the transfer function relating the heading ụ to the reference heading , (assuming no dis-
turbance) and hence show that the steady state error due to a step change in the reference heading
is zero irrespective of the value of Kp.
(b) Derive the transfer function relating the heading y to the disturbance D assuming a zero reference
value.
(c) Calculate the natural frequency, damping, and overshoot of the system when
i) K, = 50,
ii) K, = 100.
1
Control 3
Section 3 Tutorial: Feedback Control Systems
D(s)
y,(s)
Y(s)
Kp
s(s + 12)
Figure Q4.
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