Control Systems Engineering
7th Edition
ISBN: 9781118170519
Author: Norman S. Nise
Publisher: WILEY
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Chapter 1, Problem 14P
Moored floating platforms are subject to external disturbances such as waves, wind, and currents that cause them to drift. There are certain applications, such as diving support, drilling pipe-laying, and tank¬ing between ships in which precise positioning of moored platforms is very important (Munoz-Mansilla, 2011). Figure Pl.4 illustrates a tethered platform in which side thrusters are used for positioning. A control
FIGURE Pl.4 Tethered platform using side thrusters for positioning�
Munoz-Mansilla,. R., Aranda, J., Diaz, J. M Chaos, D., and Reinoso, A. J.,
Applications of QFT Robust Control Techniques to Manne Systems. 9th IEEE International Conference on Control and Automation. December 19-21. 2011. pp. 378-385. (Figure 3. p. 382). system is to be designed in which the objective is to minimize the drift. Y, and an angular deviation from the vertical axes. ϕ (not shown). The disturbances acting on the system's outputs are the force. F. and the torque, M, caused by the external environment. In this problem, the plant will have one input, the force delivered by the thrusters (Fu) and two outputs. Y and ϕ. Note also that this is a disturbance attenuation problem, so there is no command input. Draw a block diagram of the system indicating the disturbances F and M. the control signal Fu, and the outputs Y and ϕ. Your diagram should also have blocks for a controller, the one-input two-output plant, and a block indicating how the disturbances affect each of the outputs.
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Introduction: Figure 1 shows a pumpjack operating at an oil well. Its representation as a linkage is also shown in Figure 1. The pumpjack is driven by a motor attached to crank OA. A constant torque T is applied to the crank and the crank rotates at a constant angular velocity ???. A force P is applied vertically downwards at the end of the walking beam BD, which has its centre of mass at point G.
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Chapter 1 Solutions
Control Systems Engineering
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