Control Systems Laboratory Manual / II EEE, IV SEM

VELS UNIVERSITY
SCHOOL OF ENGINEERING

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

LABORATORY MANUAL
CLASS SEMESTER SUBJECT : II YEAR EEE : IV (DEC 2010 MAY 2011) : CONTROL SYSTEMS LABORATORY
A''!'(%&( P )*+'') EEE D+,% ($+&(

STAFF IN-CHARGE : V.A !"#$%&!

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

CONTROL SYSTEMS LABORATORY MANUAL

NAME CLASS SEMESTER ROLL NUMBER

: : : :

REGISTER NUMBER :

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

INDES. N). D%(+ T!(.+ )* E/,+ !$+&( P%0+ N). M% 1' S!0&%(# +

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

SYLLABUS EE2223 CONTROL SYSTEM LABORATORY

1. Determination of transfer function of DC Servomotor 2. Determination of transfer function of AC Servomotor. 3. Analog simulation of Type - 0 and Type 1 systems . Determination of transfer function of DC !enerator ". Determination of transfer function of DC #otor $. Sta%ility analysis of linear systems &. DC and AC position control systems '. Stepper motor control system (. Digital simulation of first order systems 10.Digital simulation of second order systems ) * " Total * " DETAILED SYLLABUS 1. D+(+ $!&%(!)& )* T %&'*+ F#&5(!)& P% %$+(+ ' )* % DC S+ ") M)()
A!$ To derive t+e transfer function of t+e given D.C Servomotor and e,perimentally determine t+e transfer function parameters E/+ 5!'+ 1. Derive t+e transfer function from %asic principles for a separately e,cited DC motor. 2. Determine t+e armature and field parameters %y conducting suita%le e,periments. 3. Determine t+e mec+anical parameter %y conducting suita%le e,periments. . )lot t+e fre-uency response. E6#!,$+&( 1. DC servo motor 2. Tac+ometer 3. #ultimeter . Stop 0atc+ 2. . field separately e,cited loading facility varia%le voltage source - 1 /o . 1 /o . 2 /os . 1 /o

0 0 4 2

D+(+ $!&%(!)& )* T %&'*+ F#&5(!)& P% %$+(+ ' )* AC S+ ") M)()

A!$ To derive t+e transfer function of t+e given A.C Servo #otor and e,perimentally determine t+e transfer function parameters

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

E/+ 5!'+ 1. Derive t+e transfer function of t+e AC Servo #otor from %asic )rinciples. 2. 1%tain t+e D.C gain %y operating at rated speed. 3. Determine t+e time constant 2mec+anical3 . )lot t+e fre-uency response E6#!,$+&( 1. AC Servo #otor . #inimum of 1000 necessary sources for main 0inding and control 0inding 1 /o 2. Tac+ometer . 1 /o 3. Stop0atc+ . 1 /o . 4oltmeter . 1 /o

4.

A&%.)0 S!$#.%(!)& )* T7,+-0 A&8 T7,+-1 S7'(+$

A!$ To simulate t+e time response c+aracteristics of 5 order and 55 order6 type 0 and type-1 systems. E/+ 5!'+ 1. 1%tain t+e time response c+aracteristics of type 0 and type-16 5 order and 55 order systems mat+ematically. 2. Simulate practically t+e time response c+aracteristics using analog rigged up modules. 3. 5dentify t+e real time system 0it+ similar c+aracteristics. E6#!,$+&( 1. 7igged up models of type-0 and type-1 system using analog components. 2. 4aria%le fre-uency s-uare 0ave generator and a normal C71 - 1 /o 2or3 DC source and storage 1scilloscope - 1 /o

9.

D+(+ $!&%(!)& )* T %&'*+ *#&5(!)& )* DC G+&+ %()

A!$ To determine t+e transfer function of DC generator E/+ 5!'+ 1. 1%tain t+e transfer function of DC generator %y calculating and gain E6#!,$+&( 1. DC !enerator 2. Tac+ometer 3. 4arious meters . Stop 0atc+

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

2.

D+(+ $!&%(!)& )* T %&'*+ *#&5(!)& )* DC M)()

A!$ To determine t+e transfer function of DC motor E/+ 5!'+ 1. 1%tain t+e transfer function of DC motor %y calculating and gain E6#!,$+&( 1. DC #otor 2. Tac+ometer 3. 4arious meters . Stop 0atc+

:.

S(%;!.!(7 A&%.7'!' )* L!&+% S7'(+$'

A!$ To analyse t+e sta%ility of linear systems using 8ode 9 7oot locus 9 /y-uist plot E/+ 5!'+ 1. :rite a program to o%tain t+e 8ode plot 9 7oot locus 9 /y-uist plot for t+e given system 2. Access t+e sta%ility of t+e given system using t+e plots o%tained 3. Compare t+e usage of various plots in assessing sta%ility E6#!,$+&( 1. System 0it+ #AT;A8 9 #AT<CAD 9 e-uivalent soft0are - 3 user license

3.

DC %&8 AC ,)'!(!)& C)&( ). S7'(+$'

A!$ To study t+e AC and DC position control system and dra0 t+e error c+aracteristics %et0een set point and error. E/+ 5!'+ 1. To study various position control systems and calculate t+e error %et0een set point and output position 2. To measure outputs at various points 2%et0een stages3 E6#!,$+&( 1. AC and DC position control =it 0it+ DC servo motor. 2. )o0er transistor 3. Adder

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

<.

S(+,,+ M)() C)&( ). S7'(+$

A!$ To study t+e 0or=ing of stepper motor E/+ 5!'+ 1. To verify t+e 0or=ing of t+e stepper motor rotation using microprocessor. E6#!,$+&( 1. Stepping motor 2. #icroprocessor =it 3. 5nterfacing card . )o0er supply

=.

D!0!(%. S!$#.%(!)& )* F! '( O 8+ S7'(+$

A!$ To digitally simulate t+e time response c+aracteristics of first -order system E/+ 5!'+ 1. :rite a program or %uild t+e %loc= diagram model using t+e given soft0are. 2. 1%tain t+e impulse6 step and sinusoidal response c+aracteristics. 3. 5dentify real time systems 0it+ similar c+aracteristics. E6#!,$+&( 1. System 0it+ #AT;A8 9 #AT<CAD 2or3 e-uivalent soft0are - minimum 3 user license.

10.

D!0!(%. S!$#.%(!)& )* S+5)&8 O 8+ S7'(+$'

A!$ To digitally simulate t+e time response c+aracteristics of second -order system E/+ 5!'+ 1. :rite a program or %uild t+e %loc= diagram model using t+e given soft0are. 2. 1%tain t+e impulse6 step and sinusoidal response c+aracteristics. 3. 5dentify real time systems 0it+ similar c+aracteristics. E6#!,$+&( System 0it+ #AT;A8 9 #AT<CAD 2or3 e-uivalent soft0are - minimum 3 user license.

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

&

Control Systems Laboratory Manual / II EEE, IV SEM

LIST OF E-PERIMENTS
FIRST CYCLE: 1. Determination of transfer function of armature controlled DC servomotor. 2. Determination of transfer function of field controlled DC servomotor. 3. Determination of transfer function of AC servomotor. . Determination of transfer function of separately e,cited DC generator. ". Determination of transfer function of DC motor. $. DC position control system. SECOND CYCLE: &. Analog simulation of Type-0 and Type-1 systems. '. Digital simulation of first order systems. (. Digital simulation of second order systems 10. Sta%ility analysis of linear systems. 11. Stepper motor control system. 12. AC position control system.

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

'

Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): D%(+: DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of armature controlled DC servo motor. APPARATUS > INSTRUMENTS RE?UIRED: S. N) 1. 2. 3. . ". $. &. D+'5 !,(!)& DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R%&0+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T7,+ ?#%&(!(7 1 1 1 1 1 1 1 1 As re-uired

#C #5 #C #5

THEORY: 5n servo applications a DC motor is re-uired to produce rapid accelerations from standstill. T+erefore t+e p+ysical re-uirements of suc+ a motor are lo0 inertia and +ig+ starting tor-ue. ;o0 inertia is attained 0it+ reduced armature diameter 0it+ a conse-uent increase in t+e armature lengt+ suc+ t+at t+e desired po0er output is ac+ieved. T+us6 e,cept for minor differences in constructional features a DC servomotor is essentially an ordinary DC motor. A DC servomotor is a tor-ue transducer 0+ic+ converts electrical energy into mec+anical energy. 5t is %asically a separately e,cited type DC motor. T+e tor-ue developed on t+e motor s+aft is directly proportional to t+e field flu, and armature current6 T m * ?m @ 5a. T+e %ac= emf developed %y t+e motor is A% * ?% @ Bm.. 5n an armature controlled DC Servo motor6 t+e field 0inding is supplied 0it+ constant current +ence t+e flu, remains constant. T+erefore t+ese motors are also called as constant magnetic flu, motors. Armature control sc+eme is suita%le for large siCe motors. ARMATURE CONTROLLED DC SERVOMOTOR:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM FORMULAE USED: Transfer function of t+e armature controlled DC servomotor is given as

D2s3 9 4a2s3 * ?m 9 Es 21FsGa321FsGm 3 F 2?% ?t 97a83H

0+ere #otor gain constant6 ?m * 2?t97a83 #otor tor-ue constant6 ?t * T 9 5a Tor-ue6 T in /m * (."" A% 5a 8ac= emf6 A% in volts * 4a 5a 7a 4a * A,citation voltage in volts 8ac= emf constant6 ?% * 4a 9 B Angular velocity in rad9 sec * 2I/ 9 $0 Armature time constant6 Ga * ;a 9 7a Armature 5nductance6 ;a in <* J;a 9 2f J;a in *2Ka2 7a23 Ka in * 4a2 9 5a2 Armature resistance67a in * 4a1 9 5a1 #ec+anical time constant6 Gm * L 9 8 #oment of inertia6 L in ?g m2 9 rad * : , 2$0 9 2 32 , dt9d/ / Stray loss6 : in :atts * :M , E t2 9 2t1-t23 H )o0er a%sor%ed6 :M in 0atts * 4a 5a t2 is time ta=en on load in secs t1 is time ta=en on no load in secs dt is c+ange in time on no load in secs d/ is c+ange in speed on no load is rpm / is rated speed in rpm Nrictional co-efficient6 8 in /-m 9 2rad 9 sec 3 * :MM 9 22/ 9 $0 32 :MM * 30 O of Constant loss Constant loss * /o load i9p Copper loss /o load 59) * 4 2 5a F 5f 3 Copper loss * 5a2 7a / is rated speed in rpm

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

10

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 1. T) 8+(+ $!&+ (@+ $)() () 6#+ 5)&'(%&( A( %&8 B%51 +$* 5)&'(%&( A;: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t and 8ac= emf constant ?% using t+e a%ove values. N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: A $%(# + V).(%0+BV% (V) A $%(# + C# +&(BI% (A) S,++8BN ( ,$)

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

11

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TOR?UE CONSTANT A( AND BACA EMF CONSTANT A;

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

12

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 2. T) 8+(+ $!&+ % $%(# + +'!'(%&5+ R%: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: A $%(# + V).(%0+B V%1 (V) A $%(# + C# +&(B I%1 (A) A $%(# + +'!'(%&5+B R % ( )

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

13

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMATURE RESISTANCE R%

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 4. T) *!&8 % $%(# + !&8#5(%&5+B L% C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature inductance ;a.using t+e a%ove values N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: S. N). A $%(# + V).(%0+B V%2 (V) A $%(# + C# +&(B I%2 ($A) A $%(# + !$,+8%&5+ C % ( )

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

1"

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMATURE INDUCTANCEB L%

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

1$

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 9. T) 8+(+ $!&+ $)$+&( )* !&+ (!% J %&8 * !5(!)&%. 5)-+**!5!+&( B: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values

OBSERVATIONS: S. N). A $%(# + V).(%0+B V% (V) A $%(# + C# +&(B I% (A) F!+.8 C# +&(B I* (A) S,++8B N ( ,$)
(1 ('+5') (2 ('+5')

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

1&

Control Systems Laboratory Manual / II EEE, IV SEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

1'

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J B FRICTIONAL CO-EFFICIENT B: ( (1 N) .)%8)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

1(

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J B FRICTIONAL CO-EFFICIENT B: ( (2 .)%8)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

20

Control Systems Laboratory Manual / II EEE, IV SEM CALCULATIONS:

RESULT: T+e transfer function of armature controlled DC servomotor is determined as

VIVA-VOCE ?UESTIONS: 1. 2. 3. . ". Define transfer function. :+at is DC servo motorR State t+e main parts. :+at is servo mec+anismR 5s t+is a closed loop or open loop system .A,plain. :+at is %ac= A#NR

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): D%(+:

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF FIELD CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of field controlled DC servo motor. APPARATUS > INSTRUMENTS RE?UIRED: S. N) 1. 2. 3. . ". $. &. D+'5 !,(!)& DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R%&0+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T7,+ ?#%&(!(7 1 1 1 1 1 1 1 1 As re-uired

#C #5 #C #5

THEORY: 5n a field controlled DC Servo motor6 t+e electrical signal is e,ternally applied to t+e field 0inding. T+e armature current is =ept constant. 5n a control system6 a controller generates t+e error signal %y comparing t+e actual o9p 0it+ t+e reference i9p. Suc+ an error signal is no enoug+ to drive t+e DC motor. <ence it is amplified %y t+e servo amplifier and applied to t+e field 0inding. :it+ t+e +elp of constant current source6 t+e armature current is maintained constant. :+en t+ere is c+ange in voltage applied to t+e field 0inding6 t+e current t+roug+ t+e field 0inding c+anges. T+is c+anges t+e flu, produced %y field 0inding. T+is motor +as large ;f 9 7f ratio6 so time constant of t+is motor is +ig+ and it canMt give rapid responses to t+e -uic= c+anging control signals. FIELD CONTROLLED MOTOR:

FORMULAE USED: Prepared by V.Arivumani, AP/EEE, Vels University, Chennai 22

Control Systems Laboratory Manual / II EEE, IV SEM Transfer function of field controlled DC servo motor is given as6 2s3 9 4f 2s3 * ?m 9 s 21FsTf3 21FsTm3 0+ere #otor gain constant ?m * ?tf 9 7f 8 #otor tor-ue constant ?tf in /-m 9 A * T 9 5f Tor-ue T in /-m * (."" A% 5a 9 / 8ac= A#N A% in volts * 4a 5a 7a 4a * A,citation voltage in volts Armature resistance67a in * 4a1 9 5a1 Nield resistance67f in * 4f1 9 5f1 Nield time constant Tf * ;f 9 7f Nield 5nductance6;f in <* J;f 9 2f J;f in * 2Kf2 7f23 Kf in * 4f2 9 5f2 #ec+anical time constant Tm * L 9 8 #oment of inertia L in ?g m2 9 rad * : , 2$0 9 232 , dt9d/ / Stray loss6 : in 0atts * :M , E t2 9 2t1-t23 H )o0er a%sor%ed6 :M in :atts * 4a 5a t2 is time ta=en on load in secs t1 is time ta=en on no load in secs dt is c+ange in time on no load in secs d/ is c+ange in speed on no load is rpm / is rated speed in rpm Nrictional co-efficient6 8 in /-m 9 2rad 9 sec 3 * :MM 9 22/ 9 $0 32 :MM * 30 O of Constant loss Constant loss * /o load i9p Copper loss /o load 59) * 4 2 5a F 5f 3 Copper loss * 5a2 7a / is rated speed in rpm

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

23

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 1. T) 8+(+ $!&+ (@+ $)() () 6#+ 5)&'(%&( A(* : C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e field control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t f using t+e a%ove values. N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: A $%(# + V).(%0+BV% (V) A $%(# + C# +&(BI% (A) S,++8BN ( ,$)

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TOR?UE CONSTANT A(*

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

2"

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 2. T) 8+(+ $!&+ % $%(# + +'!'(%&5+ R%: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: A $%(# + V).(%0+B V%1 (V) A $%(# + C# +&(B I%1 (A) A $%(# + R+'!'(%&5+B R % ( )

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

2$

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMATURE RESISTANCE R%

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

2&

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 4. T) 8+(+ $!&+ *!+.8 +'!'(%&5+ R*: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e field of t+e servomotor. /ote t+e values of t+e field current 5f6 field voltage 4f. Nind t+e value of field resistance 7f using t+e a%ove values N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: F!+.8 V).(%0+B V%1 (V) F!+.8 C# +&(B I%1 (A) F!+.8 R+'!'(%&5+B R * ( )

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

2'

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD RESISTANCE RF

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

2(

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 9. T) 8+(+ $!&+ F!+.8 I&8#5(%&5+B L* C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e field current 5f26 field voltage4f2. Nind t+e value of field inductance ;f.using t+e a%ove values N)(+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. OBSERVATIONS: S. N). F!+.8 V).(%0+B V*2 (V) F!+.8 C# +&(B I*2 ($A) F!+.8 I$,+8%&5+ C * ( )

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

30

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD INDUCTANCEB LF

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

31

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 2. T) 8+(+ $!&+ $)$+&( )* !&+ (!% J %&8 * !5(!)&%. 5)-+**!5!+&( B: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values

OBSERVATIONS: S. N) A $%(# + V).(%0+B V% (V) A $%(# + C# +&(B I% (A) F!+.8 C# +&(B I* (A) S,++8B N ( ,$)
(1 ('+5') (2 ('+5')

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

32

Control Systems Laboratory Manual / II EEE, IV SEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

33

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J B FRICTIONAL CO-EFFICIENT B: ( (1 N) .)%8)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J B FRICTIONAL CO-EFFICIENT B: ( (2 .)%8)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

3"

Control Systems Laboratory Manual / II EEE, IV SEM CALCULATIONS:

RESULT: T+e transfer function of field controlled DC servomotor is determined as

VIVA-VOCE ?UESTIONS: 1. :+at are t+e main parts of a DC servo motorR 2. /ame t+e t0o types of servo motor. 3. State t+e advantages and disadvantages of a DC servo motor. . !ive t+e applications of DC servomotor. ". :+at is servo mec+anismR $. :+at do you mean %y field controlled DC servo motorR

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

3$

Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): D%(+: DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR AIM: To derive t+e transfer function of t+e given AC Servomotor. APPARATUS > INSTRUMENTS RE?UIRED: S. N) 1. 2. 3. . ". D+'5 !,(!)& AC servo motor trainer =it AC servo motor Ammeter 4oltmeter )atc+ cords R%&0+ 20-13 A 20-1003 mA 203003 4 20&"3 4 T7,+ #C #5 #C #5 ?#%&(!(7 1 1 1 1 1 1 As re-uired

THEORY: An AC servo motor is %asically a t0o p+ase induction motor 0it+ some special design features. T+e stator consists of t0o pole pairs 2A-8 and C-D3 mounted on t+e inner perip+ery of t+e stator6 suc+ t+at t+eir a,es are at an angle of (0o in space. Aac+ pole pair carries a 0inding6 one 0inding is called reference 0inding and ot+er is called a control 0inding. T+e e,citing current in t+e 0inding s+ould +ave a p+ase displacement of (0 o. T+e supply used to drive t+e motor is single p+ase and so a p+ase advancing capacitor is connected to one of t+e p+ase to produce a p+ase difference of (0 o.T+e rotor construction is usually s-uirrel cage or drag-cup type. T+e rotor %ars are placed on t+e slots and s+ort-circuited at %ot+ ends %y end rings. T+e diameter of t+e rotor is =ept small in order to reduce inertia and to o%tain good accelerating c+aracteristics. T+e drag cup construction is employed for very lo0 inertia applications. 5n t+is type of construction t+e rotor 0ill %e in t+e form of +ollo0 cylinder made of aluminium. T+e aluminium cylinder itself acts as s+ort-circuited rotor conductors. Alectrically %ot+ t+e types of rotor are identical.

DORAING PRINCIPLE :
T+e stator 0indings are e,cited %y voltages of e-ual magnitude and (0 o p+ase difference. T+ese results in e,citing currents i1 and i2 t+at are p+ase displaced %y (0o and +ave e-ual values. T+ese currents give rise to a rotating magnetic field of constant magnitude. T+e direction of rotation depends on t+e p+ase relations+ip of t+e t0o currents 2or voltages3. T+is rotating magnetic field s0eeps over t+e rotor conductors. T+e rotor conductor e,perience a c+ange in flu, and so voltages are induced rotor conductors. T+is voltage circulates currents in t+e s+ort-circuited rotor conductors and currents create rotor flu,. Due to t+e interaction of stator S rotor flu,6 a mec+anical force 2or tor-ue3 is developed on t+e rotor and so t+e rotor starts moving in t+e same direction as t+at of rotating magnetic field.

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

3&

Control Systems Laboratory Manual / II EEE, IV SEM

GENERAL SCHEMATIC OF AC SERVOMOTOR:

FORMULAE USED: Transfer function6 !m 2s3 * ?m 9 21F sm3 :+ere #otor gain constant6 ?m * ? 9 N1 F N ? is T 9 C N1 is T 9 / Tor-ue6 T is (.'1 J 7 2S1 S23 7 is radius of t+e rotor in m Nrictional co-efficient6 N * : 9 22/ 9 $032 Nrictional loss6 : is 30 O of constant loss in :atts Constant loss in 0atts * /o load input Copper loss /o load i9p * 4 257F5C3 4 is supply voltage6 4 57 is current t+roug+ reference 0inding6 A 5C is current t+roug+ control 0inding6 A Copper loss in 0atts * 5C2 7C 7C * 1& / is rated speed in rpm #otor time constant6 m * L 9 N1 F N #oment of inertia L is d ; 7 T 9 32 d is diameter of t+e rotor in m 2 !iven d *3(." mm3 ;7 is lengt+ of t+e rotor in m 2!iven ; 7 *&$ mm3 T is density * &.' J 102 gm 9 m

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

3'

Control Systems Laboratory Manual / II EEE, IV SEM

PROCEDURE: 1. 1. 2. 3. . ". DETERMINATION OF FRICTIONAL CO-EFFICIENTB F C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. S0itc+ 1/ t+e #C8 4ary t+e control pot to apply rated supply voltage /ote t+e control 0inding current6 reference 0inding current6 supply voltage and speed. $. Nind t+e frictional co-efficient using t+e a%ove values OBSERVATIONS: S#,,.7 V).(%0+ V (V) C)&( ). E!&8!&0 C# +&( I5 (A) R+*+ +&5+ D!&8!&0 C# +&( I (A) S,++8 N ( ,$)

S. N).

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

3(

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FRICTIONAL CO-EFFICIENT F:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM PROCEDURE: 2. T) 8+(+ $!&+ (@+ $)() 0%!& 5)&'(%&( A$
DETERMINATION OF FO FROM TOR?UE - SPEED CHARACTERISTICS:

1. 2. 3. . ". $.

C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. Set t+e control pot in minimum position. C+ec= 0+et+er t+e motor is in no load condition S0itc+ 1/ t+e #C8 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. Apply load in steps. Nor eac+ load applied note do0n t+e speed and spring %alance readings. 2 Ta=e 3 or sets of readings3 '. 7educe t+e load fully and allo0 t+e motor to run at rated speed. (. 7epeat steps & and ' for &" O control 0inding voltage. 10. Dra0 t+e grap+ %et0een speed and tor-ue6 t+e slope of t+e grap+ gives N1. OBSERVATIONS: C)&( ). ").(%0+ V51 F S, !&0 B%.%&5+ S,++8 T) 6#+ "%.#+' N T S1 S2 (N$) ( ,$) (10) (10) C)&( ). ").(%0+ V52 F S, !&0 B%.%&5+ T) 6#+ S,++8 "%.#+' T N S1 S2 ( ,$) (N$) (10) (10)

S. N)

MODEL GRAPH: TOR?UE - SPEED CHARACTERISTICS

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

DETERMINATION OF A FROM TOR?UE - CONTROL VOLTAGE CHARACTERISTICS: 1. C+ec= 0+et+er t+e #C8 is in 1NN position. 2. )atc+ t+e circuit using t+e patc+ing diagram. 3. Set t+e control pot in minimum position. . C+ec= 0+et+er t+e motor is in no load condition ". S0itc+ 1/ t+e #C8 $. 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. ;oad t+e motor graduallyP t+e speed of t+e motor 0ill decrease. 4ary t+e control pot and increase t+e control 0inding voltage till t+e speed o%tained at no load is reac+ed. /ote do0n control voltage and spring %alance readings. '. 7epeat step & for various speeds and ta%ulate. 2for 1000 rpm3 (. )lot t+e grap+ %et0een tor-ue and control 0inding voltage. T+e slope of t+e grap+ gives t+e value of ?. OBSERVATIONS: C)&( ). V).(%0+ V5 (V) S,++8 N1 F S, !&0 B%.%&5+ "%.#+' S1 S2 (10 10 T) 6#+ T N$ S,++8 ,$ S,++8 N2 F S, !&0 B%.%&5+ "%.#+' S1 S2 A0 A0 C)&( ). V).(%0+ V5 V

S. N)

MODEL GRAPH: TOR?UE - CONTROL VOLTAGE CHARACTERISTICS

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOTOR GAIN CONSTANT AM:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM CALCULATIONS:

RESULT: T+e transfer function of AC servomotor is determined as

VIVA-VOCE ?UESTIONS: 1. :+at are t+e main parts of an AC servomotorR 2. State t+e advantages and disadvantages of an AC servo motor. 3. !ive t+e applications of AC servomotor. . :+at do you mean %y servo mec+anismR ". :+at are t+e c+aracteristics of an AC servomotorR

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"

Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): DETERMINATION OF TRANSFER FUNCTION OF SEPARATELY E-CITED DC GENERATOR AIM: To o%tain t+e transfer function of separately e,cited DC generator on no load and loaded condition. APPARATUS / INSTRUMENTS REQUIRED: S. N) D+'5 !,(!)& R%&0+ T7,+ ?#%&(!(7 D%(+:

THEORY: Derivation of transfer function of separately e,cited DC generator is as follo0s6 Applying ?4; to t+e field side6 ef * 7f if F ;f 2dif 9 dt3 Applying ?4; to t+e armature side6 eg * 7a ia F ;a 2dia 9 dt3 F 7; ia 4 ; * 7; i a Also since eg V if 6 let eg * ?g if Ta=ing ;aplace transform of e-uation 213 0e get Af 2s3 * 7f 5f2s3 F s;f 5f2s3 Af 2s3 * 5f 2s3 E7f F s;fH 5f 2s3 * Af 2s3 9 E7f F s;fH U 2"3 U 223 U 233 U2 3 U 213

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

Ta=ing ;aplace transform of e-uation 223 0e get Ag 2s3 * 7a 5a2s3 F s;a 5a2s3 F 7; 5a2s3 Ag 2s3 * 5a2s3 E7a F s;a F 7;H Ta=ing ;aplace transform of e-uations 233 and 2 3 0e get 4;2s3 * 7; 5a2 s3 T+erefore6 5a2 s3 * 4;2s3 9 7; Ag2s3 * ?g 5f2s3 Su%stituting. e-uations 2&3 and 2'3 in e-uation 2$3 0e get ?g 5f2s3 * E7a F s;a F 7;H E4;2s3 9 7;H Su%stituting t+e value of 5f 2s3 in t+e a%ove e-uation 0e get ?g Af 2s3 9 E7f F s;fH * E7a F s;a F 7;H E 4;2s3 9 7;H <ence transfer function6 4;2s3 9 Af 2s3 * ?g 7; 9 WE7f F s;fH E7a F s;a F 7;HX Nor unloaded condition6 5a * 0 T+erefore transfer function 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH Nor loaded condition ;f * Y 2Kf2 7f23 9 2If ;a * Y 2Ka2 7a23 9 2If Transfer function 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere Gf * ;f 9 7f and Ga * ;a 9 27a F 7;3 FORMULAE USED: Transfer function of DC generator6 O& &) .)%8 5)&8!(!)&. 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH 0+ere ?g is gain constant 7f is field resistance in 1+ms ;f is field inductance in <enry O& .)%8+8 5)&8!(!)&: 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere ?g is gain constant Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry Armature time constant Ga * ;a 9 27a F 7;3 7a is armature resistance in 1+ms ;a is armature inductance in <enry Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

U 2$3

U 2&3 U 2'3 U 2(3

U2103 U 2113

U 2123

&

Control Systems Laboratory Manual / II EEE, IV SEM

PROCEDURE: 1. T) 8+(+ $!&+ (@+ 0%!& 5)&'(%&( A0 : N) .)%8 ) ),+& 5! 5#!( 5@% %5(+ !'(!5': 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in $!&!$#$ +'!'(%&5+ position and t+e generator field r+eostat s+ould %e in $%/!$#$ +'!'(%&5+ ,)'!(!)& ) $!&!$#$ ,)(+&(!%. ,)'!(!)& 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+. ". Zsing t+e 3- point starter t+e DC motor is started and it is %roug+t to rated speed %y adQusting t+e motor field r+eostat. $. ?eeping t+e D)ST s0itc+ on t+e load side open6 t+e generated voltage A g and field current If of generator is noted do0n %y varying t+e generator field r+eostat. &. T+e a%ove step is repeated till 12" O of rated voltage is reac+ed. '. A grap+ is plotted %et0een Ag and 5f ta=ing 5f along ,- a,is. A tangent to t+e linear portion of t+e curve is dra0n from t+e origin and slope of t+is line gives ?g. OBSERVATIONS: S. N). F!+.8 5# +&(B I* (A) I&8#5+8 V).(%0+B E0 (V)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

MODEL GRAPH:

CIRCUIT DIAGRAM: T) 8+(+ $!&+ 0%!& 5)&'(%&(B A0:

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM

L)%8 5@% %5(+ !'(!5': 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in $!&!$#$ +'!'(%&5+ position and t+e generator field r+eostat s+ould %e in $%/!$#$ +'!'(%&5+ ,)'!(!)& ) $!&!$#$ ,)(+&(!%. ,)'!(!)& 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+ ". T+e generator is %roug+t to its rated voltage %y varying t+e generator field r+eostat. $. T+e D)ST s0itc+ on t+e load side is closed6 and t+e load is varied for convenient steps of load current up to 120 O of its rated capacity and t+e voltmeter 4 ; and ammeter 5a readings are o%served. 1n eac+ loading t+e speed s+ould %e maintained at rated speed. &. A grap+ is plotted %et0een 4; and 5; ta=ing 5; on ,- a,is. T+e slope of t+e grap+ gives ?g. OBSERVATIONS: S. N). T+ $!&%. V).(%0+B VL (V) L)%8 C# +&(B IL (A)

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"0

Control Systems Laboratory Manual / II EEE, IV SEM

MODEL GRAPH:

PROCEDURE: 2. T) 8+(+ $!&+ *!+.8 I&8#5(%&5+ L* . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRCUIT DIAGRAM:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"1

Control Systems Laboratory Manual / II EEE, IV SEM

OBSERVATIONS: S. N) F!+.8 V).(%0+B V (V) F!+.8 C# +&(B I (A) F!+.8 I$,+8+&5+B C* (O@$')

CALCULATIONS:

PROCEDURE: 4. D+(+ $!&%(!)& )* % $%(# + !&8#5(%&5+ L% . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Armature impedance Ka is calculated as 495 and t+e average value of Ka is o%tained. . Armature resistance 7a is measured using multimeter. ". Armature inductance ;a can %e calculated using formula6 ;a * Y 2Ka2 7a23 9 2If CIRCUIT DIAGRAM. Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"2

Control Systems Laboratory Manual / II EEE, IV SEM

OBSERVATIONS: S. N) A $%(# + V).(%0+B V (V) A $%(# + C# +&(B I (A) A $%(# + I$,+8+&5+B C% (O@$')

CALCULATIONS:

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"3

Control Systems Laboratory Manual / II EEE, IV SEM

RESULT: T+e transfer function of separately e,cited DC generator is determined as

E/,(. N):

D%(+: DETERMINATION OF TRANSFER FUNCTION OF DC MOTOR

AIM: To o%tain t+e transfer function of field controlled DC motor. APPARATUS / INSTRUMENTS REQUIRED: S. N) D+'5 !,(!)& R%&0+ T7,+ ?#%&(!(7

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"

Control Systems Laboratory Manual / II EEE, IV SEM

THEORY:

FIELD CONTROLLED MOTOR:

FORMULAE USED:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

""

Control Systems Laboratory Manual / II EEE, IV SEM Transfer function of field controlled DC motor6 2s3 9 4f 2s3 * ?m 9 Es 21FsGf3 21 F sGm3H 0+ere #otor gain constant6 ?m * ?tf 9 287f3 ?tf is motor tor-ue constant Tor-ue6 T is (.'1 J 7 2S1 S23 7 is radius of t+e %ra=e drum in m 7 * circumference of t+e %ra=e drum9 22 [3 8 is viscous co-efficient of friction 7f is field resistance in 1+ms Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry ;f * Y 2Kf2 7f23 9 2If Kf is field impedence in 1+ms 7f is field resistance in 1+ms #ec+anical time constant Gm * L98 #oment of inertia L * )av 9 E2[22/12 /22 32219t13-219t233H Average po0er delivered to t+e load6 )av* 24151 F 512 7a F 4252 F 522 7a3 9 2 7a is armature resistance in 1+ms ;a is armature inductance in <enry t2 is time ta=en on load in secs t1 is time ta=en on no load in secs 4iscous Co-efficient of friction6 8 * )stray 9 2/1 F /232 Stray loss6 )stray * E2[22/12 /22 3H L 9 t1 PROCEDURE: 1. T) 8+(+ $!&+ $)() () 6#+ 5)&'(%&(B A(* : 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e armature current 5a of t+e motor is set to some value %y adQusting t+e armature circuit resistance. T+is value of 5a is maintained constant t+roug+out t+e e,periment. 3. T+e field current 5f is varied in steps %y adQusting t+e field r+eostat and for eac+ value of 5f t+e %ra=e drum is adQusted suc+ t+at it Qust fails to rotate. T+e corresponding readings of ammeter and spring %alances are noted. . T+e value of tor-ue for eac+ value of 5f is calculated ". A grap+ is plotted %et0een tor-ue T and field current 5N ta=ing 5N along ,-a,is. T+e slope of t+e grap+ gives t+e value of ?tf OBSERVATIONS: Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"$

Control Systems Laboratory Manual / II EEE, IV SEM

S. N).

A $%(# + 5# +&( I% (A)

F!+.8 5# +&( I* (A)

S, !&0 ;%.%&5+ +%8!&0' S1 S2 (10) (10)

T) 6#+ T (N$)

MODEL GRAPH:

CIRCUIT DIAGRAM:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"&

Control Systems Laboratory Manual / II EEE, IV SEM

CALCULATIONS:

PROCEDURE 2. T) 8+(+ $!&+ *!+.8 I&8#5(%&5+ L* . 1. Connections are made as per t+e circuit diagram. Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"'

Control Systems Laboratory Manual / II EEE, IV SEM 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRCUIT DIAGRAM:

OBSERVATIONS: S. N). F!+.8 V).(%0+B V (V) F!+.8 C# +&(B I (A) F!+.8 I$,+8+&5+B C* (G)

CALCULATIONS:

PROCEDURE: 4. T) 8+(+ $!&+ $)$+&( )* !&+ (!% J %&8 V!'5)#' * !5(!)& C)-+**!5!+&( B:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

"(

Control Systems Laboratory Manual / II EEE, IV SEM 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e field current of t+e motor is set to some value %y adQusting t+e field resistance. 3. D)DT s0itc+ is t+ro0n to position 216113 and t+e motor is made to run at a speed / 1 21&00 rpm3 %y adQusting t+e armature r+eostat. . D)DT s0itc+ is opened from position 216113 and t+e stop 0atc+ is started simultaneously. T+e time ta=en t1 for t+e speed to drop from /121&00 rpm3 to /2 2 1300 rpm3 is noted. ". Again t+e D)DT s0itc+ is t+ro0n to position 2161 13 and t+e motor is made to run at a speed greater t+an /1 21&00 rpm3 %y adQusting t+e armature r+eostat. $. D)DT s0itc+ is t+ro0n to position 226213 and t+e stop 0atc+ is started 0+en t+e motor speed reac+es /1 21&00 rpm3. T+e time ta=en t 2 for t+e speed to drop from / 1 21&00 rpm3 to /22 1300 rpm3 is noted. Simultaneously t+e readings of t+e ammeter and voltmeter corresponding to /1 and /2 are noted. OBSERVATIONS: S. N). N1 ( ,$) (1 (S+5) V1 (V) I1 (A) N2 ( ,$) T2 (S+5) V2 (V) I2 (A)

CALCULATIONS:

CIRCUIT DIAGRAM:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

CALCULATIONS:

CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

RESULT: T+e transfer function of field controlled DC motor is determined as

E/,(. N): DC POSITION CONTROL SYSTEM

D%(+:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM AIM: To study t+e c+aracteristics of a DC position control system. APPARATUS > INSTRUMENTS RE?UIRED: i3 ii3 #ultimeter THEORY: A DC position control system is a closed loop control system in 0+ic+ t+e position of t+e mec+anical load is controlled 0it+ t+e position of t+e reference s+aft. A pair of potentiometers acts as error-measuring device. T+ey convert t+e input and output positions into proportional electric signals. T+e desired position is set on t+e input potentiometer and t+e actual position is fed to feed%ac= potentiometer. T+e difference %et0een t+e t0o angular positions generates an error signal6 0+ic+ is amplified and fed to armature circuit of t+e DC motor. T+e tac+ogenerator attac+ed to t+e motor s+aft produces a voltage proportional to t+e speed 0+ic+ is used for feed%ac=. 5f an error e,ists6 t+e motor develops a tor-ue to rotate t+e output in suc+ a 0ay as to reduce t+e error to Cero. T+e rotation of t+e motor stops 0+en t+e error signal is Cero6 i.e.6 0+en t+e desired position is reac+ed. PROCEDURE: 1. T+e input or reference potentiometer is adQusted nearer to Cero initially273. 2. T+e command s0itc+ is =ept in continuous mode and some value of for0ard gain ? A is selected. 3. Nor various positions of input potentiometer 273 t+e positions of t+e response potentiometer 203 is noted. Simultaneously t+e reference voltage 2473 measured %et0een t+e terminals 47 S A and t+e output voltage 2413 measured %et0een t+e terminals 41 S A are noted. . A grap+ is plotted 0it+ 0 along y-a,is and 7 along ,-a,is. DC position control =it and #otor unit

OBSERVATIONS:

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Control Systems Laboratory Manual / II EEE, IV SEM R+*+ +&5+ O#(,#( %&0#.% %&0#.% ,)'!(!)&B ,)'!(!)&B HO HR (8+0 ++') (8+0 ++') AA F AA F AA F AA F R+*+ +&5+ V).(%0+B V (V) AA F AA F O#(,#( V).(%0+VO (V) AA F AA F

S. N)

MODEL GRAPH:

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Control Systems Laboratory Manual / II EEE, IV SEM

DC POSITION CONTROL SYSTEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

RESULT: T+e DC position control system c+aracteristics are studied and corresponding grap+s are dra0n.

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N). D%(+: ANALOG SIMULATION OF TYPE 0 %&8 TYPE 1 SYSTEMS AIM: To study t+e time response of first and second order type 0 and type- 1 systems. APPARATUS > INSTRUMENTS RE?UIRED: 1. ;inear system simulator =it 2. C71 3. )atc+ cords FORMULAE USED: Damping ratio6 * 2ln #)32 9 22 F2ln #)323 :+ere #) is pea= percent overs+oot o%tained from t+e time response grap+ Zndamped natural fre-uency6 n * 9 Etp 21 - 23H 0+ere tp is t+e pea= time o%tained from t+e time response grap+ Closed loop transfer function of t+e type 0 second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?2 ?3 9 21FsT13 21 F sT23 0+ere ? is t+e gain ?2 is t+e gain of t+e time constant 1 %loc= *10 ?3 is t+e gain of t+e time constant 2 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms T2 is t+e time constant of time constant 2 %loc= * 1 ms Closed loop transfer function of t+e type 1-second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?1 ?2 9 s 21 F sT13 0+ere ? is t+e gain ?1 is t+e gain of 5ntegrator * (.$ ?2 is t+e gain of t+e time constant 1 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms THEORY: T+e type num%er of t+e system is o%tained from t+e num%er of poles located at origin in a given system. Type 0 system means t+ere is no pole at origin. Type 1 system means t+ere is one pole located at t+e origin. T+e order of t+e system is o%tained from t+e +ig+est po0er of s in t+e denominator of closed loop transfer function of t+e system. T+e first order system is Prepared by V.Arivumani, AP/EEE, Vels University, Chennai $&

Control Systems Laboratory Manual / II EEE, IV SEM c+aracteriCed %y one pole or a Cero. A,amples of first order systems are a pure integrator and a single time constant +aving transfer function of t+e form ?9s and ?92sTF13. T+e second order system is c+aracteriCed %y t0o poles and up to t0o Ceros. T+e standard form of a second order system is !2s3 * n2 9 2s2 F 2ns F n23 0+ere is damping ratio and n is undamped natural fre-uency. PROCEDURE: 1. T) *!&8 (@+ '(+%87 '(%(+ + ) )* (7,+ 0 *! '( ) 8+ '7'(+$ 1. Connections are made in t+e simulator =it as s+o0n in t+e %loc= diagram. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e simulator =it is connected to t+e \- c+annel of C71. . T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. ". T+e gain ? is varied and different values of steady state errors are noted. B.)51 8!%0 %$ )* T7,+-0 *! '( ) 8+ '7'(+$

OBSERVATIONS: S. N). 1 2 3 G%!&B A S(+%87 '(%(+ + ) B +''

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Control Systems Laboratory Manual / II EEE, IV SEM TRACES FROM CRO: F) G%!&B A F

F) G%!&B A F

F) G%!&B AF

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Control Systems Laboratory Manual / II EEE, IV SEM

LINEAR SYSTEM SIMULATOR PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF TYPE 0 FIRST ORDER SYSTEM

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Control Systems Laboratory Manual / II EEE, IV SEM

2. T) *!&8 (@+ '(+%87 '(%(+ + ) )* (7,+ 1 *! '( ) 8+ '7'(+$ 1. T+e %loc=s are Connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input triangular 0ave is set to 2 4pp in t+e C71 and t+is applied o t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e e,periment s+ould %e conducted at t+e lo0est fre-uency to allo0 enoug+ time for t+e step response to reac+ near steady state. ". T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. $. T+e gain ? is varied and different values of steady state errors are noted. &. T+e steady state error is also calculated t+eoretically and t+e t0o values are compared. B.)51 8!%0 %$ )* T7,+- 1 F! '( ) 8+ '7'(+$

OBSERVATIONS: S. N). 1 2 3 G%!&B A S(+%87 '(%(+ + ) B +''

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Control Systems Laboratory Manual / II EEE, IV SEM

TRACES FROM CRO: F) G%!&B A F

F) G%!&B A F

F) G%!&B A F

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Control Systems Laboratory Manual / II EEE, IV SEM

LINEAR SYSTEM SIMULATOR PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF TYPE 1 FIRST ORDER SYSTEM

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Control Systems Laboratory Manual / II EEE, IV SEM 4. T) *!&8 (@+ 5.)'+8 .)), +',)&'+ )* (7,+ 0 %&8 (7,+- 1 '+5)&8 ) 8+ '7'(+$ 1. T+e %loc=s are connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e output 0aveform is o%tained in t+e C71 and it is traced on a grap+ s+eet. Nrom t+e 0aveform t+e pea= percent overs+oot6 settling time6rise time6 pea= time are measured. Zsing t+ese values n and are calculated. ". T+e a%ove procedure is repeated for different values of gain ? and t+e values are compared 0it+ t+e t+eoretical values. B.)51 8!%0 %$ () );(%!& 5.)'+8 .)), +',)&'+ )* T7,+-0 '+5)&8 ) 8+ '7'(+$

OBSERVATIONS: P+%1 ,+ 5+&( O"+ '@))( IMP 1 2 R!'+ (!$+ ( ('+5) P+%1 T!$+ (, ('+5) S+((.!&0 (!$+ (' ('+5) U&8%$,+8 N%(# %. * +6#+&57 & ( %8>'+5)

S. N).

G%!& A

D%$,!&0 %(!)

TRACES FROM CRO: F) G%!&B A F F) G%!&B A F

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Control Systems Laboratory Manual / II EEE, IV SEM B.)51 8!%0 %$ () );(%!& 5.)'+8 .)), +',)&'+ )* T7,+-1 '+5)&8 ) 8+ '7'(+$

OBSERVATIONS: P+%1 ,+ 5+&( O"+ '@))( IMP 1 2 R!'+ (!$+ ( ('+5) P+%1 T!$+ (, ('+5) S+((.!&0 (!$+ (' ('+5) U&8%$,+8 N%(# %. * +6#+&57 & ( %8>'+5)

S. N).

G%!& A

D%$,!&0 %(!)

TRACES FROM CRO: F) G%!&B A F F) G%!&B A F

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Control Systems Laboratory Manual / II EEE, IV SEM

LINEAR SYSTEM SIMULATOR PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF TYPE 0 SECOND ORDER SYSTEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

LINEAR SYSTEM SIMULATOR PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF TYPE 1 SECOND ORDER SYSTEM

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM CALCULATIONS:

RESULT: T+e time response of first and second order type-0 and type-1 systems are studied.

VIVA-VOCE ?UESTIONS: 1. 2. 3. . ". $. Define order and type num%er. :+at are dominant polesR :+at is a closed loop systemR :+at is t+e effect of negative feed%ac=R :+at are poles and Ceros of a systemR Define transfer function.

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Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N). AIM: To digitally simulate t+e time response c+aracteristics of a linear system 0it+out non- linearities and to verify it manually. APPARATUS RE?UIRED: A )C 0it+ #AT;A8 pac=age THEORY: T+e time response c+aracteristics of control systems are specified in terms of time domain specifications. Systems 0it+ energy storage elements cannot respond instantaneously and 0ill e,+i%it transient responses6 0+enever t+ey are su%Qected to inputs or distur%ances. T+e desired performance c+aracteristics of a system of any order may %e specified in terms of transient response to a unit step input signal. T+e transient response c+aracteristics of a control system to a unit step input is specified in terms of t+e follo0ing time domain specifications Delay time td 7ise time tr )ea= time tp #a,imum pea= overs+oot #p Settling time ts STUDY OF BASIC MATLAB COMMANDS: T+e name MATLAB stands for MATRI- LABORATORY. #AT;A8 0as originally 0ritten to provide easy access to matri, soft0are developed %y t+e ;5/)AC? and A5S)AC? proQects. Today6 #AT;A8 engines incorporate t+e ;A)AC? and 8;AS li%raries6 em%edding t+e state of t+e art in soft0are for matri, computation. 5t +as evolved over a period of years 0it+ input from many users. 5n university environments6 it is t+e standard instructional tool for introductory and advanced courses !& MATHEMATICSB ENGINEERINGB AND SCIENCE. 5n industry6 #AT;A8 is t+e tool of c+oice for +ig+productivity researc+6 development6 and analysis. #AT;A8 is a +ig+-performance language for tec+nical computing. 5t integrates computation6 visualiCation6 and programming in an easy-to-use environment 0+ere pro%lems and solutions are e,pressed in familiar mat+ematical notation. Typical uses include6 #at+ and computation Algorit+m development Data ac-uisition #odeling6 simulation6 and prototyping Data analysis6 e,ploration6 and visualiCation &( D%(+: DIGITAL SIMULATION OF FIRST ORDER SYSTEMS

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Control Systems Laboratory Manual / II EEE, IV SEM Scientific and engineering grap+ics Application development6 including grap+ical user interface %uilding

5t is an interactive system 0+ose %asic data element is an array t+at does not re-uire dimensioning. T+is allo0s you to solve many tec+nical computing pro%lems6 especially t+ose 0it+ matri, and vector formulations6 in a fraction of t+e time it 0ould ta=e to 0rite a program in a scalar non-interactive language suc+ as C or Nortran. 5t also features a family of add-on application-specific solutions called tool%o,es. 4ery important to most users of #AT;A86 tool%o,es allo0 you to learn and apply specialiCed tec+nology. Tool%o,es are compre+ensive collections of #AT;A8 functions 2#-files3 t+at e,tend t+e #AT;A8 environment to solve particular classes of pro%lems. Areas in 0+ic+ tool%o,es are availa%le include SIGNAL PROCESSINGB CONTROL SYSTEMSB NEURAL NETDORASB FUCCY LOGICB DAVELETSB SIMULATIONB AND MANY OTHERS. Some practical e,amples of first order systems are 7; and 7C circuits. PROCEDURE: 1. Derive t+e transfer function of a 7; series circuit. 2. Assume 7* 1 1+ms ; * 0. 1 <. Nind t+e step response t+eoretically and plot it on a grap+ s+eet. 3. To %uild a S5#Z;5/? model to o%tain step response 9 sine response of a first order system6 t+e follo0ing procedure is follo0ed. 1. 5n #AT;A8 soft0are open a ne0 model in S5#Z;5/? li%rary %ro0ser. 2. Nrom t+e continuous %loc= in t+e li%rary drag t+e transfer function %loc=. 3. Nrom t+e source %loc= in t+e li%rary drag t+e step input9 sine input. . Nrom t+e sin= %loc= in t+e li%rary drag t+e scope. ". Nrom t+e mat+ operations %loc= in t+e li%rary drag t+e summing point. $. Connect all to form a system and give unity feed%ac= to t+e system. &. Nor c+anging t+e parameters of t+e %loc=s connected dou%le clic= t+e respective %loc=. '. Start simulation and o%serve t+e results in scope. 2Zse a mu, from t+e signal routing %loc= to vie0 more t+an one grap+ in t+e scope3 (. Compare t+e simulated and t+eoretical results. BLOCA DIAGRAM: Step response of a first order system:

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Control Systems Laboratory Manual / II EEE, IV SEM

Sine response of a first order system:

2. MATLAB ($-*!.+) , )0 %$ () );(%!& (@+ '(+, +',)&'+ %&8 !$,#.'+ +',)&'+ O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P grid OUTPUT: (P%'(+ (@+ 0 %,@ );(%!&+8 * )$ PC)

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Control Systems Laboratory Manual / II EEE, IV SEM

O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P grid OUTPUT: (P%'(+ (@+ 0 %,@ );(%!&+8 * )$ PC)

CALCULATIONS: U&!( '(+, +',)&'+ )* (@+ 0!"+& RL '+ !+' 5! 5#!(:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

U&!( I$,#.'+ +',)&'+ )* (@+ 0!"+& RLC '+ !+' 5! 5#!(:

RESULT: T+e time response c+aracteristics of a first order system is simulated digitally and verified manually. VIVA-VOCE ?UESTIONS: 1. :+at is #AT;A8R Prepared by V.Arivumani, AP/EEE, Vels University, Chennai '3

Control Systems Laboratory Manual / II EEE, IV SEM 2. 3. . ". $. &. '. :+at is t+e use of #AT;A8 )ac=ageR :+at are t+e tool%o,es availa%le in #AT;A8R :+at is t+e use of a simulationR Differentiate real time systems and simulated systems. !ive t0o e,amples for first order system. /ame t+e standard test signals used in control system. :+at is time responseR

E/,(. N): DIGITAL SIMULATION OF SECOND ORDER SYSTEMS AIM:

D%(+:

To digitally simulate t+e time response c+aracteristics of a second order system and verify manually. APPARATUS RE?UIRED A )C 0it+ MATLAB Soft0are THEORY T+e time c+aracteristics of control systems are specified in terms of time domain specifications. Systems 0it+ energy storage elements cannot respond instantaneously and 0ill e,+i%it transient responses6 0+enever t+ey are su%Qected to inputs or distur%ances. T+e desired performance c+aracteristics of a system of any order may %e specified in terms of transient response to a unit step input signal. T+e transient response c+aracteristics of a control system to a unit step input is specified in terms of t+e follo0ing time domain specifications. Delay time td 7ise time tr )ea= time tp #a,imum overs+oot #p Settling time ts PROCEDURE: 1. Derive t+e transfer function of a 7;C series circuit. 2. Assume 7* 1 1+ms6 ; * 0. 1 < and C * 1 micro Narad. Nind t+e step response t+eoretically and plot it on a grap+ s+eet. 3. To %uild a S5#Z;5/? model to o%tain step response 9 sine response of a second order system6 t+e follo0ing procedure is follo0ed. 1. 5n #AT;A8 soft0are open a ne0 model in S5#Z;5/? li%rary %ro0ser. 2. Nrom t+e continuous %loc= in t+e li%rary drag t+e transfer function %loc=. 3. Nrom t+e source %loc= in t+e li%rary drag t+e step input9 sine input. Prepared by V.Arivumani, AP/EEE, Vels University, Chennai '

Control Systems Laboratory Manual / II EEE, IV SEM . Nrom t+e sin= %loc= in t+e li%rary drag t+e scope. ". Nrom t+e mat+ operations %loc= in t+e li%rary drag t+e summing point. $. Connect all to form a system and give unity feed%ac= to t+e system. &. Nor c+anging t+e parameters of t+e %loc=s connected dou%le clic= t+e respective %loc=. '. Start simulation and o%serve t+e results in scope. 2Zse a mu, from t+e signal routing %loc= to vie0 more t+an one grap+ in t+e scope3 (. Nrom t+e step response o%tained note do0n t+e rise time6 pea= time6 pea= overs+oot and settling time. 10. Compare t+e simulated and t+eoretical results. BLOCA DIAGRAM: Step response of a second order system:

Sine response of a second order system:

2. MATLAB , )0 %$ () );(%!& (@+ '(+, +',)&'+ %&8 !$,#.'+ +',)&'+ )* '+5)&8 ) 8+ '7'(+$. O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM OUTPUT: (P%'(+ (@+ 0 %,@ );(%!&+8 * )$ PC)

O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P OUTPUT: (P%'(+ (@+ 0 %,@ );(%!&+8 * )$ PC)

CALCULATIONS: U&!( '(+, +',)&'+ )* (@+ 0!"+& RLC '+ !+' 5! 5#!(:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

U&!( !$,#.'+ +',)&'+ )* (@+ 0!"+& RLC '+ !+' 5! 5#!(:

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Control Systems Laboratory Manual / II EEE, IV SEM

RESULT: T+e time response c+aracteristics of t+e given second order system is simulated digitally and verified manually. VIVA-VOCE ?UESTIONS: 1. 2. 3. . ". $. &. :+at is #AT;A8R :+at is t+e use of #AT;A8 )ac=ageR :+at are t+e tool%o,es availa%le in #AT;A8R :+at is t+e use of a simulationR Differentiate real time systems and simulated systems. !ive t0o e,amples for second order system. /ame t+e standard test signals used in control system. ''

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Control Systems Laboratory Manual / II EEE, IV SEM '. :+at is time responseR

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): STABILITY ANALYSIS OF LINEAR SYSTEMS a. USING BOD !LOT
AIM:

D%(+:

To o%tain t+e %ode plot and c+ec= for sta%ility of t+e system 0it+ open loop transfer function6 !2S3 * APPARATUS RE?UIRED: A )C 0it+ #AT;A8 Soft0are THEORY: A ;inear Time-5nvariant Systems is sta%le if t+e follo0ing t0o notions of system sta%ility are satisfied :+en t+e system is e,cited %y 8ounded input6 t+e output is also a 8ounded output. 5n t+e a%sence of t+e input6 t+e output tends to0ards Cero6 irrespective of t+e initial conditions. T+e follo0ing o%servations are general considerations regarding system sta%ility6 5f all t+e roots of t+e c+aracteristic e-uation +ave negative real parts6 t+en t+e impulse response is %ounded and eventually decreases to Cero6 t+en system is '(%;.+. 5f any root of t+e c+aracteristic e-uation +as a positive real part6 t+en system is #&'(%;.+. 5f t+e c+aracteristic e-uation +as repeated roots on t+e QB-a,is6 t+en system is #&'(%;.+. 5f one are more non-repeated roots of t+e c+aracteristic e-uation on t+e QBa,is6 t+en system is #&'(%;.+.

BODE PLOT : Consider a Single-5nput Single-1utput system 0it+ transfer function C2s3 * 72s3 :+ere m ] n. a0 sn F a1sn-1 F UUFan %0 sm F %1 sm-1 F UUF %m

R#.+ 1 A system is sta%le if t+e p+ase lag is less t+an 1'0^ at t+e fre-uency for 0+ic+ t+e gain is unity 2one3. Prepared by V.Arivumani, AP/EEE, Vels University, Chennai (0

Control Systems Laboratory Manual / II EEE, IV SEM R#.+ 2 A system is sta%le if t+e gain is less t+an one 2unity3 at t+e fre-uency for 0+ic+ t+e p+ase lag is 1'0^. T+e application of t+ese rules to an actual process re-uires evaluation of t+e gain and p+ase s+ift of t+e system for all fre-uencies to see if rules 1 and 2 are satisfied. T+is is o%tained %y plotting t+e gain and p+ase versus fre-uency. T+is plot is called BODE PLOT. T+e gain o%tained +ere is ),+& .)), 0%!&. T+e e,act terminology is in terms of a G%!& M% 0!& and P@%'+ M% 0!& from t+e limiting values -uoted. 5f t+e p+ase lag is less t+an 1 0^ at t+e unity gain fre-uency6 t+e system is sta%le. T+is t+en6 is a 0^ P@%'+ M% 0!& from t+e limiting values of 1'0^. 5f t+e gain is "d8 %elo0 unity 2or a gain of a%out 0."$3 0+en t+e p+ase lag is 1'0^6 t+e system is sta%le. T+is is "d8 G%!& M% 0!&.

PROCEDURE: Step 1. :rite a program to o%tain t+e 8ode plot for t+e given system. Step 2. Assess t+e sta%ility of given system using t+e plot o%tained. PROGRAM O81DA );1T 1N T<A S\STA# OAnter t+e numerator and denominator of t+e transfer function num*E den*E sys*tf2num6den3 OSpecify t+e fre-uency range and enter t+e command 0*logspace2-26 610003P %ode2sys603 ,la%el2_Nre-uency_3 yla%el2 _ )+ase angle in degrees #agnitude of !2s3 in deci%els_3 title2_8ode )lot of t+e system O)+ase cross over fre-uency margin2sys3 E !m6 )m6 :pc6 :gc H* margin 2sys3 _3 OTo determine t+e !ain #argin6 )+ase #argin6 !ain crossover fre-uency and HP HP

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

MANUAL CALCULATIONS:

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

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Control Systems Laboratory Manual / II EEE, IV SEM

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Control Systems Laboratory Manual / II EEE, IV SEM

OUTPUT (* )$ $%&#%. 5%.5#.%(!)&):

OUTPUT (* )$ , )0 %$):

RESULT: T+e 8ode plot is dra0n for t+e given transfer function using #AT;A8 and verified manually. Nrom t+e plot o%tained6 t+e system is found to %e ``````````````. VIVA-VOCE ?UESTIONS: 1. 2. 3. . ". $. &. '. (. Define sta%ility of ;inear Time 5nvariant System. !ive t+e sta%ility conditions of system using )ole-Kero plot. Define 8ode )lot. :+at is t+e use of 8ode )lotR :+at t+e conditions of sta%ility are in 8ode plotR Define Sta%ility criteria. Define ;imits of sta%ility. Define safe regions in sta%ility criteria. Define )+ase margin and !ain margin.

Prepared by V.Arivumani, AP/EEE, Vels University, Chennai

Control Systems Laboratory Manual / II EEE, IV SEM ". Usin# Root Loc$s AIM: To o%tain t+e 7oot locus plot and to verify t+e sta%ility of t+e system 0it+ transfer function6 !2s3 * APPARATUS RE?UIRED: A )C 0it+ #AT;A8 Soft0are THEORY: ROOT LOCUS PLOT: T+e c+aracteristic of t+e transient response of a closed-loop system is related to t+e location of t+e closed loop poles. 5f t+e system +as a varia%le loop gain6 t+en t+e location of t+e closed-loop poles depend on t+e value of t+e loop gain c+osen. A simple tec+ni-ue =no0n as a7oot ;ocus Tec+ni-ueb used for studying linear control systems in t+e investigation of t+e traQectories of t+e roots of t+e c+aracteristic e-uation. T+is tec+ni-ue provides a grap+ical met+od of plotting t+e locus of t+e roots in t+e s-plane as a given system parameter is varied over t+e complete range of values 2may %e from Cero to infinity3. T+e roots corresponding to a particular value of t+e system parameter can t+en %e located on t+e locus or t+e value of t+e parameter for a desired root location can %e determined form t+e locus. T+e root locus is a po0erful tec+ni-ue as it %rings into focus t+e complete dynamic response of t+e system. T+e root locus also provides a measure of sensitivity of roots to t+e variation in t+e parameter %eing considered. T+is tec+ni-ue is applica%le to %ot+ single as 0ell as multiple-loop systems. PROCEDURE: 1. :rite a program to o%tain t+e root locus plot for t+e given system. 2. Assess t+e sta%ility of given system using t+e plot o%tained. PROGRAM: O711T ;1CZS 1N T<A S\STA#O num*E den*E sys*tf2num6den3 rlocus2sys3 v*E-106106-'6'HP a,is2v3 Prepared by V.Arivumani, AP/EEE, Vels University, Chennai (" H H

Control Systems Laboratory Manual / II EEE, IV SEM ,la%el2_7eal A,is_3 yla%el2_5maginary A,is_3 title2_7oot ;ocus of t+e system_3 title2_7oot ;ocus )lot of t+e system MANUAL CALCULATIONS: _3

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Control Systems Laboratory Manual / II EEE, IV SEM

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Control Systems Laboratory Manual / II EEE, IV SEM OUTPUT (* )$ $%&#%. 5%.5#.%(!)&)

OUTPUT (* )$ , )0 %$):

RESULT: T+e 7oot locus plot is dra0n for t+e given transfer function6 !2s3* ``````````````````` using #AT;A8 and t+e range of gain ? for sta%ility is``````````````. VIVA-VOCE ?UESTIONS: 1. Define root locus tec+ni-ue. 2. :+at are t+e conditions of sta%ility in root locus criteriaR 3. :+at is t+e advantage of root locus tec+ni-ueR . :+ic+ met+od of sta%ility analysis is more advantageousR ". <o0 t+e sta%ility of unsta%le is improvedR $. :+at are t+e met+ods to improve t+e sta%ilityR &. :+at is t+e use of compensatorsR '. :+at do you mean %y 7oot-;ociR (. :+at is complementary 7oot ;ociR 10. :+at are contoursR 11. State t+e %asic properties of 7oot ;ocus. 12. <o0 0ould you find t+e num%er of %ranc+es of 7oot ;ociR 13. <o0 are t+e %rea= a0ay points of t+e root locus determinedR 1 . <o0 is t+e point of intersection of t+e asymptotes 0it+ real a,is found out.

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Control Systems Laboratory Manual / II EEE, IV SEM c. USING NY%UIST !LOT AIM: To o%tain t+e /y-uist plot and c+ec= t+e sta%ility of t+e system using /y-uist Sta%ility Criterion for t+e given unity feed%ac= system 0it+ transfer function !2s3<2s3 * APPARATUS RE?UIRED A )C 0it+ #AT;A8 Soft0are THEORY: NY?UIST STABILITY CRITERION.

POLAR PLOTS > NY?UIST PLOTS: T+e sinusoidal transfer function !2QB3 is a comple, function is given %y !2QB3 * 7eE !2QB3H F Q 5mE!2QB3H or !2QB3 * c!2QB3 c d!2QB3 * # d@ -----------213 Nrom e-uation 2136 it is seen t+at !2QB3 may %e represented as a p+asor of magnitude # and p+ase angle @. As t+e input fre-uency varies from 0 to e6 t+e magnitude # and p+ase angle @ c+anges and +ence t+e tip of t+e p+asor !2QB3 traces a locus in t+e comple, plane. T+e locus t+us o%tained is =no0n as POLAR PLOT. T+e maQor advantage of t+e polar plot lies in sta%ility study of systems. /y-uist related t+e sta%ility of a system to t+e form of t+ese plots. )olar plots are referred as /\fZ5ST PLOTS. PROCEDURE: 1. :rite a program to o%tain t+e /y-uist plot for t+e given system. 2. Assess t+e sta%ility of given system using t+e plot o%tained.

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Control Systems Laboratory Manual / II EEE, IV SEM PROGRAM O/\fZ5ST );1T OAnter t+e numerator and denominator of t+e transfer function num*E H den*E H sys*tf2num6den3 OSpecify t+e fre-uency range and enter t+e command ny-uist2sys3 v*E H a,is2v3 ,la%el2_7eal A,is_3P yla%el2_5maginary A,is_3P title2_/y-uist )lot of t+e system MANUAL CALCULATIONS:

g3

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Control Systems Laboratory Manual / II EEE, IV SEM

OUTPUT ( * )$ M%&#%. 5%.5#.%(!)&)

OUTPUT (* )$ , )0 %$)

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101

Control Systems Laboratory Manual / II EEE, IV SEM RESULT: T+e /y-uist plot is dra0n for t+e given transfer function6 !2s3 * `````````````````````` using #AT;A8 and t+e system is found to %e ``````````````````````.

VIVA-VOCE ?UESTIONS: 1. 2. 3. . ". :+at is polar plotR :+at is /y-uist plotR Define t+e conditions of sta%ility in polar plot. :+at is t+e use and advantage of polar plotR State /y-uist sta%ility criterion.

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Control Systems Laboratory Manual / II EEE, IV SEM E/,(. N): STEPPER MOTOR CONTROL SYSTEM D%(+:

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Control Systems Laboratory Manual / II EEE, IV SEM

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Control Systems Laboratory Manual / II EEE, IV SEM

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