Ee 2257 Control System Lab Manual

Control Systems Laboratory Manual
DEPARTEMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
EE2257 CONTROL SYSTEM LABORATORY MANUAL
PREPARED BY V.BALAJI, M.Tech, (Ph.D), M.I.S.T.E, M.I.A.ENG, M.I.O.J.E ASSITANT PROFESSOR EEE DEPARTMENT D!ANALA"S!MI COLLEGE OF ENGINEERING C!ENNAI
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LIST OF E#PERIMENTS
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 systems 10. Digital simulation of second systems
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TRANSFER FUNCTION OF DC SERVO MOTOR E#PT.NO $ DATE AIM$ T% &e'e()*+e 'he '(,+-.e( ./+c'*%+ %. 'he DC -e(0%)%'%( $
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APPARATUS RE1UIRED$ S.N% N,)e %. 'he E2/*3)e+' R,+4e T53e 1/,+'*'5
T!EORY$
Speed can be controlled by varying (i) flux per pole (ii) resistance of armature circuit and (iii) applied voltage. It is known t at ! "b. If applied voltage is kept# "b $ % & Ia'a will
'emain constant. ( en# !
*y decreasing t e flux speed can be increased and vice versa. +ence t is met od is called field control met od. ( e flux of t e ,C s unt motor can be c anged by c anging field current# Is wit t e elp of s unt field r eostat. Since t e Is relatively small# t e s unt filed r eostat as to carry only a small current# w ic means Is ' loss is small. ( is met od is very efficient. In non.interpolar mac ines# speed can be increased by t is met ods up to t e ratio -/ ). In interpolar mac ine# a ratio of maximum to minimum speed of 0/) w ic is fairly common. FORMULA$ A(),'/(e C%+'(%6 D.C. Se(0% )%'%($ It is ,C s unt motor designed to satisfy t e re1uirements of t e servomotor. ( e field excited by a constant ,C supply. If t e field current is constant t en speed is directly proportional to armature voltage and tor1ue is directly proportional to armature current.
(ransfer 8unction $
6m S () 9 (mS)
6m $ (m $ 6t $ "b $ Constant %alues 2 $ * $
) 7 :vg 6b 2'a 7 6b 6t ( 7 Ia %.Ia 'a 3.345 6g m 3.343 ! 7 rpm

-
F*e6& C%+'(%6 D.C. Se(0% )%'%($ It is ,C s unt motor designed to satisfy t e re1uirements of t e servomotor. In t is motor t e armature is supplied wit constant current or voltage. (or1ue is directly proportional to field flux controlling t e field current controls t e tor1ue of "8 9 E8 S6.N% I. I, S7 S2 N V T E8
t e motor. 6 (ransfer 8unction $ 2s () 9 s) 6 $ 6t 7 'f $ Lf 7 'f $ % ; f & ' f- 7 - f 7 ' f $ - ! 7 03 ( $ r ( S) & S- ) < 5.=) !.m and r $ .3>?m
-
OBSERVATION TABLE FOR TRANSFER FUNCTION ARMATURE CONTROL DC SERVO MOTOR$ T,86e N%. 7 F*+&*+4 'he 0,6/e %. "8
:vg 6b T,86e N%. 2 T% .*+& R, Sl.!o %olt %a Current Ia 'a $ %a 7 Ia
:vg 'a $
PRECAUTIONS$ :t starting# ( e field r eostat s ould be kept in minimum resistance position PROCEDURE FOR TRANSFER FUNCTION OF ARMATURE CONTROL DC SERVOMOTOR$
F*+&*+4 "8 ). 6eep all switc es in @88 position. -. Initially keep voltage adAustment B@( in minimum potential position. 4. Initially keep armature and field voltage adAustment B@( in minimum position. C. Connect t e module armature output : and :: to motor armature terminal : and :: respectively# and field 8 and 88 to motor field terminal 8 and 88 respectively. ?. Switc @! t e power switc # S)# S-. 0. Set t e field voltage ?3D of t e rated value. >. Set t e field current ?3D of t e rated value. =. (ig t t e belt an take down t e necessary readings for t e table & ) to find t e value of 6b. 5. Blot t e grap (or1ue as :rmature current to find 6t. F*+&*+4 R, ). 6eep all switc es in @88 position. -. Initially keep voltage adAustment B@( in minimum position. 4. Initially keep armature and field voltage adAustment B@( in minimum potential position. C. Connect module armature output : and :: to motor armature terminal : to :: respectively. ?. Switc @! t e power switc and S). 0. !ow armature voltage and armature current are taken by varying t e armature B@( wit in t e rated armature current value. >. ( e average resistance value in t e table .- gives t e armature resistance.
PROCEDURE FOR TRANSFER FUNCTION OF FIELD CONTROL D.C. SERVOMOTOR$ F*+&*+4 R. ). 6eep all switc es in @88 position. -. 6eep armature field voltage B@( in minimum potential position. 4. Initially keep armature and field voltage adAustment B@( in minimum potential position. C. Connect module filed output 8 and 88 to motor filed terminal 8 and 88 respectively.
?. Switc @! t e power# S) and S-. 0. !ow filed voltage and filed current are taken by varying t e armature B@( wit in t e rated armature current value. >. (abulate t e value in t e table no & 4 average resistance values give t e fied resistance. F*+&*+4 :. ). 6eep all switc es in @88 position. -. 6eep armature and field voltage B@( in minimum position. 4. Initially keep armature and field voltage adAustment B@( in minimum position. C. Connect module varaic output B and ! to motor filed terminal 8 and 88 respectively. ?. Switc on t e power note down reading for t e various :C supply by adAusting varaic for t e table no & C. F*+&*+4 "'6 ). 6eep all switc es @88 position. -. Initially keep voltage adAustment B@( in minimum potential position. 4. Initially keep armature and field voltage adAustment B@( in minimum position. C. Connect t e module armature output : and :: to motor armature terminal and :: respectively# and field 8 and 88 to motor field terminal 8 and 88 respectively. ?. Switc @! t e power switc # S) and S-. 0. Set t e filed voltage at rated value (C=%). >. :dAust t e armature voltage using B@( on t e armature side till it reac es t e ))33 rpm. l =. (ig t t e belt and take down t e necessary reading for t e table & ? 6t l 5. Blot t e grap (or1ue as 8ield current to find 6t OBSERVATION TABLE FOR TRANSFER FUNCTION OF ARMATURE CONTROL DC SERVO MOTOR$ T,86e N%$; T% .*+& R. Sl.!o If (amp) %f (%olt) 'f (o m)
6
:vg 'f $ T,86e N%$< T% .*+& :. Sl.!o If (amp) m: %f (%olt) ; f $ % f 7 If
T,86e N%$ 5 T% .*+& Sl.!o If
l "'
:vg ;f $ Ia S) S(( ! & m) ! (rpm)
MODEL GRAP!$
6t $ ( 7 If
6t $ ( 7 Ia
PREPARED BIfY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Ia
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8ield Current
Control Systems Laboratory Manual :rmature Current
VIVA 1UESTIONS$ ). E at are t e main parts of a ,C servo motorF -. E at are t e two types of servo motorF 4. E at are t e advantages and disadvantages of a ,C servo motorF C. Give t e applications of ,C servomotorF ?. E at do you mean by servo mec anismF 0. E at do you mean by field controlled ,C servo motorF
MODEL CALCULATION$
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
Page 1010
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TRANSFER FUNCTION OF AC SERVO MOTOR E#PT.NO $ DATE AIM$

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 1111
T% &e'e()*+e 'he '(,+-.e( ./+c'*%+ %. 'he 4*0e+ AC -e(0%)%'%( APPARATUS RE1UIRED$ S.N% N,)e %. 'he E2/*3)e+' R,+4e T53e 1/,+'*'5
NAME PLATE DETAILS$ @H(BH( %@L(:G" CH''"!( SB"", FUSE RATINGS$ *locked rotor test/ )-?D of rated current. T!EORY$ :n servo motor is basically a two & p ase induction type except for certain special design features. : two & p ase servomotor differ in t e following two ways from a normal induction motor. ( e rotor of t e servomotor is built wit ig resistance. So t at its I 7 ' (Inductive reactance 7 resistance) ratio is small w ic result in liner speed & tor1ue c aracteristics. ( e excitation voltage applied to two & stator winding s ould ave o a p ase difference of 53 =OR"ING PRINCIPLE OF AC SERVOMOTOR %oltages of e1ual rms magnitude and 53 p ase difference excite t e stator winding. ( ese results in exciting current i) and i- t at are p ase displaced by 53 and ave e1ual rms value. ( ese current are rise to a rotating magnetic field of constant magnitude. ( e direction of rotation depends on t e p ase relations ip of t e two current (or voltage).
o o
/ / / /
( e rotating magnetic field sweeps over t e rotor conductor. ( e rotor conductors experience a c ange in flux and so voltage are induced in rotor conductors. ( is voltage circulates current in t e s ort circuited rotor conductors and t e current creates rotor flux. ,ue to t e interaction of stator and rotor flux# a mec anical force (or tor1ue) is developed on t e rotor and t e rotor starts moving in t e same direction as t at of rotating magnetic field.
FORMULA$ Laplace (ransform of output (ransfer 8unction $ Laplace (ransform of input (s) 7 "s(s) $ 6) 7 s2 9 6- 9 * $ 6m 7 ) 9 s ...... ()) 6m $ 6) 7 (6- 9 *) ............................... motor gain constant (-)
m
$ 2 7 (6- 9 *) .................................. motor time constant (4)
(or1ue (() $ 5.=) < r < s !m S $ applied load in 6g ' $ radius of s aft in m $ 3.30= m C%+-',+' V,6/e-$ 2 $ ?- gmcm $ 3.3?kg cm # * $ 3.3)=>? T,86e N%$ 7 OBSERVATION TABLE FOR DETERMINIG MOTOR CONSTANT "7 $ S.!o Load (kg) Control %oltage (%c) (or1ue (!m)
Page 1313
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T,86e N%$ 2 OBSERVATION TABLE FOR DETERMINING MOTOR CONSTANT "2 $ S.!o Speed (!) rpm Load (kg) (or1ue (!m)
PRECAUTIONS$ i. ii. iii. Initially ,BS( switc s ould be in open condition. 6eep t e autotransformer in minimum potential position. In blocked rotor test# block t e rotor by tig tening t e belt around t e t e brake drum before starting t e experiment.
BLOC" DIAGRAM OF SERVOMOTOR
PROCEDURE$ F%( &e'e()*+*+4 )%'%( c%+-',+' "7 ). 6eep variac in minimum potential position. -. Connect banana connectors JBout to BinK and J!out to !inK. 4. Connect 5pin , connector from t e motor feed back to t e input of module %B"( & 43-. C. Switc @! t e -43% :C supply of t e motor setup. ?. Switc @! t e power switc . 0. Switc @! t e S- (main winding) and S) (control winding) switc es. >. Set t e rated voltage (-43%) to control p ase using %:'I:C. =. :pply load to t e motor step by step until it reac ing 3 rpm. 5. (ake necessary readings for t e table .). )3.(o calculate 6) plot t e grap tor1ue vs control winding.
F%( &e'e()*+*+4 )%'%( c%+-',+' "2 ). 6eep variac in minimum potential position. -. Connect banana connectors JBout to BinK and J!out to !inK. 4. Connect 5pin , connector from t e motor feed back to t e input of module %B"( & 43-. C. Switc @! t e -43% :C supply of t e motor setup. ?. Switc @! t e power switc . 0. Switc @! t e S- (main winding) and S) (control winding) switc es.
>. Set t e rated voltage (-43%) to control p ase using %:'I:C. =. :pply load to t e motor step by step until it reac es 3 rpm. 5. (ake necessary readings for t e table .-. )3.(o calculate 6- plot speed vs tor1ue curve.
MODEL GRAP! MOTOR CONSTANT "2 MOTOR CONSTANT "7
6- $ ( 7 ! % !
6)$ ( 7 % S3ee& *+ (3)
S3ee& *+ (3)
MODEL CALCULATION$
VIVA 1UESTIONS$ ). ,efine transfer functionF -. E at is :.C servo motorF E at are t e main partsF 4. E at is servo mec anismF C. Is t is a closed loop or open loop system ."xplainF ?. E at is back "M8F
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ANALOG SIMULATION OF TYPE > ? ,+& TYPE > 7 SYSTEM AIM$ (o study t e time response of first and second order type &3 and type. ) systems. APPARATUS RE1UIRED$ ). Linear system simulator kit -. C'@ FORMULAE USED$ PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 17
Control Systems Laboratory Manual ). ,amping ratio# $ (ln MB) 7 ( 9 (ln MB) ) E ere MB is peak percent overs oot obtained from t e response grap -. Hndamped natural fre1uency# n $ 7 tp () . ) E ere tp is peak time obtained from t e response grap 4. Closed loop transfer function of type.3 second order system is C(s) 7 '(s) $ G(s) 7 )9G(s) E ere G(s) $ 6 6- 64 7 L()9s()) () 9 s(-)M 6 is t e gain 6- is t e gain of t e time constant & ) block $)3 64 is t e gain of t e time constant & - block $)3 () is t e time constant time constant & ) block $ ) ms (- is t e time constant time constant & - block $ ) ms C. Closed loop transfer function of type.) second order system is C(s) 7 '(s) $ G(s) 7 )9G(s) E ere G(s) $ 6 6) 6- 7Ls () 9 s())M 6 is t e gain 6) is t e gain of Integrator $ 5.0 6- is t e gain of t e time constant & ) block $)3 () is t e time constant of time constant & ) block $ ) ms ( eoretical %alues of n and can be obtained by comparing t e co.efficients of t e denominator of t e closed loop transfer function of t e second order system wit t e standard format of t e second order system w ere t e standard format is C(s) 7'(s) $ n 7 s 9 - ns 9 n T!EORY$ ( e type number of t e system is obtained from t e number of poles located at origin in a given system. (ype & 3 system means t ere is no pole at origin. (ype & ) system means t ere is one pole located at t e origin. ( e order of t e system is obtained from t e ig est power of s in t e denominator of closed loop transfer function of t e system ( e first order system is c aracteriNed by one pole or a Nero. "xamples of first order systems are a pure integrator and a single time constant aving transfer function of t e form 67s and 67 (s(9)). ( e second order system is c aracteriNed by two poles and upto two Neros. ( e standard form of a second order system is C(s) 7'(s) $ n 7 (s 9 - ns 9 n ) w ere is damping ratio and n is undamped natural fre1uency. BLOC" DIAGRAM$ 7. T% .*+& -'e,&5 -','e e((%( %. '53e@ 7 -5-'e)
-
-. T% .*+& -'e,&5 -','e e((%( %. '53e@ ? -5-'e)
;. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. T53e@7 -ec%+& %(&e( -5-'e)
<. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. T53e@? -ec%+& %(&e( -5-'e)
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PROCEDURE$ 7. T% .*+& 'he -'e,&5 -','e e((%( %. '53e > 7 .*(-' %(&e( -5-'e) ). ( e blocks are connected using t e patc cords in t e simulator kit. -. ( e input triangular wave is set to ) % peak to peak in t e C'@ and t is is applied to t e '"8 terminal of error detector block. ( e input is also connected to t e I. c annel of C'@. 4. ( e output from t e system is connected to t e O. c annel of C'@. C. ( e experiment s ould be conducted at t e lowest fre1uency so keep t e fre1uency knob in minimum position to allow enoug time for t e step response to reac near steady state. ?. ( e C'@ is kept in I.O mode and t e steady state error is obtained as t e vertical displacement between t e two curves. 0. ( e gain 6 is varied and different values of steady state errors are noted. 2. T% .*+& 'he -'e,&5 -','e e((%( %. '53e > ? .*(-' %(&e( -5-'e) ). ( e blocks are connected using t e patc cords in t e simulator kit. -. ( e input s1uare wave is set to ) % peak to peak in t e C'@ and t is is applied to t e '"8 terminal of error detector block. ( e input is also connected to t e I. c annel of C'@. 4. ( e output from t e system is connected to t e O. c annel of C'@. C. ( e C'@ is kept in I.O mode and t e steady state error is obtained as t e vertical displacement between t e two curves. ?. ( e gain 6 is varied and different values of steady state errors are noted. ;. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. '53e > ? ,+& '53e@ 7 -ec%+& %(&e( -5-'e) ). ( e blocks are connected using t e patc cords in t e simulator kit. -. ( e input s1uare wave is set to ) % peak to peak in t e C'@ and t is is applied to t e '"8 terminal of error detector block. ( e input is also connected to t e I. c annel of C'@. 4. ( e output from t e system is connected to t e O. c annel of C'@. C. ( e output waveform is obtained in t e C'@ and it is traced on a grap s eet. 8rom t e waveform t e peak percent overs oot# settling time# rise time# peak time are measured. Hsing t ese values n and are calculated. PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2020
Control Systems Laboratory Manual ?. ( e above procedure is repeated for different values of gain 6 and t e values are compared wit t e t eoretical values. TABULAR COLUMN$ 7. T% .*+& 'he -'e,&5 -','e e((%( %. '53e > 7 .*(-' %(&e( -5-'e) S.N%. G,*+ ," S'e,&5 -','e e((%( e-- (V)
2. T% .*+& 'he -'e,&5 -','e e((%( %. '53e > ? .*(-' %(&e( -5-'e) S.N%. G,*+ ," S'e,&5 -','e e((%( e-- (V)
;. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. '53e > ? -ec%+& %(&e( -5-'e) S.N%. G, Pe,A *+, 3e(ce+' " O0e(-h%%', BMP R*-e '*)e, '( (-ec) Pe,A '*)e, '3 (-ec) Se''6*+4 '*)e,'(-ec) G(,3h*c,6 The%(e'*c,6 U+&,)3e& +,'/(,6 .(e2/e+c5, +((,& -ec)
D,) U+&,)3e& D,) 3*+4 +,'/(,6 3*+4 (,'*% .(e2/e+c5, (,'*% + ((,& -ec)
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Control Systems Laboratory Manual <. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. '53e > 7 -ec%+& %(&e( -5-'e) S.N%. G,*+, Pe,A " 3e(ce+' O0e(-h%%', BMP R*-e '*)e, '( (-ec) The%(e'*c,6 Pe,A Se''6*+4 G(,3h*c,6 '*)e, '*)e,'- D,) U+&,)3e& D,)3*+4 U+&,)3e& '3 (-ec) 3*+4 +,'/(,6 (,'*% +,'/(,6 (-ec) .(e2/e+c5, .(e2/e+c5, (,'*% + +((,& -ec) ((,& -ec)
MODEL GRAP!$
MODEL CALCULATION$
RESULT PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2222
STABILITY ANALYSIS OF LINEAR SYSTEM

E#PT.NO $ DATE AIM$ (*) (**) T% %8',*+ 'he 8%&e 36%', N52/*-' 36%' ,+& (%%' 6%c/- %. 'he 4*0e+ '(,+-.e( ./+c'*%+. T% ,+,65-*- 'he -',8*6*'5 %. 4*0e+ 6*+e,( -5-'e) /-*+4 MATLAB. $
APPARATUS RE1UIRED$ System wit M:(L:* T!EORY$ F(e2/e+c5 Re-3%+-e$ ( e fre1uency response is t e steady state response of a system w en t e input to t e system is a sinusoidal signal. 8re1uency response analysis of control system can be carried eit er analytically or grap ically. ( e various grap ical tec ni1ues available for fre1uency response analysis are ). *ode Blot -. Bolar plot (!y1uist plot) 4. !ic ols plot C. M and ! circles ?. !ic ols c art B%&e 36%'$ ( e bode plot is a fre1uency response plot of t e transfer function of a system. : bode plot consists of two grap s. @ne is plot of t e magnitude of a sinusoidal transfer function versus log . ( e ot er is plot of t e p ase angle of a sinusoidal transfer function versus log . ( e main advantage of t e bode plot is t at multiplication of magnitude can be converted into addition. :lso a simple met od for sketc ing an approximate log magnitude curve is available.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2!2!
P%6,( 36%'$ ( e polar plot of a sinusoidal transfer function G (A ) on polar coordinates as is varied from Nero to infinity. ( us t e polar plot is t e locus of vectors G (A ) G (A ) as is varied from Nero to infinity. ( e polar plot is also called !y1uist plot. N52/*-' S',8*6*'5 C(*'e(*%+$ If G(s)+(s) contour in t e G(s)+(s) plane corresponding to !y1uist contour in s.plane encircles t e point & )9A3 in t e anti & clockwise direction as many times as t e number of rig t alf s.plain of G(s)+(s). ( en t e closed loop system is stable. R%%' L%c/-$ ( e root locus tec ni1ue is a powerful tool for adAusting t e location of closed loop poles to ac ieve t e desired system performance by varying one or more system parameters. ( e pat taken by t e roots of t e c aracteristics e1uation w en open loop gain 6 is varied from 3 to are called root loci (or t e pat taken by a root of c aracteristic e1uation w en open loop gain 6 is varied from 3 to is called root locus.) F(e2/e+c5 D%),*+ S3ec*.*c,'*%+-$ ( e performance and c aracteristics of a system in fre1uency domain are measured in term of fre1uency domain specifications. ( e re1uirements of a system to be designed are usually specified in terms of t ese specifications. ( e fre1uency domain specifications are ). 'esonant peak# Mr -. 'esonant 8re1uency# r. 4. *andwidt . C. Cut & off rate ?. Gain margin 0. B ase margin
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2"
Re-%+,+' Pe,A, M( ( e maximum value of t e magnitude of closed loop transfer function is called t e resonant peak# Mr. : large resonant peak corresponds to a large over s oot in transient response. Re-%+,+' F(e2/e+c5,
(
( e bandwidt is t e range of fre1uency for w ic t e system gain is more t an .4db. ( e fre1uency at w ic t e gain is .4db is called cut off fre1uency. *andwidt is usually defined for closed loop system and it transmits t e signals w ose fre1uencies are less t an cut.off fre1uency. ( e bandwidt is a measured of t e ability of a feedback system to produce t e input signal# noise reAection c aracteristics and rise time. : large bandwidt corresponds to a small rise time or fast response. C/'@O.. R,'e$ ( e slope of t e log.magnitude curve near t e cut off fre1uency is called cut.off rate. ( e cut.off rate indicates t e ability of t e system to distinguis t e signal from noise. G,*+ M,(4*+, "4 ( e gain margin# 6g is defined as t e reciprocal of t e magnitude of open loop transfer function at p ase cross over fre1uency. ( e fre1uency at witc t e p ase of open loop transfer function is )=3 is called t e p ase cross over fre1uency# pc. Ph,-e M,(4*+, ( e p ase margin # is t at amount of additional p ase lag at t e gain cross over fre1uency re1uired to bring t e system to t e verge of instability# t e gain cross over fre1uency gc is t e fre1uency at w ic t e magnitude of open loop transfer function is unity (or it is t e fre1uency at w ic t e db magnitude is Nero). PROCEDURE$
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2#
). -. 4. C. ?. 0.
"nter t e command window of t e M:(L:*. Create a new M & file by selecting 8ile & !ew & M & 8ile. (ype and save t e program. "xecute t e program by eit er pressing 8? or ,ebug & 'un. %iew t e results. :nalysis t e stability of t e system for various values of gain.
P(%86e) 7 @btain t e bode diagram for t e following system
x) x - y) y -
3 -? 3 -?
) x) C x-
) x) C x-
) ) y ) 3 ) y -
MATLAB P(%4(,) , 9 C? 7 D @25 @<E 8 9 C7 7 D ? 7E c 9 C7 7 D 7 7E & 9 C? ? D ? ?E 8%&e (,, 8, c, &) 4(*& '*'6e (FBODE DIAGRAMG)
P(%86e) 2
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EsE(Es, DCE ) )
Page 27
,raw t e !y1uist plot for G(s) $ MATLAB P(%4(,) +/) 9 C? ? ?E &e+ 9 C7 7 ?E +52/*-' (+/),&e+) 0 9 C@2,2,@5,5E ,H*- (0) 4(*& '*'6e (FN52/*-' P6%'G) P(%86e) 2 @btain t e root focus plot of t e given open loop (.8 is
G(s) + (s) $
s( s
K 3 . ? )( s
-
3.0 s
)3 )
MATLAB P(%4(,) +/) 9 C? ? ? ? &e+ 9 C77.7 7?.; 5 (6%c/- (+/),&e+) 4(*& '*'6e CFR%%' L%c/- P6%'GE 7E ?E
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CLOSED LOOP SPEED CONTROL SYSTEM
E#PT.NO $ DATE AIM$ T% -'/&5 'he 8eh,0*%( %. c6%-e& 6%%3 -3ee& c%+'(%6 -5-'e) /-*+4 PID c%+'(%66e( APPARATUS RE1UIRED$ (i) (ii) BI, controller wit motor C'@ $
T!EORY$ Closed loop system Control system w ic t e output as an effect upon t e input 1uantity in suc a manner as to maintain t e desired output value is called closed loop systems. ( e open loop system can be modified as closed loop system by providing a feedback. ( e provision of feedback automatically corrects t e c ange in output due disturbances. +ence t e closed loop system is also called closed loop system. ( e general block diagram of an automatic control system is given below. In consists of an error detector# a controller# plant (open loop system) and feedback pat element. ( e reference signal (or input signal) corresponds to desired output. ( e feedback pat elements sample t e output and convert it to a signal of same type as t at of reference detector. ( e error signal generated by t e error detector is t e difference between reference signal and feedback signal. ( e controller modifies and amplifies t e error signal to produce better control action. ( e modified error signal is fed to t e plant to correct its output.
PROCEDURE$
). -. 4. C.
Make t e connections as per t e circuit diagram. Set t e speed of t e motor using set position. %ary t e gain values of B#I# and , controller until to get t e set speed to current speed. 'epeat t e above procedure for different values of set speed.
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STUDY OF AC SYNC!RO TRANSMITTER AND RECEIVER

E#PT.NO $ DATE AIM$ T% -'/&5 'he %3e(,'*%+ %. AC -5+ch(% '(,+-)*''e( ,+& (ece*0e( APPARATUS RE1UIRED$ S.N% 7 2 ; T!EORY$ : sync ro is an electromagnetic transducer commonly used to convert an angular position of a s aft into an electric signal. It is commercially known as a selsyn or an autosyn. ( e basic sync ro unit is usually called a sync ro transmitter. Its construction is similar to t at of t ree p ase alternator. ( e stator is of laminated silicon steel and is slotted to accommodate a balanced t ree p ase winding w ic is usually of concentric coil type and star connected. ( e rotor is dumb bell construction and its wound wit a concentric coil. :C voltage is applied to rotor winding t roug slip rings. Let and :C voltage %r (t) $ %r sin ct be applied to t e rotor of t e sync ro transmitter. ( e voltage causes a flow of magnetiNing current in rotor coil w ic produces a sinusoidally time varying flux directed along its axis and distributed nearly sinusoidally in t e air gap along t e stator perip ery. *ecause of transformer action# voltage is induced in eac of t e stator coil. :s t e air gap flux sinusoidally distributed t e flux linking wit any stator coil is proportional to t e cosine of t e angle between t e axes of rotor and stator coil. ( is flux voltage in eac stator coil. %oltages are in time.
N,)e %. 'he E2/*3)e+' S5+ch(% '(,+-)*''e( ,+& (ece*0e( /+*' M/6'*)e'e( (D*4*',6 A+,6%4 ) P,'ch c%(&-
1/,+'*'5 7 N%7 N%A- (e2/*(e&
p ase wit eac ot er. ( us t e sync ro transmitter acts a like a single.p ase transformer in w ic t e rotor coil is t e primary and t e stator coil is t e secondary. Let %s)n# %s-n# %s4n# be t e voltage induced in t e stator coils# S)# S-# S4 respectively wit respect to t e neutral. ( en for a rotor position of t e sync ro transmitter# is t e angle made by rotor axis wit t e stator coil S-. ( e various stator voltages are %s)n $ 6%r sin ct cos ( 9 )-3 ) %s-n $ 6%r sin ct cos o %s)n $ 6%r sin ct cos ( 9 -C3 ) ( e terminal voltages of t e stator are
Vs)s - Vs)n Vs-n Vs-s4 Vs-n Vs4n Vs4s) Vs4n Vs) n 4 KVr sin( 4 KVr sin( 4 KVr sin sin
o -C3 sin o )-3 ) sin c c
t
c
E en $ 3# %s)s- and %s- s4 ave t e maximum voltage and w ile %s4s) as Nero voltage. ( is position of rotor is defined as t electrical Nero of t e transmitter and is used as reference for specifying t e angular position of t e rotor. ( us it is seen t at t e input to t e sync ro transmitter is t e angular position of its rotor s aft and t e output is a set of t ree signal p ase voltages. ( e magnitudes of t is voltage are function of t e s ift position. ( e output of t e sync ro transmitter is applied to stator winding of sync ro control transformer. ( e control transmitter is similar in construction to a sync ro transmitter except for t e fact t at rotor of t e control transformer in made cylindrical in s ape so t at t e air gap is practically uniform. ( e system (transmitter and control transformer pair) acts an error detector# circulating current to t e same p ase but of different magnitudes flow t roug two stator coils. ( e result is establis ment of an indentical flux pattern in t e air gap of t e control transformer as t e voltage drops in resistance and lockage reactancePs of two sets of stator coils are usually small.
OBSERVATION TABLE$
S.N% T(,+-)*''e( (De4(ee) Rece*0e( (De4(ee) V-7 > V-2 V-2 > V-; V-; > V-7 E((%(
t e sync ro transmitter rotor# t e voltage induced t e control transformer rotor is proportional to t e cosine of t e angle between t e two rotors given by " (t) $ 6%r cos sin
r
t
Page 3!3!
( e sync ro transmitter and control transformer t us act as an error detector giving a voltage signal at t e rotor terminals of t e control transformer proportional to t e angular difference between t e transmitter control transformer s aft positions. PROCEDURE$ ). Make t e connections as per t e patc ing diagram. -. Switc @! t e supply. 4. %ary t e s aft position of t e transmitter and observe t e corresponding c anges in t e s aft position of t e receiver. C. 'epeat t e above steps for different angles of t e transmitter. ?. (abulated t e different voltage at t e test points of S) S-# S4S-# and S4S).
Re-/6'$
CYCLE > 2
7. (,) L,4 C%)3e+-,'%(.

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 3"
7. (8) Le,& C%)3e+-,'%(. I. D*4*',6 S*)/6,'*%+ %. N%+@L*+e( S5-'e). J. D*4*',6 S*)/6,'*%+ %. L*+e( S5-'e). 7?. D*4*',6 S*)/6,'*%+ %. T53e ? ,+& T53e 7 S5-'e).
DIGITAL SIMULATION OF NON@LINEAR SYSTEM E#PT.NO $

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 3#3#
DATE AIM$
T% -*)/6,'e 'he '*)e (e-3%+-e ch,(,c'e(*-'*c %. 6*+e( -5-'e) K*'h -*)36e +%+@6*+e,(*'*e- 6*Ae -,'/(,'*%+ ,+& &e,& L%+e. APPARATUS RE1UIRED$ System wit M:(L:* 0.? T!EORY$ N%+@L*+e,( S5-'e)-$ ( e non linear system are system witc superposition. In practical engineering systems# t ere will be always some non linearity due to friction# inertia# stiffness# backslas # ysteresis# saturation and dead & None. ( e effect of t e non linear components can be avoided by restricting t e operation of t e component over a narrow limited range. C6,--*.*c,'*%+ %. +%+ 6*+e,(*'*e-$ ( e non linearities can be classified as incidental and intentional. ( e incidental non linearities are t ose w ic are in erently present in t e system. Common examples of incidental non linearities are saturation# dead & None# coulomb friction# stiction# backlas # etc. ( e intentional non linearities are t ose w ic example of t is type of non linearity is a relay. S,'/(,'*%+$
do not obey t e principle of
are deliberately
inserted in t e system to modify system c aracteristics. ( e most common
In t is type of non linearity t e output proportional to input for limited range of input signals. E en t e input exceeds t is range# t e output tends to become nearly constant. :ll devices w en driven by sufficient large signals# ex ibit t e p enomenon of saturation due to limitations of t eir p ysical capabilities. Saturation in t e output of electronic# rotating and flow amplifiers# speed and tor1ue saturation in electric and examples. De,& :%+e$ ( e dead None is t e region in witc t e output is Nero for given input. Many p ysical devices do not respond to small signals# i.e.# if t e input amplitude is less t an some small value# t ere will be no output. ( e region in w ic t e output is Nero is called dead None. E en t e input is increased beyond t is dead None value# t e output will be linear. PROCEDURE$ ). ,ouble click on M:(L:* 0.? icon on desktop command window opens. -. 8rom 8ile (ab# select !ew Model file. 4. : Simulink model screen opens a JuntitledK. C. 8rom Simulink library & select necessary blocks and place in new model screen. *lock Constant Simulator (ransfer function . . . Simulink.Continuous Simulink.Mat operator Simulink.Continuous ydraulic motors# saturation in t e output of sensors for measuring position# velocity# temperature# etc. are t e well known
Scope ,ead ;one# Saturation
. .
Simulink &sink Simulink.!on.linear
?. Select properties for eac item and connect t em as s own in diagrams. 0. Select simulation (ab and configuration parameters and select ode-4tb model. >. Save file under QworkP directory. =. Simulated t e system wit step and sine inputs wit and wit out dead None# saturation non & linearities. 5. !ame t e signals as mentioned in diagram and observe signal names on scope by rig t clicking on response curve and by opening axes.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page !0
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DIGITAL SIMULATION OF LINEAR SYSTEM E#PT.NO $ DATE $
AIM$ T% -*)/6,'e 'he '*)e (e-3%+-e ch,(,c'e(*-'*c %. h*4he(@%(&e( M/6'*@ *+3/' )/6'* %/'3/' (MIMO) 6*+e( -5-'e) /-*+4 -','e 0,(*,86e .%()/6,'*%+. APPARATUS RE1UIRED$ M:(L:* 0.? T!EORY$ T*)e D%),*+ S3ec*.*c,'*%+ ( e desired performance c aracteristics of control systems are specified in terms of time domain specification. System wit t ey are subAected to inputs or disturbances. ( e desired performance c aracteristics of a system of any order may be specified in terms of t e transient response to a units step input signal. ( e transient response of a system to a unit step input depends on t e initial conditions. ( erefore to compare t e time response of various systems it is necessary to start wit standard initial conditions. ( e most practical standard is to start wit t e system at rest and output and all time derivatives t ere of Nero. ( e transient response of a practical control system often ex ibits damped oscillation before reac ing steady state. ( e transient response c aracteristics of a control system to a unit step input are specified in terms of t e following time domain specifications.
).
energy storage elements
cannot respond instantaneously and will ex ibit transient responses# w enever
,elay time# td
-. 'ise time# tr 4. Beak time# tp C. Maximum overs oot# Mp

?. Setting time# ts FORMULA$
Risetime
d
where
tan
D,)3e& .(e2/e+c5 %. %-c*66,'*%+, PROCEDURE$
>. "nter t e command window of t e M:(L:*. =. Create a new workspace by selecting new file. 5. Complete your model. )3.'un t e model by eit er pressing 8? or start simulation. )).%iew t e results. )-.:nalysis t e stability of t e system for various values of gain. PROBLEM$ @btain t e step response of series 'LC circuit wit ' $ ).46 # L $ -0m+ and C$4.4 f using M:(L:* M & 8ile.
MATLAB PROGRAM FOR UNIT IMPULSE PRSPONSE$ PROGRAM$ +/) 9 C ? ? 7 E &e+ 9 C 7 ?.2 7 E
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page !!
*)3/6-e 4(*&
(+/), &e+)
'*'6e (F /+*' *)3/6-e (e-3%+-e 36%'G) MATLAB PROGRAM FOR UNIT STEP PRSPONSE$ PROGRAM$ F%(),' 6%+4 e +/) 9 C ? ? 7.Me7? &e+ 9 C 7 5???? -'e3 4(*& %+ '*'6e (F-'e3 (e-3%+-e %. -e(*e- RLC c*(c/*'G) (+/), &e+) E E 7.Me7?
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DIGITAL SIMULATION OF TYPE ? AND TYPE 7 SYSTEM E#PT.NO $ DATE $
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page !"
AIM$ T% -*)/6,'e 'he '*)e (e-3%+-e ch,(,c'e(*-'*c- %. .*(-' %(&e( -ec%+& %(&e(, '53e ? ,+& '53e 7 -5-'e) /-*+4 MATLAB. APPARATUS RE1UIRED$ System employed wit M:(L:* 0.? T!EORY$ ( e desired performance c aracteristics of control system are specified in terms of time domain specification. Systems wit energy storage elements cannot respond instantaneously and will ex ibit transient responses# w enever t ey are subAected to inputs or disturbances. ( e desired performance c aracteristics of a system pf any order may be specified in terms of t e transient response to a unit step input signal. ( e transient response of a system to unit step input depends on t e initial conditions. ( erefore to compare t e time response of various systems it is necessary to start wit standard initial conditions. ( e most practical standard is to start wit t e system at rest and output and all time derivatives t ere of Nero. ( e transient response of a practical control system often ex ibits damped oscillations before reac ing steady state. ( e transient response c aracteristics of a control system to a unit step input are specified in terms of t e following time domain specifications. ). ,elay time# td -. 'ise time# tr 4. Beak time# tp C. Maximum overs oot# Mp ?. Settling time# ts
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page !#
( e time domain specification is defined as follows. 7. De6,5 T*)e$ It is t e taken for response to reac ?3D of t e final value# for t e very first time. 2. R*-e T*)e$ It is t e time taken for response to raise from 3 to )33D for t e very first time. 8or under damped system# t e rise time is calculated from 3 to )33D. *ut for over damped system it is t e time taken by t e response to raise from )3D to 53D. 8or critically damped system# it is t e time taken for response to raise from ?D to 5?D.
Risetime
d
Where
;. Pe,A T*)e$
tan
) s-7s
n ) s
-
D,)3e& .(e2/e+c5 %. %-c*66,'*%+, d
It is t e time taken for t e response to reac t e peak value for t e very first time. (or) It is t e taken for t e response to reac t e peak overs oot# tp. Beak time $ <. Pe,A O0e(-h%%' (M3)$ It is defined as t e ration of t e maximum peak value measured from final value to t e final value. Let final value Maximum vale $ $ c (e) c (tp) 7 d
Beak @vers oot# Mp $
c(tp )
c(e)
c(e)
DM
s )
4
x)33
5. Se''6*+4 T*)e$ It is defined as t e time taken by t e response to reac and stay wit in a specified error. It is usually expressed as D of final value. ( e usual tolerable error is -D or ?D of t e final value.
ts ts
C
n
for - D erroe for ? D erroe

n
FORMULA$
DM
s )
4
x)33
ts ts
C
n
for - D erroe for ? D erroe

n
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page !
PROCEDURE$ C6%-e& 6%%3 (e-3%+-e %. .*(-' %(&e( -5-'e)$ ). "nter t e command window of t e M:(L:*. -. Create a new workspace by selecting new file. 4. Complete your model. C. 'un t e model by eit er pressing 8? or start simulation. ?. :nalysis t e stability of t e system for various values of gain C6%-e& 6%%3 (e-3%+-e %. -ec%+& %(&e( -5-'e)$ ). "nter t e command window of t e M:(L:*. -. Create a new workspace by selecting new file. 4. Complete your model. C. 'un t e model by eit er pressing 8? or start simulation. ?. %iew t e results. 0. :nalysis t e stability of t e system for various values of gain.
Ge+e(,6 MATLAB c%&*+4 .%( c6%-e& 6%%3 (e-3%+-e .%( '53e ? ,+& '53e7 -5-'e)$ PROGRAM$ c6e,( ,66
c6%-e ,66 c6c T7 9 '. (2.25, C7 ?.5 2.25 E) 393%6e (T7) 3(e9,8- ((e,6 (3(7))) 3*)9,8(*),4 (3(7))) K+9-2('(3(eN3(eNO3*)N3*)) &,)3*+4 P(,'*%9(3(e K+) %-9(eH3(@7N3(eN3* 3*)))N7?? '393* 3*) '-9< 3(e -'e3(T7) '9C ?.7$?.7$25E .%( H97$6e+4'h (') c (H)97@7.?7<7IN(c%- (7.<7J?2N'(H)@(J.5JN3* 7I?))NeH3(@25N'(H))) e+& .*4e( 36%'(',c)
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LAG COMPENSATOR E#PT.NO $ DATE $
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page "0
APPARATUS RE1UIRED$ System employed wit M:(L:* 0.? T!EORY$ ( e control systems are designed to perform specific taskes. E en performance specification are given for single input. Single output linear time invariant systems. ( en t e system can be designed by using root locus or fre1uency response plots. ( e first step in design is t e adAustment of gain to meet t e desired specifications. In practical system. :dAustment of gain alone will not be sufficient to meet t e given specifications. In many cases# increasing t e gain may result poor stability or instability. In suc case# it is necessary to introduce additional devices or component in t e system to alter t e be avior and to meet t e desired specifications. Suc a redesign or addition of a suitable device is called compensations. : device inserted into t e system for t e purpose or satisfying t e specifications is called compensator. ( e compensator be avior introduces pole R Nero in open loop transfer function to modify t e performance of t e system. ( e different types of electrical or electronic compensators used are lead compensator and lag compensator. In control systems compensation re1uired in t e following situations. ). E en t e system is absolutely unstable t en compensation is re1uired to stabiliNe t e system and to meet t e desired performance. -. E en t e system is stable. Compensation is provided to obtain t e desired performance. LAG COMPENSATOR$ : compensator aving t e c aracteristics of a lag network is called a lag compensator. If a sinusoidal signal is applied to a lag network# t en in steady state t e output will ave a p ase lag wit respect input.
Lag compensation result in a improvement in steady state performance but result in slower response due to reduced bandwidt . ( e attenuation due to t e lag compensator will s ift t e gain crossover fre1uency to a lower fre1uency point w ere t e p ase margin is acceptable. ( us t e lag compensator will reduce t e bandwidt of t e system and will result in slower transient response. Lag compensator is essentially a low pass filter and ig fre1uency noise signals are attenuated. If t e pore introduce by compensator is cancelled by a Nero in t e system# t en lag compensator increase t e order of t e system by one. FORMULA$
Gain
B A
y3 x3
-3 log( B 7 A )
Phase
sin ( x 3 7 A) sin
)
(y 7B)
3
PROCEDURE$ =*'h %/' c%)3e+-,'%($ 7. Make t e connection as per t e circuit diagram. 2. :pply t e -% p.p sin wave input and observe t e waveform. ;. %ery t e fre1uency of t e sin wave input and tabulate t e values of xo and yo <. Calculated gain and p ase angle. 5. ,raw t e bode plot. =*'h 6,4 c%)3e+-,'%($ ). 8rom t e bode plot find t e new gain crossover fre1uency. -. 8ind out values and writ t e fre1uency function. G(s).
Page "2
4. 8rom t e transfer function calculated ')# '- and C. C. Set t e amplifier gain at unity. ?. Insert t e lag compensator wit t e elp of passive components and determine t e p ase margin of t e plant. M. @bserve t e step response of t e compensated system. MATLAB c%&*+4 K*'h C%)3e+-,'%($ PROGRAM$ +/) &e+ -5),(4*+ 9 C ? ? 7?? 9 C <?? 9 (-5-) (-5-) 2?2 5 ED 7 ? ED
C 4), 3h, K3c, K4c E 9 ),(4*+ (-5-) '*'6e (FBODE PLOT OF COMPENSATED SYSTEMG) MATLAB c%&*+4 K*'h %/' 6,4 C%)3e+-,'%($ PROGRAM$ +/) &e+ -58%&e 9 C ? ? 5 ED 9 C 2 7 ? ED 9 '. (+/), &e+) (-5-)
M,(4*+ (-5-) C 4), 3h, K3c, K4c E 9 ),(4*+ (-5-). '*'6e (FBODE PLOT OF UNCOMPENSATED SYSTEMG)D
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LEAD COMPENSATOR$ : compensator aving t e c aracteristics of a lead network is called a lead compensator. If sinusoidal signal is applied to a lead network# t en in steady state t e output will ave a p ase lead wit respect to input.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page "!
( e lead compensator increase t e bandwidt # w ic improves t e speed of response and also reduces t e amount of overs oot. Lead compensation appreciably improves t e transient response# w ereas t ere is a small c ange in steady state accuracy. Generally lead compensation is provided to make an unstable system as a stable system. : lead compensator is basically a ig pass filter and so it amplifies ig fre1uency noise signals. If t e pole is introduced by t e compensator is not cancelled by a Nero in t e system# t en lead compensator increases order of t e system by one. FORMULA$
Gain
B A
y3 x3
-3 log( B 7 A )
Phase
sin ( x 3 7 A) sin
)
(y 7B)
3
PROCEDUR$ ). "nter t e command window of M:(L:*. -. Create a !ew M.8ile by selecting file !ew M.8ile. 4. (ype and save t e program. C. "xecute t e program by pressing 8? or ,ebug 'un. ?. %iew t e results. 0. :nalyNe t e 'esults. =*'h 6e,& c%)3e+-,'%($ ). "nter t e command window of t e M:(L:*. -. Create a new M & file by selecting 8ile & !ew &M.8ile.
Page ""
4. (ype and save t e program. C. "xecute t e program by eit er pressing 8? or ,ebug & 'un. ?. %iew t e results. 0. :nalysis t e result. MATLAB c%&*+4 K*'h %/' C%)3e+-,'%( .%( 6%%3 -5-'e) PROGRAM$ &e+9C 7 ?.7;J ?.J27 ? ED 3*'ch9'.(+/), &e+)D -5-Pc69.ee&8,cA (3*'ch,7)D &e9?.2D '9?$?.?7$7?D .*4/(e -'e3(&eN-5-Pc6, ') -5-Pc69.ee&8,cA (3*'ch,7?)D &e9?.2D '9?$?.?7$7?D 8%&e(-5-Pc6, ') 4(*& %+ '*'6e ( QBODE PLOT FOR CLOSED LOOP SYSTEM =IT!OUT COMPENSATORQ)
MATLAB c%&*+4 K*'h C%)3e+-,'%( .%( 6%%3 -5-'e) PROGRAM$

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page "#
+/)9C7 757 ?.777< ED &e+9C7 ?.7;J ?.J27 ? ED 3*'ch9'.(+/), &e+)D ,6e,&92??D T6e,&9?.??25D "9?.7D 6e,&9'.("NC,6e,&NT6e,& 7E, CT6e,& 7E)D 8%&e(6e,&N3*'ch) -5-Pc69.ee&8,cA(6e,&N3*'ch,7?)D &e9?.2D '9?$?.?7$7?D .*4/(e -'e3 (&eN-5-Pc6, ') '*'6e(QBODE PLOT FOR CLOSED LOOP SYSTEM =IT! COMPENSATORQ)
Re-/6'$

Ee 2257 Control System Lab Manual

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Control Systems Laboratory Manual

DEPARTEMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

EE2257 CONTROL SYSTEM LABORATORY MANUAL

Control Systems Laboratory Manual

Control Systems Laboratory Manual

APPARATUS RE1UIRED$ S.N% N,)e %. 'he E2/*3)e+' R,+4e T53e 1/,+'*'5

'emain constant. ( en# !

6m $ (m $ 6t $ "b $ Constant %alues 2 $ * $

) 7 :vg 6b 2'a 7 6b 6t ( 7 Ia %.Ia 'a 3.345 6g m 3.343 ! 7 rpm

:vg 6b T,86e N%. 2 T% .*+& R, Sl.!o %olt %a Current Ia 'a $ %a 7 Ia

Control Systems Laboratory Manual

:vg 'f $ T,86e N%$< T% .*+& :. Sl.!o If (amp) m: %f (%olt) ; f $ % f 7 If

T,86e N%$ 5 T% .*+& Sl.!o If

:vg ;f $ Ia S) S(( ! & m) ! (rpm)

PREPARED BIfY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Ia

Control Systems Laboratory Manual :rmature Current

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

Control Systems Laboratory Manual

TRANSFER FUNCTION OF AC SERVO MOTOR E#PT.NO $ DATE AIM$

Control Systems Laboratory Manual

Control Systems Laboratory Manual

$ 2 7 (6- 9 *) .................................. motor time constant (4)

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

BLOC" DIAGRAM OF SERVOMOTOR

MODEL GRAP! MOTOR CONSTANT "2 MOTOR CONSTANT "7

6)$ ( 7 % S3ee& *+ (3)

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 1

Control Systems Laboratory Manual

-. T% .*+& -'e,&5 -','e e((%( %. '53e@ ? -5-'e)

;. T% .*+& 'he c6%-e& 6%%3 (e-3%+-e %. T53e@7 -ec%+& %(&e( -5-'e)

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

RESULT PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 2222

Control Systems Laboratory Manual

STABILITY ANALYSIS OF LINEAR SYSTEM

Control Systems Laboratory Manual

Control Systems Laboratory Manual

Control Systems Laboratory Manual

Control Systems Laboratory Manual

P(%86e) 7 @btain t e bode diagram for t e following system

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EsE(Es, DCE ) )

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

Control Systems Laboratory Manual

CLOSED LOOP SPEED CONTROL SYSTEM

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 29

Control Systems Laboratory Manual

Control Systems Laboratory Manual

STUDY OF AC SYNC!RO TRANSMITTER AND RECEIVER

Control Systems Laboratory Manual

1/,+'*'5 7 N%7 N%A- (e2/*(e&

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 33

Control Systems Laboratory Manual

PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

Control Systems Laboratory Manual

7. (,) L,4 C%)3e+-,'%(.

Control Systems Laboratory Manual

DIGITAL SIMULATION OF NON@LINEAR SYSTEM E#PT.NO $

Control Systems Laboratory Manual

do not obey t e principle of

APPARATUS RE1UIRED$ S.N% N,)e %. 'he E2/3)e+' R,+4e T53e 1/,+''5

1/,+''5 7 N%7 N%A- (e2/(e&

D,)3e& .(e2/e+c5 %. %-c66,'%+, PROCEDURE$

D,)3e& .(e2/e+c5 %. %-c66,'%+, d

MATLAB c%&+4 K'h C%)3e+-,'%( .%( 6%%3 -5-'e) PROGRAM$