1.

TRANSFER FUNCTION OF A DC MOTOR

AIM: To conduct a test on dc motor and to determine the transfer function of a armature
controlled DC motor by conduction,
(i)
(ii)

Load test on dc motor.

Speed control by armature voltage control.

APPARATUS REQUIRED:
1.
2.
3.
4.
5.

DC Servo motor control system kit.

DC Voltmeter (0-15) V MC.
DC Ammeter (0-2) A MC.
Multimeter.
Patch chords.

CIRCUIT DIAGRAMS: Load Test:

(0A5)A
022
0V

(0MC
V 300
)V

DC

MC

M
A
A

Su
ppl
y

Armature Voltage Control:

F
F
F

Fix
ed
200
V
DC
Vol
tag
e

(0A 5)
022
0V
D
C
Su
pp
ly

A
(0V 30
0)M
VC

A
A

F
F

M
C

Fix
ed
20
0V
DC
Vol
tag
e

PROCUDURE:
To Find toque constant KT .
Connect the circuit as per circuit diagram.
1. Switch on the field with socket provided on the back panel.
2. Then Switch on the MCB after connecting AC 3-Phase core main cable to phase and
neutral of 1-phase supply.
3. Keep the armature voltage pot in minimum position and switch on the shaft switch.
4. Vary the pot ,so that armature voltage as gradually increased which can be mentioned on
the volt meter and bring the motor to its rated speed.
5. Apply load in steps and for each load note down the armature current ,spring balance
readings and speed.
6. Tabulate the readings for each step.
7. Draw the graph b/w torque and armature current and get the torque constant kt from the
slope obtained from the graph.
Armature Voltage Control Method.
To find back emf constant kb.
1. Make the connection as per the circuit diagram.
2. Keep the field on by plugging 3 core power and cord to socket provided on the back
panel of the control unit.
3. Note down the corresponding armature current, speed for various armature voltage.
4. Tabulate the reading as per tabular column.
5. Plot the graph between Back emf and Speed and deduce the back emf constant kb.

EXPECTED GRAPHS:

CALCULATIONS:

Motor back emf Eb = V- IaRa

W=2N/60 rad/sec
From the graph Eb Vs W
Kb=Eb / w
Km=1/Kb
Km= motor gain constant
G= Rated output voltage of the chopper / control voltage level (or) rated out put voltage
G= Vdc / Vc
In this condition G=12.4/3.3
Ks= Reference voltage for rated speed / Rated speed in rad/sec
= Vr/W
The closed loop transfer function is given by
T.F=KA.KM / S.T+1+KMKW.KA
KA = G.Kp

KP = position error constant

Kp = Vc / Verror
Verror = Vref-Vf
Motor time constant T = J Ra / Kb.Kt
Moment of inertia J = 0.03 N / m2
Kt = Motor torque constant 1.3
= Kb when speed is expressed in radians / sec (w.unit)

TABULAR COLUMN:
(i)
S. No

Load Test:
IL(A)

F1(kg)

F2(kg)

N(rpm)

T=F1F2x9.8xr

V(v)

(N-M)
1

0.32

0.25

1500

0.1503

190

0.5

0.5

1274

0.300

178

0.6

0.5

1214

0.3

155

0.7

1.25

0.5

1128

0.45

145

0.8

1.5

0.5

1036

0.6013

135

1.04

0.5

872

0.90

120

1.68

3.5

0.5

604

1.8

90

0.5

520

2.1

80

(ii) Armature Voltage Control:

Armature current

V(v)

N(rpm)

Eb=V-IaRa(v)

Ia(A)

W=2xxN/60
(rad/sec)

0.22

20

197

18.152

20.6

0.26

70

535

67.816

56.02

0.28

135

1050

132.6

109.95

0.3

155

1200

152.4

125.6

0.3

165

1280

162.4

134.04

0.3

180

1316

177.4

137.8

0.3

190

1498

187.4

156.8

Sample calculations:
For set:1:T=(F1-F2)*0.0613*9.81=(0.25-0)*0.0613*9.81=0.1503NM

Eb = V- IaR= 20-0.22*8.4=18.152V
W=2N/60=(2*3.14*191)/60=20.629rad/sec
To find transfer function:Viscous friction co-efficient
B=(1/Ra)[(VaKa)/W)-KbKt]=(1/8.4)[(190*1.25)/(156.81)-1.25*1.14)]=0.0105NM/rad/sec
Im=0.024kgm Ra=8.4 La=141Mh
Transfer function G=(Km)/(s(Bm(1+Tms))Ra(1+sTa))
H=sKb, Ta=(La/Ra)=(141/8.4)*10^(-3)=0.16T
Tm=(Im/Bm)=(0.24/0.015)=2.2684
Transfer function = (G/(1+GH))= (Km/(sBm(1+Tms)Ra(1+sTa)+KmKbs)
Transfer functions = (1.14/(0.033s3+0.2147s2+1.5132s)
VIVA VOCE:
1. Define transfer function.
2. How transfer function is different from voltage gain?
3. Explain the advantages of transfer function.

RESULT:

2.EFFECT OF FEEDBACK ON DC SERVOMOTOR

Part A:Closed loop performance in terms of steady state error

AIM:
To evaluate the closed loop performance in terms of steady error
APPARATUS:
1. DC servomotor control system kit.
2. Patch chords
3. Voltmeter (0-30) V MC 1
(0-15) V MC 1
4. Ammeter (0-1) A MC - 1
5. Multimeter

CIRCUIT DIAGRAM:

PROCEDURE:
1. Ensure power is OFF to the motor control unit and pulse ON/OFF switch is in OFF
position.
2. Connect the circuit as per circuit diagram
3. Switch ON the power to the motor controller.
4. By keeping toggle switch in SP (set point) position, vary the set speed knob and Set Vr =
5 V (= s corresponding to 1500rpm).
5. Run the motor by switching the pulse ON/OFF switch to ON position.
6. Note down the speed, speed feedback voltage Vf, armature voltage Va, control voltage Vc
and ammeter reading.
7. By varying proportional band to different values, repeat step 6
8. Reduce the speed by decreasing the proportional gain and switch OFF power to the motor
controller.
TABULAR COLUMN:
Using P controller.

S.
No

Vf
(V)

Vc (V)

Va
(V)

Ia
(A)

N
(rpm)

Eb = Va
Ia.Ra
(V)

=2

N/60
(rad/se
c)

Verror =
Vr - Vf

Kp =
Vc/Verr

Ka =
G.Kp

ess
(cal)

ess = s
-
(exp)

or

1.24

3.98

3.8

0.25

373

1.675

39.06

3.81

1.044

3.142

32.6

118.01

2.26

4.7

4.4

0.25

680

2.275

74.96

2.79

1.684

4.295

26.3

85.87

2.46

4.73

0.25

740

3.875

77.47

2.59

1.826

4.169

24.9

79.59

5.0

0.25

900

4.875

94.23

2.05

2.4

5.83

20.8

62.84

3.3

5.08

70.4

0.25

1000

5.275

104.7

1.75

2.9

6.84

18.3

52.37

Part B:Study of the speed control system with PI controller.

AIM: To study of the speed control system with PI controller.

APPARATUS:
1.DC servomotor control system kit.
2.Patch chords.
3.Voltmeter (0-30) V MC 1
(0-15) V MC 1
4.Ammeter (0-1) A MC - 1
5.Multimeter.

PROCEDURE:
1.
2.
3.
4.
5.
6.

Set the controller to be PI controller.

Ensure the speed feedback loop is closed and pulse ON/OFF switch is in OFF position.
Set the speed controller at the low value.
Make the connections as shown in the figure.
Switch ON the power to the motor.
Set Vref = Wref = 1 V, switch ON pulse ON/OFF switch, run the motor at varying speeds
by varying the proportional gain.
7. For each speed note down the speed feedback voltage Vf, Va, Vc and ammeter reading.
8. Reduce the speed by decreasing proportional gain.
9. Switch OFF the power to the motor controller.
10. Measure the armature resistance of the motor using a multimeter.
11. Calculate the Kw and Kb by plotting a graph between the feedback voltage and speed and
Eb and speed respectively.

TABULAR COLUMN:
Using PI controller.

S.
No

Vf
(V)

Vc
(V)

Va (V) Ia
(A)

Eb = Va
Ia.Ra
(V)

N
(rpm
)

W = 2 Verror =
N/60
Vr - Vf
(rad/sec
)

Kp =
Vc/Verror

Ka =
G.Kp

3.3

5.36

7.2

0.25

5.075

1000

104.7

1.75

3.06

6.82

3.8

5.6

8.2

0.25

6.075

1140

119.35

1.25

4.48

9.58

Ess
(cal)

Ess =
Ws
(exp)

4.28

5.8

8.8

0.25

6.675

1280

134.016

0.77

7.55

15.53

4.42

6.06

9.0

0.25

6.875

1320

138.2

0.63

9.61

9.2

4.5

6.32

9.6

0.25

7.475

1400

146.5

0.85

11.49

20.6

EXPECTED GRAPH:

CALCULATIONS:
Ka = total gain of the amplifier.
= Kp.g
G = gain of the amplifier.
= Rated motor voltage/Vr(max)
Steady state error = ess = Km.Vr /(1+Ka.Km.Kw) Kp = Vc/Verror.
Ws = 2Ns/60.
Kw from graph of Eb vs Vf

Km = 1/Kb, kb is obtained from graph Eb vs

Sample calculations:For P controller:Va=armature voltage= 3.8V

Ia=armature current =0.25A

Ra=armature resistance=8.5ohms

Vr=reference voltage=5.05V
Eb=back emf =Va-IaRa=3.8-0.25*8.5=1.675V
Feed back voltage=Vf=1.24V
Speed=N=373rpm
Control voltage=Vc=3.98V
Ws = 2Ns/60=39.06rad/sec
Steady state error(practical)=Vs-Vf=5.05-1.24=3.81V

Kp=(Vc/Ve)=(3.98/3.81)=1.044

Ver=Vr-Vf

G=(Vdc/Vc)=3.01

Ka=GKp=3.1424

Form graph:Km=20
Kw=(1/30)=0.033

Ka=3.1424

Ess=(KmVr/(1+KaKmKw)=32.656

Form PI controller:Va=armature voltage= 7.2V

Ia=armature current =0.25A

Ra=armature resistance=8.5ohms

Vr=reference voltage=5.05V

Eb=back emf =Va-IaRa=7.2-0.25*8.5=5.075V

Feedback voltage=Vf=3.3V

Speed=N=1000rpm

Control voltage=Vc=5.36V

Ws = 2Ns/60=104.7rad/sec

Steady state error(practical)=Ws-W=157.01-104.7=52.27V

Kp=(Vc/Ve)=(5.36/1.75)=3.06

G=(Vdc/Vc)=2.23

Ka=GKp=6.82

Form graph:-

Km=20

Kw=(1/30)=0.033

Ka=6.82
Ess=(KmVr/(1+KaKmKw)=32.656

VIVA VOCE:
1. What is meant by servo motor?
2. How it is different from DC motor?
3. Explain the advantages of DC servo motor.
4.

Draw the characteristics of DC servo motor

RESULT:

3. CHARACTERISTICS OF AC SERVO MOTOR

AIM:To obtain the torque speed Characteristics of AC servo motor
APPARATUS:
1.AC servo motor kit,
2.Patch cards,
3.multimeter

PROCRDURE:
1. Keep P1 in the minimum position & control knob at maximum position, Switch on the
main supply power switch
2. Measure the control winding voltage (AC) & reference winding voltage (AC) by
multimeter. Adjust control winding voltage Wc by control voltage knob say 230 or 220V
3. Now slowly load the motor by switching ON SW & by varying P1 in steps of Ia . Note
down back Emf Eb and speed.
4. Vary P1 upto 0.5A by seeing ammeter and tabulate the readings.
5. Potentiometer P1 is brought back to minimum position & switch OFF SW switch.
6.

Set the control winding voltage P2 to a new value say 210V or 200V and repeat steps 3 &
4.

7.

Plot the graphs of speed vs torque for two control winding voltages

Note: If the control winding voltage is reduced less than 190V, the motor may not rotate
due to insufficient voltage

CRICUIT DIAGRAM:

SW

V
DC

Tabular Column:

A
P
1

Eb
+

W
R

W
C

Eb
-

Reference winding voltage Vr = 206 V

Control winding voltage Vc = 218 V
S.No

Ia(A)

N(rpm)

Eb=V-IaRa

P (w)

T(N-M)

0.18

1450

0.08

0.0144

0.94

0.24

1412

0.09

0.0216

1.46

0.30

1355

0.10

0.03

2.11

0.36

1330

0.12

0.0432

3.1

0.44

1262

0.14

0.0616

4.66

0.5

1219

0.14

0.07

5.18

FORMULAE:
P = E b . Ia
T = 60 P / 2 N
Where Eb is the back emf in V
Ia is the armature current in A
N is the speed in rpm
MODEL GRAPH:

Sample calculations:-

For Vc1=230V
Ia=0.19A

Eb=0.35V P=EbIa=0.19*0.35=0.0665w

T = 60 P / 2 N=(0.0665*60/(2*3.14*1695)=3.73*10^(-4)NM

VIVA VOCE:
1. What is meant by servo motor?
2. How it is different from AC motor?
3. Explain the advantages of AC servo motor.
4. Draw the characteristics of AC servo motor.

RESULT:

4..EFFECTS OF P, PI, PD, PID CONTROLLER ON SECOND ORDER SYSTEM

AIM: To study the effects of P, PI, PID controllers on a second order system.
APPARATUS:

Model PCS 01
Patch chords
CRO

CIRCUIT DIAGRAM:

P-CONTROLLER:
AIM: To study the closed loop response of P controller on a second order system.
PROCEDURE:
1. Make the connections as per the circuit diagram.
2. Switch on the power supply to the unit.
3. Square wave of amplitude 2V (p-p) is given as the input with optimum frequency
settings so as to view the response well on as CRO.
4. Adjust the value of the proportional band knob and measure the peak over shoot from
the response.
5. Note down the raise time, peak time, settling time for a given step input and tabulate
the readings.
6. Repeat the same procedure for various band values.
TABULAR COLUMN:

Proportional
Band (Pb) %

Peak Over Shoot

(Mp) volts

Raise Time Tr
(msec).

Peak Time Tp
(msec)

Settling time Ts
(msec)

0.4

15

31

20

0.9

10

36

PI CONTROLLER:
AIM: To study the closed loop response of a PI controller on a second order system.
PROCEDURE:
1.
2.
3.
4.

Make the connections as per the circuit diagram.

Switch ON the supply to the unit.
Square wave of amplitude 2V (p-p) is given as input with optimum frequency setting.
Adjust the value of proportional band and integral time knobs and view the response
on CRO.
5. Note down peak over shoot; raise time, peak time and settling time for the response.
6. Repeat the above procedure for various proportional and integral time values.
TABULAR COLUMN:
S. No

Proportiona
l Band (Pb)
%

Integral
Time (Ti)
sec

Peak Over
Shoot (V)
p

Raise Time
Tr (msec)

Peak Time
Tp (msec)

Settling
Time Ts
(msec)

1.6

0.4

38

20

0.5

24

PD CONTROLLER:
AIM: To study the closed loop response of a PD controller on a second order system.
PROCEDURE:
1.
2.
3.
4.

Make the connections as per the circuit diagram.

Switch ON the supply to the unit.
Square wave of amplitude 2V (p-p) is given as input with optimum frequency setting.
Adjust the value of proportional band and derivative time knobs and view the
response.
5. Note down peak over shoot, raise time, peak time and settling time for the response.
6. Repeat the above procedure for various derivative time values.

TABULAR COLUMN:

S. No

Proportional
Band (Pb) %

Derivative
Time (Td) sec

Peak Over
Shoot (V) p

Raise Time Tr
(msec)

Peak Time
Tp (msec)

Settling Time
Ts (msec)

0.3

1.5

12

20

1.5

1.5

10

PID CONTROLLER:
AIM: To study the closed loop response of PID controller on a second order system.
PROCEDURE:
1.
2.
3.
4.

Make the connections as per the circuit diagram.

Switch ON the supply to the unit.
Square wave of amplitude 2V (p-p) is given as input with optimum frequency setting.
Adjust the value of proportional band integral time and derivative time knobs and view
the response on CRO screen.
5. Note down peak over shoot; raise time, peak time and settling time for the response.
6. Repeat the above procedure for various proportional and derivative time values and
tabulate the readings.

TABULAR COLUMN:
S. No

Proportional
Band (Pb) %

Integral
Time (Ti)
sec

Derivative
Time (Td)
sec

Peak
Raise
Over
Time Tr
Shoot (V) (msec)
p

Peak
Time Tp
(msec)

Settling
Time Ts
(msec)

0.15

14

20

13

1.25

0.25

12

EXPECTED GRAPH:

Sample calculations:

For P controller:

For mp=0.4 => g=0.28

For PI controller:

For mp=0.35=> g=0.3169

For PD controller:

For mp=0.3=>g=0.3567

For PID controller:

For mp=0.25=> g=0.403

VIVA VOCE:

1. What is the need to add proportional control scheme in the system?

2. Give the advantages of integral control over proportional control.
3. Explain the advantages of derivative control scheme.
4. What is need have included PID controller in the system?

RESULT:

5 . COMPENSATION DESIGN USING LEAD LAG NETWORK

AIM: To compensate the phase lag or lead in the system by designing compensation circuit to
meet the specifications.
APPARATUS:
Lead lag Network kit
Patch chords
Resistors of required rating corresponding to design CRO and probes
CIRCUIT DAIGRAM:

PROCEDURE:

Part a:
1. Switch ON the power to the instrument
2. Connect the individual blocks using path cards by passing the compensation
network and gain.
3. Give a sinusoidal input as the set value to the error detector
4. Measure the amplitude and frequency of the input single.
5. Measure the amplitude and phase shift of the output single with respect to the
input sine wave
6. Using the technique explained previously calculate the values of R1, c1 r2 and C2
to compensate for the phase shift of the output single.
TABULAR COLUMN:
Part A:

S.
No

Amplitud
e

Frequenc
y
F( Hz)

i/p

o/p

Phase Ue
(degree)

R1

C1

R2

C2

fd

fd

2.5

10KHZ

30

1K

0.01*10^-6

1
K

0.04*10^-6

VIVA VOCE:
1. What do mean by compensation?
2. What is the purpose of lag compensator?
3. What is the purpose of lead compensator?
4. Discuss the comparison of lag, lead and lead-lag networks.

RESULT:

6. TEMPERATURE CONTROL USING PID CONTROLLER

AIM: To study the steady state characteristics of temperature by using pid controller.

APPARATUS:
Temperature control kit.
Patch chords.
Process Heater
Temperature sensor.
CIRCUIT DIAGRAM:

PROCEDURE:
PI CONTROLLER:
1.
2.
3.
4.
5.

Connect the power chord to main supply of 230V, 50Hz.

Put the power switch of the kit ON position.
Set the proportional gain Kp and Integral gain Ki at particular value.
Note down the time taken for every 5 degree raise in temperature.
Draw the graph between temperature and time

PID CONTROLLER:
1. Connect the power chord to main supply of 230V, 50Hz.
2. Put the power switch of the kit ON position.

3. Set the proportional gain Kp, Integral gain Ki and derivative gain Kd at
particular value.
4. Note down the time taken for every 5 degree raise in temperature .
5. Draw the graph between temperature and time
TABULAR COLUMNS:
USING PI CONTROLLER:
S.No

Temperature

Time

30

35

40

40

65

45

80

50

100

55

120

60

140

65

180

70

210

10

73

240

11

69

265

12

71

279

13

70

300

USING PID CONTROLLER:

KP= 50 KI=45 KD=56

S.No

Temperature

Time

31

36

37

41

72

46

103

51

136

56

167

61

204

66

242

70

272

EXPECTED GRAPH:

VIVA VOCE:
1. Define control system.
2. Define open loop control system.
3. Define close loop control system.
4. Is temperature control system open loop are closed loop control system?

RESULT: