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ENGINEERING

NAME :

ROLL NO. :

SYLLABUS

LIST OF EXPERIMENTS

CYCLE - 1

LIST OF EXPERIMENTS

(b)Determination of transfer function of field controlled DC Servomotor.

(b) Determination of transfer function of field controlled DC Motor.

CYCLE - 2

LIST OF EXPERIMENTS

INDEX

EX.

DATE NAME OF THE EXPERIMENT MARKS SIGNATURE

NO.

Ex. No. – 1(a)

ARMATURE CONTROLLED DC SERVOMOTOR

Aim:

To determine the transfer function parameters of armature controlled DC servomotor.

Apparatus Required:

1. DC servomotor trainer kit 1

2. DC servomotor 1

Armature voltage 48 V DC

Field voltage 48 V DC

Armature current 2.5 A

Power 100 W

Speed 1500 rpm

Theory:

into mechanical energy It is basically a separately excited type DC motor. The torque

developed on the motor shaft is directly proportional to the field flux and armature

current, Tm = Km Φ Ia. The back emf developed by the motor is Eb = Kb Φ ωm..

In an armature controlled DC Servo motor, the control signal available from the

servo amplifier is applied to the armature of the motor. This signal is based on the

feedback information, supplied to the controller. Due to this armature current changes

which in turn changes the torque produced. The field winding is supplied with constant

current hence the flux remains constant. Therefore these motors are called as constant

magnetic flux motors.

Let,

Ra = Armature Resistance

La = Armature Inductance

Eb = Back emf

Ia = Armature current

T = Torque developed in the motor

J = Moment of inertia

B = Dashpot

θ = Angular Displacement

Kt = Armature torque constant

Kb = Back emf constant

Ra ia +La dia/dt + eb = Va ------------------------ 1

J d2θ /dt2 + B dθ / dt = T

------------------------ 2

T α Ia ϕ , T α Ia

T = K t Ia ------------------------ 3

Eb = Kb dθ / dt ------------------------ 4

(Ra + Las) Ia(s) + Eb(s) = Va(s) ------------------------ 5

Equating equation 6 & 7 we get,

KtIa(s) = Js2θ (s) + Bsθ (s)

KtIa(s) = (Js2 + Bs) θ (s)

θ (s) Kt

=

Va(s) (Ra + Las) (Js2 + Bs) + Kb Kt s

Procedure:

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the armature terminals of the trainer kit to the motor armature terminal.

5. Switch ON the power switch and SPST switch S1.

6. Shaft should not rotate, when applying DC input voltage.

7. Note the armature voltage and current for the various values of armature voltage.

8. Calculate armature resistance Ra.

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the AC voltage terminal of the trainer kit to the motor armature terminal.

5. Switch ON the power.

6. Shaft should not rotate, when applying AC input voltage.

7. Note the AC voltage and current for the various values of AC voltage.

8. Calculate armature inductance La.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the armature terminals of the trainer kit to the motor armature terminal.

5. Connect the field terminals of the trainer kit to the motor field terminal.

6. Switch ON the power switch and SPST switches S1 and S2.

7. Set the field voltage at rated value (48 V).

8. By varying the armature voltage, note the corresponding armature current and

speed till the rated speed is reached.

9. Plot the graph Eb versus ω. From the graph calculate the value of Kb.

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the armature terminals of the trainer kit to the motor armature terminal.

5. Connect the field terminals of the trainer kit to the motor field terminal.

6. Switch ON the power switch and SPST switches S1 and S2.

7. Set the field voltage at rated value (48 V).

8. Vary armature voltage till motor runs at rated speed.

9. By varying the load, note the armature voltage, current and spring balance

readings.

10. Plot the graph T versus armature current. From the graph calculate the value of Kt.

Tabulation:

To find Ra :

Armature voltage Armature current Armature Resistance

( Va) ( Ia) R a = V a / Ia

Average Ra = _________ Ω

To find La :

voltage current Impedence Reactance Inductance

( Va) ( Ia) Za=Va/Ia Xa=:√( Za2 - Ra2) La= Xa/ 2π f

Average La = _________ H

To find Kb :

voltage current (N) Eb =Va - IaRa ω =2π N/60

( Va) ( Ia) Rpm Volts rad/sec

To find Kt :

current voltage (Kg) (Kg) (Kg) (Ta) = 9.81(S1-S2) R

( Ia) ( Va) Nm

Model Graph:

Eb

∆ Eb

∆ω

ω (radians/sec)

Measurement of Kt :

T

(Nm) ∆T

∆ Ia

Ia (A)

Model calculation :

Kb = ∆ E b / ∆ ω

Kt = ∆ T/ ∆ Ia

B = 0.001 Nm/ (rad/sec)

J =0.0074 Kg m2

R = 0.075 m

Result:

Thus the transfer function of the armature controlled DC servomotor is determined as

CONTROLLED DC SERVOMOTOR

Aim:

To determine the transfer function parameters of field controlled DC servomotor.

Apparatus Required:

1. DC servomotor trainer kit 1

2. DC servomotor 1

Armature voltage 48 V DC

Field voltage 48 V DC

Armature current 2.5 A

Power 100 W

Speed 1500 rpm

Theory:

into mechanical energy. It is basically a separately excited type DC motor. The torque

developed on the motor shaft is directly proportional to the field flux and armature

current, Tm = Km φ Ia. The back emf developed by the motor is Eb = Kb φ ω m.

the field winding. Hence current through field winding is controlled in turn controlling

the flux. In a control system, a controller generates the error signal by comparing the

actual o/p with the reference i/p. Such an error signal is not enough to drive the DC

motor. Hence it is amplified by the servo amplifier and applied to the field winding. With

the help of constant current source, the armature current is maintained constant.

When there is change in voltage applied to the field winding, the current through

the field winding changes. This changes the flux produced by field winding. This motor

has large Lf / Rf ratio, so time constant of this motor is high and it can’t give rapid

responses to the quick changing control signals.

Front panel diagram:

Fig. 1.2 Circuit diagram of field controlled DC servomotor.

Let,

Rf = field Resistance

Lf = field Inductance

T = Torque developed in the motor

J = Moment of inertia

B = Dashpot

θ = Angular Displacement

Kf = Field torque constant

Rf if +Lf dif/dt = Vf ------------------------ 1

J d2θ /dt2 + B dθ / dt = T

------------------------ 2

T α Ia ϕ , T α If

T = K f If ------------------------ 3

(Rf + s Lf) If(s) = Vf(s) ------------------------ 4

Equating equation 5 & 6 we get,

Kf If(s) = Js2θ (s) + Bsθ (s)

Kf If(s) = (Js2 + Bs) θ (s)

Substitute eqn. 7 in 4,

θ (s) Kf

=

Vf(s) (Rf + s Lf ) (Js2 + Bs)

Procedure:

(a) To find Rf :

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the field terminals of the trainer kit to the motor field terminal.

5. Switch ON the power switch and SPST switch S1.

6. Shaft should not rotate, when applying DC input voltage.

7. Note the field voltage and current for the various values of field voltage.

8. Calculate field resistance Rf.

(b) To find Lf :

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the AC voltage terminal of the trainer kit to the motor field terminal.

5. Switch ON the power.

6. Shaft should not rotate, when applying AC input voltage.

7. Note the AC voltage and current for the various values of AC voltage.

8. Calculate field inductance Lf.

(c) To find Kf :

1. Initially keep all the switches in OFF position.

2. Initially keep AC voltage adjustment POT in minimum position.

3. Initially keep armature and field voltage adjustment POT in minimum position.

4. Connect the armature terminals of the trainer kit to the motor armature terminal.

5. Connect the field terminals of the trainer kit to the motor field terminal.

6. Switch ON the power switch and SPST switches S1 and S2.

7. Set the armature voltage at rated value (48 V).

8. Vary field voltage till motor runs at rated speed.

9. By varying the load, note the field voltage, field current and spring balance

readings.

10. Plot the graph T versus field current. From the graph calculate the value of Kf.

Tabulation:

To find Rf :

Field voltage Field current Field Resistance

( Vf) ( If) R f = V f / If

Average Rf = _________ Ω

To find Lf :

voltage current Impedence Reactance Inductance

( Vf) ( If) Z f = V f / If Xf = √( Zf2 – Rf2) Lf = Xf / 2π f

Average Lf = _________ H

To find Kf :

Field Field current S1 S2 S1 - S2 Torque

voltage ( If) (Kg) (Kg) (Kg) (T) = 9.81(S1-S2) R

( Vf) Nm

Model Graph:

Measurement of Kf :

T

(Nm) ∆T

∆ If

If (A)

Model calculation :

Kf = ∆ T/ ∆ If

B = 0.001 Nm/ (rad/sec)

J = 0.0074 Kg m2

R = 0.075 m

Result:

Thus the transfer function of the field controlled DC servomotor is determined as

Ex. No. – 2

SERVOMOTOR

Aim:

To determine the transfer function parameters of AC servomotor.

Apparatus Required:

1. AC servomotor trainer kit 1

2. AC servomotor 1

Control winding voltage 230 V

Load current per phase 350 mA

Input power 100 W

Full load Speed 900 rpm

Theory:

displacement. An AC servomotor basically a two-phase induction motor except for certain

special design features. The rotor of the servomotor is built with high resistance, so that X /

R ratio is small which result in linear speed-torque characteristics.

The stator consists of two pole pairs mounted on the inner periphery of the stator,

such that their axes are at an angle of 90o in space. Each pole pairs carries a winding. One

winding is called Reference winding and the other is called Control winding.

The rotor construction is usually squirrel cage .The squirrel cage rotor is made of

laminations. The rotor bars are placed on the slots and short-circuited at both ends by end

rings. The diameter of the rotor is small in order to reduce inertia and to obtain good

accelerating characteristics. The Drag cup construction is employed for very low inertia

application. In this type of construction the rotor will be in the form of hollow cylinder

made of aluminum. The aluminum cylinder itself acts as short-circuited rotor conductors.

Fig. 2.1 Circuit diagram of AC servomotor

Let,

Tm = Torque developed by servomotor

Q = Angular displacement of rotor

ω = Angular speed

TL = Torque required by the load

J = Moment of inertia

B = Viscous frictional coefficient

K1 = Slope of control-phase voltage Vs torque characteristic

K2 = Slope of speed-torque characteristic

Tm = K1 ec – K2 dθ / dt ----------------- 1

Load torque,

TL = J d2θ / dt + B dθ / dt

------------------ 2

J d2θ / dt + B dθ / dt = K1ec – K2 dθ / dt

------------------ 3

( Js2+ Bs+K2 s) θ (s) = K1 Ec(s)

θ (s) K1

=

Ec(s) s (Js+B+K2)

θ (s) K1 / (B+K2 )

=

Ec(s) s [ ( J s / (B+K2)) + 1]

θ (s) Km

=

Ec(s) s (τ m s + 1)

τ m = J / B+K2 = Motor time constant

Procedure:

To find K1 :

1. Apply 3-phase AC supply to the 3-phase input terminal of the trainer kit.

2. Switch on the power switch.

3. Switch on the control winding and main winding switches S1 and S2.

4. Apply rated voltage (230 V) to the reference phase winding.

5. Apply a certain voltage to the control phase winding and make the motor run at

low speed.

6. Apply load to motor. Motor speed will decrease. Increase the control voltage until

the motor runs at same speed as on no-load.

7. Note down control voltage and load.

8. Repeat steps 6 & 7 for various loads.

9. Calculate the torque using the formula, T = 9.81 x Radius of shaft x Load.

10. Plot the graph between T versus control voltage.

11. From the graph find the motor constant K1.

To find K2 :

1. Apply 3-phase AC supply to the 3-phase input terminal of the trainer kit.

2. Switch on the power switch.

3. Switch on the control winding and main winding switches S1 and S2.

4. Apply rated voltage to the reference phase winding and control phase winding.

5. Apply the load in step by step upto the motor run at zero rpm and note the speed

of motor and applied load.

6. Calculate the torque using the formula, T = 9.81 x Radius of shaft x Load.

7. Plot the graph between T versus Speed.

8. From the graph find the motor constant K2.

Tabulation:

To find K1 :

S.No

(V) (Kg) (Nm)

To find K2 :

S.No (rpm) (Kg) (Nm)

Model graph:

Torque

(Nm)

Slope K1

Torque Vs Speed:

Torque

Slope K2

Speed

Model calculation:

K1 = ΔT / ΔV

K2 = ΔT / ΔN

J = 0.0155 Kg m2

B = 0.85 x 10-4 kg m s

Result :

Thus the transfer function parameters of AC servomotor is found and the transfer

function is determined as,

Ex. No. – 3

Aim:

To study the response of type-0 and type-1 system in open and closed loop.

Apparatus Required:

1. Process simulator kit 1

2. CRO 1

3. Patch wires As required

Theory:

specific function, the group thus formed is called a SYSTEM. The input and output

relationship of the system can be expressed by a differential equation.

The order of the system is given by the order of the differential equation governing the

system. The input output relationship can be expressed by transfer function also. Transfer

function of a system is obtained by taking laplace transform of the differential equation

governing the system and rearranging them as ratio of two polynomials in ‘s’. The order

is given by the maximum power of ‘s’ in denominator polynomial Q(s).

P(s) - Numerator polynomial

Q(s) - Denominator polynomial

If n=1, then system is First-Order system.

If n=0, then system is Second-Order system.

Type number is given by the number of poles lying at the origin.

If N=0, the system is a Type Zero system.

If N=1, the system is a Type One system.

If N=0, the system is a Type Two system.

Block diagram:

Procedure:

1. Give the connections as per the block diagram in the process simulator kit using

the front panel diagram.

2. Set the input (set point) by using the set value knob.

3. Observe the measured value or process value (PV) using CRO.

4. Tabulate the readings and calculate the % error.

5. Repeat the same for type-0 and type-1 first order systems in open and closed loop.

6. Plot the response in the graph.

Front panel diagram:

Tabulation:

(SP) (PV) SP – PV (SP – PV) / PV

X 100

Open loop

Closed

loop

(SP) (PV) SP – PV (SP – PV) / PV

X 100

Open loop

Closed

loop

Model graph:

Result:

Thus the analog simulation of type-0 and type-1 first order system has been observed

using process control simulator.

Ex. No. – 4

DC GENERATOR

Aim:

To determine the transfer function of separately excited DC generator.

Apparatus Required:

1. Voltmeter

2. Ammeter

3 Rheostat

4. Connecting wires

5.

6.

Generator Motor

Fuse Rating:

Fuse Rating = 125% of rated current

1

Applying KVL to the armature side,

2

V L = RL i a .............. 3

Also eg α if , So, eg = Kg if .............

4

Ef (s) = If (s) [Rf + sLf]

If (s) = Ef (s) / [Rf + sLf] .................

5

Eg (s) = Ia(s) [Ra + sLa + RL] ...............

6

VL(s) = RL Ia( s)

Therefore, Ia( s) = VL(s) / RL ................

7

9

Procedure:

1. Connections are given as per the circuit diagram.

2. Apply DC voltage to the armature terminals.

3. By varying the resistance, note the armature voltage and armature current.

4. Calculate the armature resistance by using the formula, Ra = Va / Ia .

1. Connections are given as per the circuit diagram.

2. Apply AC voltage to the armature terminals.

3. By varying the resistance, note the AC armature voltage and AC armature current.

4. Calculate the armature impedance by using the formula, Za = Va / Ia .

5. Now calculate the armature reactance, Xa and then the armature Inductance, La.

1. Connections are given as per the circuit diagram.

2. Apply DC voltage to the field terminals.

3. By varying the resistance, note the field voltage and field current.

4. Calculate the field resistance by using the formula, Rf = Vf / If .

1. Connections are given as per the circuit diagram.

2. Apply AC voltage to the field terminals.

3. By varying the resistance, note the AC field voltage and AC field current.

4. Calculate the armature impedance by using the formula, Zf = Vf / If .

5. Now calculate the field reactance, Xf and then the field Inductance, Lf.

(e) To find Kg :

1. Connections are made as shown in the circuit diagram.

2. The motor field rheostat should be in minimum resistance position and the

generator field rheostat should be in maximum resistance position while

switching ON and switching OFF the supply side DPST switch.

3. Ensure that the DPST switch on the load side is open.

4. Switch ON the supply and DPST switch.

5. The generator is brought to its rated voltage by varying the generator field

rheostat.

6. The DPST switch on the load side is closed, and the load is varied for

Convenient steps of load.

7. Note load voltage VL and load current Ia .

8. Plot graph between VL and IL. The slope of the graph gives Kg.

Circuit diagram:

(a) To find Ra :

(b) To find La :

(c) To find Rf :

(d) To find Lf :

(e) To find Kg :

Tabulation:

To find Ra :

Armature voltage Armature current Armature Resistance

( Va) ( Ia) R a = V a / Ia

Average Ra =

_________ Ω

To find La :

voltage current Impedence Reactance Inductance

( Va) ( Ia) Za=Va/Ia Xa= √( Za2 - Ra2) La= Xa/ 2π f

Average La = _________ H

To find Rf :

Field voltage Field current Field Resistance

( Vf) ( If) R f = V f / If

Average Rf = _________ Ω

To find Lf :

voltage current Impedence Xf= √( Zf2 – Rf2) Lf= Xf/ 2π f

( Vf) ( If) Zf=Vf/If

Average Lf = _________ H

To find Kg :

(V) (A)

Model graph:

Result:

Thus the transfer function of the separately excited DC generator is determined as,

Ex. No. – 5 (a)

CONTROLLED DC MOTOR

Aim:

To determine the transfer function of armature controlled DC motor.

Apparatus Required:

1. Voltmeter

2. Ammeter

3 Rheostat

4. Connecting wires

5.

6.

Motor

Fuse Rating:

Fuse Rating = 125% of rated current

Theory:

The DC motor converts electrical energy into mechanical energy. The electrical

energy supplied at the armature terminals is converted into controlled mechanical energy.

In armature control, the field current is kept constant and the armature voltage is

varied and hence the speed is varied. The field current If is maintained constant by

keeping the Vf constant and the armature current Ia is varied to change the torque T of the

load connected to the motor shaft. Thus the input variable of the motor is the armature

voltage Va and the output variable is the torque T. The speed of the DC motor is directly

proportional to the armature voltage and inversely proportional to the flux in the

armature. In the armature controlled DC motor, the desired speed is obtained by varying

the armature voltage.

Derivation of transfer function:

Let,

Ra = Armature Resistance

La = Armature Inductance

Eb = Back emf

Ia = Armature current

T = Torque developed in the motor

J = Moment of inertia

B = Dashpot

θ = Angular Displacement

Kt = Armature torque constant

Kb = Back emf constant

Ra ia +La dia/dt + eb = Va ------------------------ 1

J d2θ /dt2 + B dθ / dt = T

------------------------ 2

T α Ia ϕ , T α Ia

T = K t Ia ------------------------ 3

Eb = Kb dθ / dt ------------------------ 4

(Ra + Las) Ia(s) + Eb(s) = Va(s) ------------------------ 5

Kt Ia(s) = Js2θ (s) + Bsθ (s)

Kt Ia(s) = (Js2 + Bs) θ (s)

[ (Ra + Las) (Js2 + Bs) θ (s) / Kt ] + Kbs θ (s) = Va(s)

θ (s) Kt

=

Va(s) (Ra + Las) (Js2 + Bs) + Kb Kt s

Procedure:

6. Apply DC voltage to the armature terminals.

7. By varying the resistance, note the armature voltage and armature current.

8. Calculate the armature resistance by using the formula, Ra = Va / Ia .

7. Apply AC voltage to the armature terminals.

8. By varying the resistance, note the AC armature voltage and AC armature current.

9. Calculate the armature impedance by using the formula, Za = Va / Ia .

10. Now calculate the armature reactance, Xa and then the armature Inductance, La.

2. Keep the field rheostat in minimum position and switch on the supply.

3. Adjust the field rheostat to rated speed.

4. For various values of armature voltage Va, note Va, Ia and N.

5. Plot the graph Eb versus ω. From the graph calculate the value of Kb.

2. Set the field voltage at rated value .

3. Vary armature voltage till motor runs at rated speed.

4. By varying the load, note the armature voltage, current and spring balance

readings.

5. Plot the graph T versus armature current. From the graph calculate the value of Kt.

Circuit diagram:

(f) To find Ra :

(g) To find La :

Tabulation:

To find Ra :

Armature voltage Armature current Armature Resistance

( Va) ( Ia) R a = V a / Ia

Average Ra = _________ Ω

To find La :

voltage current Impedence Reactance Inductance

( Va) ( Ia) Za=Va/Ia Xa= √( Za2 - Ra2) La= Xa/ 2π f

Average La = _________ H

To find Kb :

voltage current (N) Eb =Va - IaRa ω =2π N/60

( Va) ( Ia) rpm Volts rad/sec

To find Kt :

current voltage (Kg) (Kg) (Kg) (Ta) = 9.81(S1-S2) R

( Ia) ( Va) Nm

Model Graph:

Eb

∆ Eb

∆ω

ω (radians/sec)

Measurement of Kt :

T

(Nm) ∆T

∆ Ia

Ia (A)

Model calculation :

Kb = ∆ E b / ∆ ω

Kt = ∆ T/ ∆ Ia

B = 0.001 Nm/ (rad/sec)

J =0.0074 Kg m2

R = 0.075 m

Result:

Thus the transfer function of the armature controlled DC motor is determined as

MOTOR

Aim:

To determine the transfer function of field controlled DC motor.

Apparatus Required:

1. Voltmeter

2. Ammeter

3 Rheostat

4. Connecting wires

5.

6.

Motor

Fuse Rating:

Fuse Rating = 125% of rated current

Theory:

The DC motor converts electrical energy into mechanical energy. The electrical

energy supplied at the armature terminals is converted into controlled mechanical energy.

In field control method, the armature current Ia is maintained constant while the

field voltage Vf is varied to control the speed or torque of the motor. Thus the input of the

motor is field voltage Vf and the output is the motor speed, ω and the load displacement

θ.

Let,

Rf = field Resistance

Lf = field Inductance

T = Torque developed in the motor

J = Moment of inertia

B = Dashpot

θ = Angular Displacement

Kf = Field torque constant

Rf if +Lf dif/dt = Vf ------------------------ 1

J d2θ /dt2 + B dθ / dt = T

------------------------ 2

T α Ia ϕ , T α If

T = K f If ------------------------ 3

(Rf + s Lf) If(s) = Vf(s) ------------------------ 4

Equating equation 5 & 6 we get,

Kf If(s) = Js2θ (s) + Bsθ (s)

Kf If(s) = (Js2 + Bs) θ (s)

Substitute eqn. 7 in 4,

θ (s) Kf

=

Vf(s) (Rf + s Lf ) (Js2 + Bs)

Procedure:

6. Apply DC voltage to the field terminals.

7. By varying the resistance, note the field voltage and field current.

8. Calculate the field resistance by using the formula, Rf = Vf / If .

8. Apply AC voltage to the field terminals.

9. By varying the resistance, note the AC field voltage and AC field current.

10. Calculate the armature impedance by using the formula, Zf = Vf / If .

11. Now calculate the field reactance, Xf and then the field Inductance, Lf.

2. Set the field voltage at 50 % rated value.

3. Set the armature voltage at 50 % rated value.

4. By varying the load, note the field voltage, current and spring balance

readings.

5. Plot the graph T versus field current. From the graph calculate the value of Kf.

Circuit diagram:

(a) To find Rf :

(b) To find Lf :

(c) To find Kf :

Tabulation:

To find Rf :

Field voltage Field current Field Resistance

( Vf) ( If) R f = V f / If

Average Rf = _________ Ω

To find Lf :

voltage current Impedence Xf= √( Zf2 – Rf2) Lf= Xf/ 2π f

( Vf) ( If) Zf=Vf/If

Average Lf = _________ H

To find Kf :

current ( Vf) (Kg) (Kg) (Kg) (T) = 9.81(S1-S2) R

( If) Nm

Model Graph:

Measurement of Kf :

T

(Nm) ∆T

∆ If

If (A)

Model calculation :

Kf = ∆ T/ ∆ If

B = 0.001 Nm/ (rad/sec)

J =0.0074 Kg m2

R = 0.075 m

Result:

Thus the transfer function of the field controlled DC motor is determined as

Ex. No. – 6

Aim:

To study the time response characteristics of the first-order system.

Software used:

Matlab

Simulation of First-order system:

Code:

num=[1];

den=[4 2];

sys=tf(num,den);

step(sys)

Code:

num=[1];

den=[4 2];

sys=tf(num,den);

impulse(sys)

Code:

num=[1];

den=[1 1];

sys1=tf(num,den);

sys2=1;

sys=feedback(sys1,sys2);

step(sys)

Code:

num=[1];

den=[1 1];

sys1=tf(num,den);

sys2=1;

sys=feedback(sys1,sys2);

impulse(sys)

Result:

Thus the response of first-order system has been simulated and studied.

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