IC 1252 CONTROL SYSTEMS LABORATORY

0 0 3 100

AIM To provide a platform for understanding the basic concepts of linear control theory and its application to practical systems. List of Experiments 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. Determination of transfer function parameters of a DC servo motor. Determination of transfer function parameters of AC servo motor. Analog simulation of type-0 and type-1 system. Digital simulation of linear systems. Digital simulation of non-linear systems. Design and implementation of compensators. Design of P, PI and PID controllers. Stability analysis of linear systems. Closed loop control system. Study of synchros. P = 45 Total = 45
Detailed Syllabus

1.

Determination of Transfer Function Parameters of A DC Servo Motor Aim To derive the transfer function of the given D.C Servomotor and experimentally determine the transfer function parameters Exercise 1. Derive the transfer function from basic principles for a separately excited DC motor. 2. Determine the armature and field parameters by conducting suitable experiments. 3. Determine the mechanical parameter by conducting suitable experiments. 4. Plot the frequency response.

Equipment

1.

DC servo motor

: minimum of 100w field separately excited loading facility variable voltage source - 1 No : 1 No : 2 Nos : 1 No

2. 3. 4. 2.

Tachometer Multimeter Stop watch

Determination Of Transfer Function Parameters Of Ac Servo Motor Aim To derive the transfer function of the given A.C Servo Motor and experimentally determine the transfer function parameters Exercise 1. Derive the transfer function of the AC Servo Motor from basic Principles. 2. Obtain the D.C gain by operating at rated speed. 3. Determine the time constant (mechanical) 4. Plot the frequency response
Equipment

1.

AC Servo Motor

2. 3. 4. 3.

Tachometer Stopwatch Voltmeter

: Minimum of 100w necessary sources for main winding and control winding 1 No : 1 No : 1 No : 1 No

Analog Simulation Of Type-0 And Type-1 System

Aim

To simulate the time response characteristics of I order and II order, type 0 and type-1 systems. Exercise 1. Obtain the time response characteristics of type 0 and type-1, I order and II order systems mathematically. 2. Simulate practically the time response characteristics using analog rigged up modules. 3. Identify the real time system with similar characteristics. Equipment 1. Rigged up models of type-0 and type-1 system using analog components. 3. Variable frequency square wave generator and a normal CRO - 1 No (or)

DC source and storage Oscilloscope - 1 No 4. Digital Simulation Of Linear Systems

Aim

To digitally simulate the time response characteristics of higher-order MIMO linear systems using state variable formulation Exercise 1. Obtain the state variable formulation of the given higherorder MIMO systems. 2. Write a program or build the block diagram model using the given software. 3. Obtain the impulse, step and sinusoidal response characteristics. 4. Identify real time systems with similar characteristics.
Equipment

1.

System with MATLAB / MATHCAD (or) equivalent software minimum 3 user license.

5.

Digital Simulation Of Non-Linear Systems

Aim

To digitally simulate the time response characteristics of a linear system with simple non-linearities like saturation and dead zone. Exercise 1. Obtain the time response characteristics of some simple linear systems without non - linearity for step and sinusoidal inputs. 2. Repeat the time response characteristics in the presence of non-linearity 3. Discuss the effect of non-linearity
Equipment

1. 6.

System with MATLAB / MATHCAD (or) other equivalent software - 3 user license. Design And Implementation Of Compensators Aim To design and implement suitable compensator for a given linear system to improve the performance.

Exercise 1. Study the time response characteristics of the given linear system without compensator.

2. 3.

Design a suitable compensator to improve the performance. Implement the compensator using variable R,L and C boxes to the linear system and visually observe the performance improvement. Equipment 1. Analog Rigged up modules of a linear system (For closed loop operation) 2. Variable R, L and C boxes each - 2 Nos 3. Square wave generator and a CRO - 1 No (or) DC voltage source and storage oscilloscope - 1 No

7.

Design Of P, Pi And Pid Controllers Aim To design P, PI and PID controllers for first order systems and implement them practically. Exercise 1. Study the time response behaviour of first order system without controller 2. Design a P/PI/PID controller to improve the performance 3. Implement the controller using variable R,L and C boxes to linear system and visually observe the performance improvement. Equipment 1. Rigged up module of P, PI and PID controller using analog components Rigged up module of I order system (with loop closing facility) Variable R, L and C boxes 2 each (or) Process control trainer with all the above features 2. CRO and a square wave generator (or) DC source and a storage oscilloscope 1 No 1 No

8.

Stability Analysis Of Linear Systems Aim To analyse the stability of linear systems using Bode / Root locus /

Nyquist plot Exercise 1. Write a program to obtain the Bode plot / Root locus / Nyquist plot for the given system 2. Access the stability of the given system using the plots obtained 3. Compare the usage of various plots in assessing stability Equipment 1. System with MATLAB / MATHCAD / equivalent software - 3 user license 9. CLOSED LOOP CONTROL SYSTEM

Aim To study the behaviour of closed loop control system through practical experimentation.
Exercise

1. 2. 3. 4.

Obtain the block diagram representation of the given closed loop control system. Conduct experiments to study the open loop time response behaviour for various set points. Conduct experiments to study the closed loop time response behaviour for various set points. Repeat 3 with a second type of controller and discuss the results.

Equipment 1. A complete closed loop position / speed / Temperature or equivalent system with two detachable controller units. 2. CRO Study of Synchros Aim To study the characteristics of synchros as error detector Exercise 1. Obtain the input-output characteristics of synchro transmitter by giving excitation to the rotor winding and measuring the output voltages across S1 S2, S2-S3 and S3-S1 of stator windings for different rotor positions Obtain the characteristics of synchro as angular displacement sensor and plot voltage Vs angle characteristics 3. Obtain the characteristic of synchro used as remote angle displacement of receiver tracks that of transmitter

10.

2.

Equipment 1. 2. 3. Synchronous (transmitter and Receiver) : 1 set Rheostat : 1 No Multimeter : 1 No

MANUAL
Expt. No: 1

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF FIELD CONTROLLED DC SERVO MOTOR

AIM: To determine the transfer function of field controlled DC servo motor APPRATUS REQUIRED: 1. DC servo motor trainer kit 2. DC Servo motor 3.Digital Multi meter FORMULE USED: 1.Field resistance,Rf in = Vf1 / If1 2.Armature resistance,Ra in = Va / Ia 3.Field Inductance,Lf in H= XLf / 2f where XLf in = (Zf2 Rf2) Zf in = Vf2 / If2 4.Power absorbed, W in watts = Va Ia 5.Stray loss, W in watts = W x [ t2 / (t1-t2) ] where W is Power absorbed in watts t2 is time taken on load in secs t1 is time taken on no load in secs 6.Moment of inertia J in Kg m2 / rad = W x (60 / 2)2 x dt/dN N Where W is stray loss in watts dt is change in time on no load in secs dN is change in speed on no load is rpm N is rated speed in rpm 7.Frictional co-efficient, B in N-m / (rad / sec ) = W / (2N / 60 )2 where W is stray loss in watts N is rated speed in rpm

8.Transfer function (s) / Vf (s) = Km / s (1+sTf) (1+sTm) where Motor gain constant Km = Ktf / Rf B Torque constant Ktf in N-m / A = T / If Torque T in N-m = 9.55 Eb Ia / N Back EMF Eb in volts = V Ia Ra V = Excitation voltage in volts Field time constant Tf = Lf / Rf Mechanical time constant Tm = J / B THEORY: DC Servo motor is basically a torque transducer which converts electrical energy 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 Ia. The back emf developed by the motor is Eb = Kb m

In a field controlled DC Servo motor, the electrical signal is externally applied to 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 no 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 cant give rapid responses to the quick changing control signals.

CIRCUIT DIAGRAM 1. For finding field resistance Rf

2.For finding armature resistance Ra

3. For finding field inductance Lf

4.For field controlled motor

PROCEDURE: 1.To find Field Resistance, Rf 1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Put the selector button in field mode. 4.Block the rotor with full load. 5.Leave the armature terminal in open. 6.Check the position of the potentiometer in minimum point. 7.Switch on the MCB, vary the pot and take voltage Vf1 and current If1 readings. 8.Calculate field resistance Rf = Vf1 / If1 2. To find Armature Resistance, Ra 1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Put the selector button in armature mode. 4.Block the rotor with full load. 5.Leave the field terminal in open. 6.Check the position of the potentiometer in minimum point. 7.Switch on the MCB, vary the pot and take voltage Va and current Ia readings. 8.Calculate armature resistance Ra = Va / Ia 3. To find Field Inductance, Lf

1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Block the rotor with full load. 4.Switch on the MCB and take voltage Vf2 and current If2 readings. 5. Calculate field inductance Lf. 4.To find moment of inertia, and frictional co-efficient, B 1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Put the selector button in armature mode and DPDT switch in power circuit position. 4.Check the position of the potentiometer in minimum point. 5.Switch ON the MCB and vary the pot from min to max and adjust the motor to run at rated speed. 6.Change the DPDT switch from power circuit side to load side. 7.Note down the time taken by the motor to come to rest. This value is t1 and set the pot to min position. 8.Chang the DPDT switch in power circuit position. 9.Connect 500 / 1A load in load position. 10. Vary the pot to run the motor at rated speed and change the DPDT switch position from power circuit side to load side and note down the voltage Va and current Ia at the instant of changing the switch. Also note down the time ast2 and from Va and Ia find average voltage and current. 5.To find the transfer function parameters 1. 1.Check the MCB position in OFF condition. 2.Press the reset button to reset the over speed. 3.Patch the circuit as per the patching diagram. 4.Put the selection button in the field control mode. 5.Check the position of the potentiometer in minimum point. 6.Connect the armature of DC servo motor to fixed DC source. 7.Connect the field of DC servo motor across the voltmeter. 8.Switch on the MCB. 9.Vary the pot and in turn vary the speed.

10.Apply rated voltage of 220 V to armature and 150 V to field. 11.Note down the field current ,field voltage and speed. 12.Find the transfer function (s) / Vf (s) = Km / s (1+sTf) (1+sTm). Note: If the voltmeter and ammeter in the trainer kit is found not working external meters of

respective range can be connected in that place. TABULAR COLUMN: 1.For field resistance Rf S.No Vf1 (V) If1 (A) Rf ()

2.For armature resistance Ra

S.No

Va (V)

Ia (A)

Ra()

3.For field inductance S.No Vf2 (V) If2 (A) Zf ()

4.For transfer function parameters

S.No Vf (V)

If (A)

Ia (A)

N (rpm)

T (N-m)

Tf

Tm

Ktf

MODEL CALCULATION :

VIVA QUESTIONS: 1.What are the main parts of an DC servo motor? 2.What are the two types of servo motor? 3. What are the advantages and disadvantages of an DC servo motor? 4.Give the applications of DC servomotor? 5.What do you mean by servo mechanism? 6. What do you mean by field controlled DC servo motor?

REFERENCE: 1.NAGRATH & GOPAL, Control Systems. RESULT: The Transfer function of field controlled DC servomotor is determined as

Expt. No: 2

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF ARMATURE CONTROLLED DC SERVO MOTOR

AIM: To determine the transfer function of armature controlled DC servo motor APPRATUS REQUIRED: 1. DC servo motor trainer kit 2. DC Servo motor 3.Digital Multi meter

FORMULA: 1.Armature resistance,Ra in = Va1 / Ia1 2.Armature Inductance,La in H= XLa / 2f where XLa in = (Za2 Ra2) Za in = Va2 / Ia2 4.Power absorbed, W in watts = Va Ia 5.Stray loss, W in watts = W x [ t2 / (t1-t2) ] where W is Power absorbed in watts t2 is time taken on load in secs t1 is time taken on no load in secs 6.Moment of inertia J in Kg m2 / rad = W x (60 / 2 )2 x dt/dN N Where W is stray loss in watts dt is change in time on no load in secs dN is change in speed on no load is rpm N is rated speed in rpm 7.Frictional co-efficient, B in N-m / (rad / sec ) = W / (2N / 60 )2 where W is stray loss in watts N is rated speed in rpm 8.Transfer function (s) / Va (s) = Kt RaB / s{ (1+sTa)(1+sTm ) +Kb Kt /RaB

where Torque consant Kt = T / Ia Torque T in N-m = 9.55 Eb Ia / N Back EMF Eb in volts = V Ia Ra

V = Excitation voltage in volts (220 V) Back emf constant Kb = Va / Angular velocity in rad/ sec = 2 N / 60

THEORY: DC Servo motor is basically a torque transducer which converts electrical energy 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 back emf developed by the motor is Eb = Kb
m.

Ia. The

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.

CIRCUIT DIAGRAM

1.For finding armature resistance Ra

2.For finding armature inductance La

3.For armature controlled DC Servomotor

PROCEDURE: 1.To find Armature Resistance, Ra 1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Put the selector button in armature mode. 4.Block the rotor with full load. 5.Leave the field terminal in open. 6.Check the position of the potentiometer in minimum point. 7.Switch on the MCB, vary the pot and take voltage Va and current Ia readings. 8.Calculate armature resistance Ra = Va / Ia

2. To find armature inductance, La 1.Check the MCB position in OFF condition.

2.Patch the circuit as per the patching diagram 3.Block the rotor with full load. 4.Switch on the MCB and take voltage Va2 and current Ia2 readings. 5. Calculate armature inductance La. 3.To find moment of inertia, and frictional co-efficient, B 1.Check the MCB position in OFF condition. 2.Patch the circuit as per the patching diagram 3.Put the selector button in armature mode and DPDT switch in power circuit position. 4.Check the position of the potentiometer in minimum point. 5.Switch ON the MCB and vary the pot from min to max and adjust the motor to run at rated speed. 6.Change the DPDT switch from power circuit side to load side. 7.Note down the time taken by the motor to come to rest. This value is t1 and set the pot to min position. 8.Chang the DPDT switch in power circuit position. 9.Connect 500 / 1A load in load position.

10. Vary the pot to run the motor at rated speed and change the DPDT switch position from power circuit side to load side and note down the voltage Va and current Ia at the instant of changing the switch. Also note down the time ast2 and from Va and Ia find average voltage and current. 4.To find the transfer function parameters 1.Check the MCB position in OFF condition. 2.Press the reset button to reset the over speed. 3.Patch the circuit as per the patching diagram. 4.Put the selection button in the armature control mode. 5.Check the position of the potentiometer in minimum point. 6.Connect the field of DC servomotor to fixed DC source. 7.Connect the armature of DC servomotor across the voltmeter. 8.Switch on the MCB. 9.Vary the pot and in turn vary the speed. 10.Apply rated voltage of 220 V to armature.

11.Note down the armature current, armature voltage and speed. 12.Find the transfer function (s) / Va(s) = KtRaB/ s{(1+sTa)(1+sTm ) +Kb Kt /RaB Note: If the voltmeter and ammeter in the trainer kit is found not working external meters of

respective range can be connected in that place. TABULAR COLUMN: 1.For armature resistance Ra S.No Va (V) Ia (A) Ra()

2.For armature inductance La S.No Vf2 (V) If2 (A) Zf ()

3.For transfer function parameters rad/sec

S.No Va (V)

Ia (A)

Eb (V)

N (rpm)

T (N-m)

Kb

Kt

MODEL CALCULATION :

VIVA QUESTIONS: 1. Define transfer function? 2. What is DC servo motor? What are the main parts? 3. What is servo mechanism? 4. Is this a closed loop or open loop system .Explain? 5. What is back EMF?

REFERENCE: 1.NAGRATH & GOPAL, Control Systems.

RESULT: The Transfer function of armature controlled DC servomotor is determined as

Expt. No: 3 AIM:

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF AC SERVO MOTOR

To derive the transfer function of the given A.C Servo Motor and experimentally determine the transfer function parameters From a. Torque Speed Characteristics b. Control Voltage characteristics APPRATUS REQUIRED: 1. 2 AC servomotor speed control and transfer function trainer 2. Speed sensor. FORMULAE USED: 1. Motor transfer function , Gm (s) = Km / (1+ sm) Where Motor gain constant, Km = K / FO + F Where K is T / C FO is T / N Torque ,T is 9.81 X r (S1 S2) R is radius of the rotor in m Frictional co-efficient, F = W / (2N / 60)2 Frictional loss, W is 30 % of constant loss in watts Constant loss in watts = No load i/p Copper loss No load i/p = V (IR+IC) V is supply voltage, V IR is current through reference winding, A IC is current through control winding, A Copper loss in watts = IC2 RC RC = 174 N is rated speed in rpm Where Motor time constant, m = J / FO + F Where moment of inertia J is d4lR / 32 d is diameter of the rotor in m lR is length of the rotor in m is density = 7.8 X 102 gm / m THEORY CONSTRUCTIONAL DETAILS The AC servo motor is basically a two phase induction motor with some special design features. The stator consists of two pole pairs (A-B and C-D) mounted on the inner periphery of the stator, such that their axes are at angle of 90o in space. Each pole pair carries a winding, One winding is called reference winding and other is called a control winding. The exciting current in the winding should have a phase displacement of 90o. The supply used to drive the motor is single phase and so a phase advancing capacitor is connected to one of the phase to produce a phase difference of 90o. The stator constructional features of AC servo motor

are shown in fig.1. The rotor construction is usually squirrel cage or drag-cup type. Rotor construction of AC servomotor is shown in fig.2. 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 kept small in order to reduce inertia and to obtain good accelerating characteristics. The drag cup construction is employed for very low inertia applications. In this type of construction the rotor will be in the form of hollow cylinder made of aluminium. The aluminium cylinder itself acts as short-circuited rotor conductors. Electrically both the types of rotor are identical. WORKING PRINCIPLE AS AN ORDINARY INDUCTION MOTOR The stator windings are excited by voltages of equal rms magnitude and 90o phase difference. This results in exciting currents i1 and i2 that are phase displaced by 90o and have equal rms values. These currents give rise to a rotating magnetic field of constant magnitude. The direction of rotation depends on the phase relationship of the two currents (or voltages). The exciting current shown in fig.3. Produces a clockwise rotating magnetic field and phase shift of 180o in i1 will produce an anticlockwise rotating magnetic field. This rotating magnetic field sweeps over the rotor conductors. The rotor conductor experience a change in flux and so voltages are induced rotor conductors. This voltage circulates currents in the short-circuited rotor conductors and currents create rotor flux. Due to the interaction of stator & rotor flux, a mechanical force (or Torque) is developed on the rotor and so the rotor starts moving in the same direction as that of rotating magnetic field. ADVANTAGES OF AC SERVOMOTOR 1 Control of AC servomotor is so easier than induction motor, because of controlling only the control phase winding voltage of magnitude 12V or 24V and not main winding voltage of 230V. 2 Direction of motor reversal is also obtained by interchanging the control phase winding voltage. DISADVANTAGES OF AC SERVOMOTOR 1 The characteristics are quite non-linear and are more difficult to control especially for servomechanism APPLICATIONS 2 AC servomotors are best suited for low power application such as instrument servo (e.g. control of pen in x-y records) and computer related equipment (Disk, tape drives, printers etc.)

BLOCK DIAGRAM OF SERVOMOTOR

PROCEDURE: 1. DETERMINATION OF FRICTIONAL CO_EFFICIENT, F 1. Check the MCB position in OFF condition and patch the circuit using the patching diagram. 2. Measure the control winding current, reference winding current and supply voltage. 3. Find the frictional co-efficient, F = W / (2N / 60) 2
2 DETERMINATION OF TORQUE SPEED CHARACTERISTICS AND FO

1. Check the MCB position in OFF condition and patch the circuit using the patching diagram. 2. Set the speed control pot in minimum position and load in free condition 3. Apply rated voltage to the reference phase winding and control phase winding. 4. Note down the no load speed. 5. Apply load in steps. For each step note down speed and load applied and calculate the Torque as T = 9.81 X r X (S1 S2). 6. Reduce the load fully and allow the motor to run at rated speed. 7. Repeat steps 4,5 for 75 % and 50 % of control winding voltage levels and tabulate reading. 8. Draw the graph between speed and torque and from the graph find T and N and calculate FO as T / N
3. DETERMINATION OF TORQUE CONTROL VOLTAGE CHARACTERISTICS & K

1. Check the MCB position in OFF condition and patch the circuit using the patching diagram. 2. Apply rated Voltage to Reference phase winding. Apply a certain voltage to the Control phase winding and make the motor run at rated speed. 3. Load the motor gradually and the speed of the motor will decrease. Increase the Control winding voltage till the speed obtained at no load is reached. Note down control voltage and load readings. 4. Repeat the above procedure for various speeds and tabulate. 5. Calculate the Torque as T = 9.81 X r X(S1 S2) and plot the graph between

torque and control winding voltage. Find T and C and then find K.
TORQUE SPEED CHARACTERISTICS

N Rpm

Vc1 = S1 S2 Kg Kg

T N-m

N Rpm

Vc2 = S1 S2 Kg Kg

T N-m

N Rpm

Vc3 = S1 S2 Kg Kg

T N-m

MODEL GRAPH

TORQUE N-m

SPEED (RPM) TORQUE CONTROL VOLTAGE CHARACETERISTICS N1 = Vc V N2 = S2 Vc Kg V N3 = S2 Vc Kg V

S1 Kg

S2 Kg

T N-m

S1 Kg

T N-m

S1 Kg

T N-m

MODEL GRAPH

TORQUE N-m

Control voltage (Volts) Given , B = 0.01875 X 10-3 N-m / Rpm J = 0.052 X 10-3 Kg m2 VIVA QUESTIONS 1.What are the main parts of an ac servo motor? 2. what are the advantages and disadvantages of an AC servo motor? 3.Give the applications of Ac servomotor? 4.What do you mean by servo mechanism? REFERENCE 1. NAGRATH & GOPAL, Control Systems. 2. Lab Manual Transfer Function Derivation of AC Servo motor System RESULT: From the Torque-Speed characteristics and Control-voltage Characteristics the Transfer function of AC servomotor is determined as

Expt No. 4 AIM:

ANALOG SIMULATION OF TYPE 0 and TYPE 1 SYSTEMS

To study the time response of first and second order type 0 and type- 1 systems. APPARATUS REQUIRED: 1.Linear system simulator kit 2.CRO FORMULAE USED: 1.Steady state error ess (V) = Re/K K1 where Re = 2R where R is the slope. K is the gain K1 is the gain of integrator block From the waveform 2.Damping ratio, = (ln MP)2 / (2 +(ln MP)2) Where MP is peak percent overshoot obtained from the waveform 3. Undamped natural frequency, n = / tp (1 - 2) Theoretical Values of n and can be obtained by comparing the co-efficients of the denominator of the closed loop transfer function of the second order system with the standard format of the second order system Closed loop transfer function of the type 1-second order system is G(s) = K K1 K2 / s (1 + sT1) K is the gain K1 is the gain of Integartor = 9.6 K2 is the gain of the time constant 1 block =10 T1 is the time constant of time constant 1 block = 1 ms Closed loop transfer function of the type 0 second order system is G(s) = K K2 K3 / (1+sT1) (1 + sT2) K is the gain K2 is the gain of the time constant 1 block =10 K3 is the gain of the time constant 2 block =10 T1 is the time constant time constant 1 block = 1 ms T2 is the time constant time constant 2 block = 1 ms THEORY: The type number of the system is obtained from the number of poles located at origin in a given system. Type 0 system means there is no pole at origin. Type 1 system means there is one pole located at the origin. The order of the system is obtained from the highest power of s in the denominator of closed loop transfer function of the system The first order system is characterized by one pole or a zero. Examples of first

order systems are a pure integrator and a single time constant having transfer function of the form K/s and K/ (sT+1). The second order system is characterized by two poles and upto two zeros. The standard form of a second order system is G(s) = n2 / (s2 + 2ns + n2) where is damping ratio and n is undamped natural frequency. BLOCK DIAGRAM: 1.Type- 1 First order system

2.Type-0 first order system

3.To find steady state error of type- 1 system

4.Type-1 second order system

5.Type-0 second order system

PROCEDURE: 1.To find the steady state error of type 1 first order system 1.The blocks are Connected using the patch chords in the simulator kit. 2.The input triangular wave is set to 1 V peak to peak in the CRO and this applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3.The output from the system is connected to the Y- channel of CRO. 4. The experiment should be conducted at the lowest frequency to allow enough time for the step response to reach near steady state. 5.The CRO is kept in X-Y mode and the steady state error is obtained as the vertical displacement between the two curves. 6.The gain K is varied and different values of steady state errors are noted. 7. The steady state error is also calculated theoretically and the two values are compared. 2.To find the steady state error of type 0 first order system 1.The blocks are connected using the patch chords in the simulator kit. 2.The input square wave is set to 1 V peak to peak in the CRO and this applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3.The output from the system is connected to the Y- channel of CRO. 4.The CRO is kept in X-Y mode and the steady state error is obtained as the

vertical displacement between the two curves. 5.The gain K is varied and different values of steady state errors are noted.

3.To find the closed loop response of type 0 and type- 1 second order system 1.The blocks are connected using the patch chords in the simulator kit. 2.The input square wave is set to 1 V peak to peak in the CRO and this applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3.The output from the system is connected to the Y- channel of CRO. 4.The output waveform is obtained in the CRO and it is traced on a graph sheet. From the waveform the peak percent overshoot, settling time,rise time, peak time are measured. Using these values n and are calculated. 5.The above procedure is repeated for different values of gain K and the values are compared with the theoretical values.

TABULAR COLUMN: 1.To find the steady state error of type 1 first order system S.No. K R (V/sec) ess* (V) ess# (V)

2.To find the steady state error of type 0 first order system S.No. K ess (V)

3.To find the closed loop response of type 0 second order system S.No. K %MP tr(sec) tp (sec) ts (sec) * n* # (rad/sec) n# (rad/sec)

4.To find the closed loop response of type 1 second order system S.No. K %MP tr(sec) tp (sec) ts (sec) * n* # (rad/sec) n# (rad/sec)

MODEL GRAPH:

MODEL CALCULATION:

RESULT: Thus the time response of first and second order type- 0 and type- 1 systems are studied.

Expt. No:12 STUDY OF BASIC MATLAB COMMANDS AIM: To study the basic MATLAB commands which are used for analysis of control system. APPARATUS REQUIRED: A PC with MATLAB package. THEORY: The name MATLAB stands for MATRIX LABORATORY. MATLAB was originally written to provide easy access to matrix software developed by the LINPACK and EISPACK projects. Today, MATLAB engines incorporate the LAPACK and BLAS libraries, embedding the state of the art in software for matrix computation. MATLAB has evolved over a period of years with input from many users. In university environments, it is the standard instructional tool for introductory and advanced courses in MATHEMATICS, ENGINEERING, AND SCIENCE. In industry, MATLAB is the tool of choice for high-productivity research, development, and analysis. MATLAB is a high-performance language for technical computing. It integrates computation, visualization, and programming in an easy-to-use environment where problems and solutions are expressed in familiar mathematical notation. Typical uses include Math and computation Algorithm development Data acquisition Modeling, simulation, and prototyping Data analysis, exploration, and visualization Scientific and engineering graphics Application development, including graphical user interface building MATLAB is an interactive system whose basic data element is an array that does not require dimensioning. This allows you to solve many technical computing problems, especially those with matrix and vector formulations, in a fraction of the time it would take to write a program in a scalar non-interactive language such as C or Fortran. MATLAB features a family of add-on application-specific solutions called toolboxes. Very important to most users of MATLAB, toolboxes allow you to learn and apply specialized technology. Toolboxes are comprehensive collections of MATLAB functions (M-files) that extend the MATLAB environment to solve particular classes of problems. Areas in which toolboxes are available include SIGNAL PROCESSING, CONTROL SYSTEMS, NEURAL NETWORKS, FUZZY LOGIC, WAVELETS, SIMULATION, AND MANY OTHERS.

PROCEDURE:

Find the commands for the following using MATLAB Help Command: 1. To obtain the frequency response 2. To obtain the time response 3. To obtain step response using LTI viewer 4. Convert Transfer Function to State Space 5. Convert State Space to Transfer Function 6. Convert Transfer Function to Zero pole gain format 7. Convert Zero pole gain to Transfer Function 8. Convert Zero pole gain to State Space 9. Convert State Space to Zero Pole Gain 10. To Draw Bode Plot 11. To Draw Nyquist Plot 12. To Obtain Phase margin and Gain Margin 13. To Draw Nichols Plot 14. Convert Continuous to Discrete domain 15. Convert Discrete to Continuous domain.

VIVA QUESTIONS: 1. What is MATLAB? 2. What is the use of MATLAB Package? 3. What are the toolboxes available in MATALB? 4. What is the use of a simulation. 5. Differentiate real time systems and simulated systems.

REFERENCE 1. NAGRATH & GOPAL, Control Systems. 2. Ogata, Control Systems 3. MATLAB User Manual .

RESULT: Thus the Basic commands for the analysis and design of control system has been studied using MATLAB.

Expt. No:5

DIGITAL SIMULATION OF LINEAR SYSTEMS

AIM To digitally simulate the time response characteristics of a linear system without non linearities and to verify it manually. APPARATUS REQUIRED Mat lab Software THEORY The time characteristics of control systems are specified in terms of time domain specifications. Systems with energy storage elements cannot respond instantaneously and will exhibit transient responses, whenever they are subjected to inputs or disturbances. The desired performance characteristics of a system of any order may be specified in terms of transient response to a unit step input signal. The transient response characteristics of a control system to a unit step input is specified in terms of the following time domain specifications Delay time td Rise time tr Peak time tp Maximum overshoot Mp Settling time ts ALGORITHM i) Declare the numerator and the denominator separately ii) Assign values for y,x and t using step function iii) Plot y versus t using plot function iv) Calculate rise time, peak time, peak overshoot, and settling time using the formulae PROGRAM %This is a MATLAB program to find the rise time, peak time, maximum %overshoot, and settling time of the second order system and higher order %system % in this example assume zeta=0.6 and wn =5 num=[0 0 25]; den=[1 6 25]; t=0:0.005:5; [y,x,t]=step(num,den,t) r=1;

while y(r)<1.000; r=r+1; end; rise_time=(r-1)*0.005 [ymax,tp]=max(y); peak_time=(tp-1) * 0.005 max_overshoot= ymax - 1 s=1001; while y(s)>0.98 & y(s)<1.02; s=s-1; end; settling_time=(s-1)*0.005 OUTPUT rise_time = 0.5550 peak_time = 0.7850 max_overshoot = 0.0948 settling_time = 1.1850 MANUAL CALCULATIONS Damped frequency of oscillation= Rise time tr=
d d= nsqrt(12)=5sqrt(1-0.62)=4

rad/sec

= tan -1(sqrt(1-0.62) = 53.13 degrees 0.6 in radians = 53.13 * /180 = 0.9268 rad tr= = 0.9268 = 0.5533 seconds 4 d Peak time tp = = 3.14 = 0.785 seconds 4 d Maximum overshoot Mp=e- / sqrt(1- 2) = e -0.6(3.14)/0.8 = 0.0949 Settling time ts = 3T = 3_ = __3__ = 1.2 seconds 4(0.6) n = tan -1(sqrt(1PLOT

2))

RESULT The time response characteristics of a linear system without non linearities is simulated digitally and verified manually.

Expt. No: 6

DIGITAL SIMULATION OF NON-LINEAR SYSTEMS

AIM: To digitally simulate the time response characteristics of Linear system with simple non-linearities like saturation and dead zone. APPARATU REQUIRED: A PC with MATLAB package. THEORY: When a mathematical model of a physical system is solved for various input conditions, the result represents the dynamic response of the system. The mathematical model of a system is Linear, it obeys the principle of superposition and Homogeneity. This principle implies that if a system model has responses y1(t) and y2(t) to any two inputs x1(t) and x2(t) respectively, then the system responses to the linear combination of these inputs
1 x1(t) + 1 y1(t) + 2 x2(t) is given by the linear combination of the individual outputs, i.e., 2 y2(t) where 1 and 2 are constants.

Mathematical models of most physical systems are characterized by differential equation. A mathematical model is linear, if differential equation describing it has coefficients, which are either functions only of the independent variable or constants. If the coefficients of the describing differential equations are functions of time (the independent variable), then the mathematical model is Linear TimeVarying. On the other hand, if the coefficients of the describing differential equations are constants, the model is Linear Time-Invariant. The differential equation describing a linear time-invariant system can reshape into different forms for the convenience of analysis. For the transient response or Frequency response analysis of Single-Input Single-Output Linear systems the transfer function representation is used as a powerful tool. It is on account of the principle of superposition, it is guaranteed that a linear system designed to perform satisfactorily when excited by a standard test signal, will exhibit satisfactory behaviour under any circumstances. Furthermore, the amplitude of the test signal is unimportant since any change in input signal amplitude results simply in change of response scale with no change in the basic characteristics. In contrast to the linear systems, the response of Non-Linear systems to a particular test signals is no guide to their behaviour to other inputs, since the principle of superposition no longer holds. Also the Non-Linear systems are highly sensitive to change in input amplitude. When a linear system is excited by a sinusoidal input of frequency , the steady- state output is always sinusoidal of the same frequency. This is not the case in nonlinear systems, where if the input is a sine wave, the output in general is non-sinusoidal containing frequencies (harmonics) which are multiples of the forcing frequency .

The Non-Linear systems are constructed using the combination of Linear systems and simple Non-Linearities. In control systems, Non-linearities can be classified as incidental and intentional. Incidental non-linearities are those which are inherently present in the system. Common examples of Incidental non-linearities are Saturation, Dead-Zone, Coulomb friction, Stiction, backlash, etc. The intentional non-linearities, on the other hand, are those which are deliberately inserted in the system to modify system characteristics. The most common example of this type is a Relay. SATURATION: The most common of all Non-linearities. All practical system, when driven by sufficiently large signals, exhibit the phenomenon of saturation due to limitations of physical capabilities of their components. Many components such as amplifiers have output proportional to input in a limited range of input signals. When the input exceeds this range , the output tends to become nearly constant Though the change over from one range to another is gradual, it is sufficiently accurate in most cases to approximate the saturation phenomenon by straight line segments as shown here. DEAD-ZONE: PROCEDURE: 1. For the given simple Linear systems obtain the time response characteristics for step input and sinusoidal input. 2. Add a non-linear element saturation to the linear systems and get the time response characteristics for step and sinusoidal inputs. 3. Discuss the effect of added non-linearity to the linear systems. 4. Repeat the step 3 by adding Dead-Zone non-linearity the linear systems. 5. Discuss the effect of added non-linearity. 6. Give the inference. VIVA QUESTIONS: 1. 2. 3. 4. 5. 6. 7. 8. Define Linear systems. What is the principle of superposition and homogeneity? What is meant by Non-Linearities? Define Dead-Zone. Define Saturation. Define Backlash. Define Relay. What is the behaviour of Non-Linear systems? Thus the time response characteristics of linear systems with simple non-

RESULT:

linearities like saturation and dead-zone using digital simulation has been obtained.

Expt. No: 7 AIM

DESIGN AND IMPLEMENTATION OF COMPENSATORS

To design a lag compensator in Bode plot (frequency domain) for the system whose transfer function is G(s) = K s(s+4)(s+80) APPARATUS REQUIRED Mathlab software PROGRAM: %BODE PLOT OF THE SYSTEM UNCOMPENSATED AND COMPENSATED(LAG)% %Enter the numerator and denominator of the transfer function num=[0 0 0 9600]; den=[1 84 320 0]; sys=tf(num,den) bode(sys) [Gm,Pm,Wcp,Wcg]=margin(sys) margin(sys) hold %Enter the numerator and denominator of the transfer function num=[0 0 0 63.9 30] den=[0.042 3.52 13.68 1 0]; sys=tf(num,den) bode(sys) [Gm,Pm,Wcp,Wcg]=margin(sys) margin(sys) MANUAL CALCULATIONS i)Calculation of gain Given Kv = 30 sec -1 Kv = Lt sG(s)H(s) s 0 Since the system is unity feedback system H(s) = 1 Therefore Kv = Lt sG(s) = Lt K = K s 0 s 0 s(s+4)(s+80) 4*80 K = 9600 ii)Bode plot of uncompensated system Let s= j G(j ) = 9600 = 30 s(s+4)(s+80) j (1+0.25 j )(1+0.0125 j )

Magnitude plot The corner frequencies are c1=4rad/sec and c2= 80 rad/sec Choose a low frequency l such that l< c1 and choose a high frequency Let l=1 rad/sec and h=100 rad/sec Term Corner Frequency rad/sec __ 4 80 Slope db/dec -20 -20 -20

h>

c3.

Change in slope db/dec __ -20-20= - 40 -40-20 = -60

30 j 1 (1+0.25j ) 1 ( 1+0.0125 j )

Calculate A at l, c1, c2, and h Let A= | G(j )| in db At = l A= 20 log(30/1)=29.5db = c1 , A=20log(30/4)=18db = c2 A= -40log(80/4)+18= -34 db = h A = -60log(100/80)+(-34) = - 40 db These values are plotted in the semilog graph sheet taking frequency along the logarithmic scale and magnitude in db along the linear scale The phase angle of G(j ) as a function of = G(j ) = - tan-1 0.25 -90 tan-1 0.0125 1 Rad/sec -104 degrees These values are plotted in the semi log graph sheet taking the same frequency as before along the logarithmic scale and phase angle in degrees along the linear scale. iii)Determination of phase margin of compensated system Let, gc = Phase margin of G(j ) at gain cross over frequency ( gc) And = Phase margin of compensated system. From the bode plot of uncompensated system we found that gc = -168deg Now = 180 + gc = 180-168=12 deg The system requires a phse marginof atleast 33 degrees but the available phase margin is 12 degrees and so lag compensation should be employed to improve the phase margin. -138 -164 -208 -222 -230 4 10 50 80 100 is given by

iv)Choose a suitable value for the phase margin of compensated system. The desired phase margin, o = 33 deg Phase margin of compensated system, o = d + Let initial choice of = 5 deg o = d + = 33 + 5 =38 degrees v)Determine the new gain crossover frequency Let gc = New gain cross over frequency and gc = phase of G(j ) at gc Now o = 180 + gcn gcn = o 180 = 38 180 = -142 deg From the bode plot the frequency corresponding to a phase of -142deg is 4.7 rad/sec New gain crossover frequency gcn = 4.7 rad/sec vi)Determine the parameter From the bode plot, the db magnitude at gcn is 16 db Therefore Mag of G(j ) = 16 db Also Agcn = 20 log = 10 Agcn =6.3 vii)Determine the transfer function of lag ocmpensator. The zero of the compensator is placed at a frequency one-tenth of gcn Zero of the lag compensator, zc = 1/T T = 10/ gcn = 2.13 Pole of the lag compensator pc = 1/ T pc = (6.3*2.13) = 1/13.419 Transfer function of lag compensator Gc(s) = (s+1/T)/(s+1/ T) = 6.3(1+2.13s)/(1+13.419s) viii)Determine the open loop transfer function of the compensated system

1/6.3

6.3(1+2.13s) (1+13.419s)

30_____ s(1+0.25s)(1+0.0125s )

The gain of the compensator is nullified by introducing an attenuator in series with the compensator, as shown in the diagram Open loop transfer function of compensated system Gc(s) = 1 * 6.3(1+2.13s) *

30_____

6.3 (1+13.419s) s(1+0.25s)(1+0.0125s) = ________30(1+2.13s)____________ s(1+13.419s)(1+0.25s)(1+0.0125s) ix) Determine the actual phase margin of compensated system. Gc(s)= ___30(1+2.13j )____________________ j (1+13.419 j )(1+0.25 j )(1+0.0125 j ) Let 0 = Phase of G(j ) and gc0 = phase of Gc(j ) at = gcn -1 -1 gc0 = tan (2.13 * 4.7) - 90 tan (13.419*4.7) -1(0.25 * 4.7) - tan-1(0.0125 * 4.7) = -147degrees tan Actual phase margin of compensated system o = 180 + gcn = 180 147 =33 degree

OUTPUT: Transfer function: 9600 -------------------s^3 + 84 s^2 + 320 s Gm = 2.8000 Pm = 13.2591 Wcp = 17.8885 Wcg = 10.5470 Current plot held num = 0 0 0 63.9000 30.0000 Transfer function: 63.9 s + 30 -----------------------------------0.042 s^4 + 3.52 s^3 + 13.68 s^2 + s Gm = 15.7613 Pm = 39.3844 Wcp = 16.9235 Wcg = 3.5782

PLOT

Result The actual phase margin of the compensated system satisfies the requirement. Hence the design is acceptable.

Expt No.8

DESIGN OF P, PI & PID CONTROLLERS

1.DESIGN OF P CONTROLLER AIM: To design an electronic Proportional Controller. APPARATUS REQUIRED: 1.PID designing unit 2.Patch chords 3.Resistors FORMULA USED: 1.Vout= KP Ve + Vb where KP is proportional gain Ve is error voltage Vb is bias voltage 2.Gain = Output/Input 3.KP = R2 / R1 PROCEDURE: 1.Obtain the design of values of the resistors for the given input and output voltage ranges. 2.Connect the circuit as per the patching diagram. 3.Apply the specified input voltages Ve &Vb to the terminals T2 and T1 respectively of the P Controller. 4.Note down the output voltage. TABULAR COLUMN: S.No. Ve (V) Vb (V) Vout (V)

MODEL CALCULATION:

RESULT: Thus the design of electronic P controller for the given requirements has been done. 2.DESIGN OF PI CONTROLLER AIM:

To design an electronic PI Controller and to study the time response of the given system. APPARATUS REQUIRED: 1.PID designing unit 2.Patch chords 3.Resistors 4.Capacitors 5.CRO and Probes FORMULAE USED: 1.Vout = KP Ve + KI Vedt Where KP (due to Proportional band) is Vout / Ve = R2 / R 1 Proportional band is 100/gain where gain is Output / Input Vout is proportional band % of change in output Ve is proportional band % of change in input KI (due to Integral action) isVout /Ve sec-1 =1 / TI Vout is 0.1% of change in output Ve is 1% of change in input 2. TI = R2C1 assume C1 = 100F find R2 3. R1 = R2 / KP PROCEDURE: 1.Obtain the design of values of the resistors for the given input and output voltage ranges. 2.Connect the circuit as per the patching diagram. 3.Apply the specified input voltages Ve &Vb to the terminals T2 and T1 respectively of the P Controller. 4.Note down the output voltage.

PROCEDURE FOR TIME RESPONSE CHARACTERISTICS: 1.Patch the circuit as per the patching diagram. 2.Set IVPP of square wave .

3.Observe the input & output voltage waveforms in the CRO. 4.Note the time response characteristics ts , tr , tp.

MODEL CALCULATION:

RESULT: Thus the design of electronic PI controller for the given requirements has been done.

3.DESIGN OF PID CONTROLLER AIM: To design an electronic PID Controller and to study the time response of the given system.

APPARATUS REQUIRED: 1.PID designing unit 2.Patch chords 3.Resistors 4.Capacitors 5.CRO and Probes FORMULAE USED: 1.Vout = KP Ve + KI Vedt Where KP (due to Proportional band) is Vout / Ve = R2 / R 1 Proportional band is 100/gain where gain is Output / Input Vout is proportional band % of change in output Ve is proportional band % of change in input KI (due to Integral action) isVout /Ve sec-1 =1 / TI Vout is 0.1% of change in output Ve is 1% of change in input 2. TI = R2C1 assume C1 = 100F find R2 3. R1 = R2 / KP PROCEDURE: 1.Obtain the design of values of the resistors for the given input and output voltage ranges. 2.Connect the circuit as per the patching diagram. 3.Apply the specified input voltages Ve &Vb to the terminals T2 and T1 respectively of the P Controller. 4.Note down the output voltage.

PROCEDURE FOR TIME RESPONSE CHARACTERISTICS: 1.Patch the circuit as per the patching diagram. 2.Set IVPP of square wave. 3.Observe the input & output voltage waveforms. 4.Note the time response characteristics ts , tr , tp.

MODEL CALCULATION:

RESULT: Thus the design of electronic PID controller for the given requirements has been done.

Expt. No: 9 a) STABILITY ANALYSIS OF LINEAR SYSTEMS(Bode Plot) AIM To obtain the bode plot for the given system whose transfer function is given as 242(s+5) s(s+1)(s2+5s+121) and to find out whether the system is stable or not. APPARATUS REQUIRED Mat lab Software THEORY A Linear Time-Invariant Systems is stable if the following two notions of system stability are satisfied When the system is excited by Bounded input, the output is also a Bounded output. In the absence of the input, the output tends towards zero, irrespective of the initial conditions. The following observations are general considerations regarding system stability and are If all the roots of the characteristic equation have negative real parts, then the impulse response is bounded and eventually decreases to zero, then system is stable. If any root of the characteristic equation has a positive real part, then system is unstable. If the characteristic equation has repeated roots on the j -axis, then system is unstable. If one are more non-repeated roots of the characteristic equation on the j -axis, then system is unstable. BODE PLOT : Consider a Single-Input Single-Output system with transfer function C(s) = R(s) G(S)=

b0 sm + b1 sm-1 + + bm a0 sn + a1sn-1 + +an

Where m < n. In majority of the practical systems, the following statements on stability are quite useful. If all the roots of characteristic equation have negative real parts, the system is stable.

If any root of characteristic equation has a positive real part or if there is a repeated root on the j -axis, the system is unstable. If the first condition is satisfied except for the presence of one are more non-repeated roots on the j -axis, the system is limitedly stable.

The most basic characteristic in defining system quality is that it provides stable regulation of the dynamic variable. Stable regulation means that the dynamic variable does not grow without limit. The two types of unstable responses are A disturbance causes the dynamic variable to simply increase without limit. The variable begins to execute growing oscillations, where the amplitude is increasing without limit. In both cases, some nonlinear break down eventually terminates the increase. Any change in load may change the period of oscillation, but the amplitude swing remains essentially the same, and hence the system is under stable control. The dynamic transfer function of an element tells how the output is determined from the input when the input varies in time. For the study of stability, response of dynamic transfer function with input is oscillating at some frequency is taken, which is the frequency response of the system. The stability criteria from frequency response is Rule 1 A system is stable if the phase lag is less than 180 at the frequency for which the gain is unity (one). Rule 2 A system is stable if the gain is less than one (unity) at the frequency for which the phase lag is 180. The application of these rules to an actual process requires evaluation of the gain and phase shift of the system for all frequencies to see if rules 1 and 2 are satisfied. This is obtained by plotting the gain and phase versus frequency. This plot is called BODE PLOT. The gain obtained here is open loop gain. The stability criteria given above represent Limits of Stability. It is well to design a system with a margin of safety from such limits to allow for variation in components and other unknown factors. This consideration leads to the revised stability criteria, or more properly, a Margin Of Safety provided to each condition. The exact terminology is in terms of a Gain Margin and Phase Margin from the limiting values quoted. If the phase lag is less than 140 at the unity gain frequency, the system is stable. This then, is a 40 Phase Margin from the limiting values of 180. If the gain is 5dB below unity (or a gain of about 0.56) when the phase lag is 180, the system is stable. This is 5dB Gain Margin.

ALGORITHM 1. Write a Program to (or using SIMULINK) obtain the Bode plot for the given system. 2. Access the stability of given system using the plots obtained. PROGRAM %BODE PLOT OF THE SYSTEM% %Enter the numerator and denominator of the transfer function num=[0 0 0 242 1210]; den=[1 6 126 121 0]; sys=tf(num,den) %Specify the frequency range and enter the command w=logspace(-2,4,1000); bode(sys,w) xlabel('Frequency') ylabel( ' Phase angle in degrees Magnitude of G(s)') title('Bode Plot of the system 242(s+5)/s(s+1)(s^2+5*s+121)') %To determine the Gain Margin,Phase Margin, Gain crossover frequency and %Phase cross over frequency [ Gm, Pm, Wcp, Wcg ]= margin (sys) PROCEDURE TO OBTAIN BODE PLOT 1. Rewrite the sinusoidal transfer function in the time constant form by replacing s by j 2. Identify the corner frequencies associated with each factor of the transfer function. 3. Knowing the corner frequencies draw the asymptotic magnitude plot. This plot consists of straight line segments with line slope changing at each corner frequency by +20db/decade for a zero and -20db/decade for a pole. For a complex conjugate zero or pole the slope changes by + 40db/decade. 4. Draw a smooth curve through the corrected points such that it is asymptotic

to the line segments. This gives the actual log-magnitude plot. 5. Draw phase angle curve for each factor and add them algebraically to get the phase plot. MANUAL CALCULATIONS i)The sinusoidal transfer function G (j ) is obtained by replacing s by j in the given s domain transfer function 242(j +5) j (j +1)( j 2+5 j +121) On comparing the quadratic factor of G(s) with standard form of quadratic factor , and n can be evaluated. s2+5s+121 = s2+2 ns + n2 On comparison 2 2 n= 5 n = 121 =11 rad/sec = 0.227 n G(j )= 10(1+0.2j ) j (1+j )( 1+0.4 j -0.0083 G(j )=

2)

ii)CORNER FREQUENCIES The corner frequencies are c1=1rad/sec Choose a low frequency l such that l< Let l=0.5 rad/sec and h=100 rad/sec Term Corner Frequency rad/sec __ 1 5 11
2)

5 rad/sec and c3=11rad/sec and choose a high frequency h> c1

c2=

c3.

Slope db/dec -20 -20 20 -40

Change in slope db/dec __ -20-20= - 40 -40-20 = -20 -40-20 = -60

10 j 1 (1+j ) (1+0.2j ) 1 ( 1+0.4 j -0.0083

iii)MAGNITUDE PLOTS Calculate A at l, c1, Let A= | G(j )| in db

c2, c3,

and

At = l A= 20 log(10/0.5)=26.03db = c1 , A=20log(10/1)=20db = c2 A= -40log(5/1)+20=-7.96 db = c3 A = -20log(11/5) - 7.96 = -14.80 db = h A = -60log(100/11)-14.80 = - 72.3 db These values are plotted in the semilog graph sheet taking frequency along the logarithmic scale and magnitude in db along the linear scale iv)PHASE PLOT The phase angle of G(j ) as a function of = G(j ) = tan-1 0.2 -90 tan-1 tan-1 0.2 tan-1 0.5 1 5 10 11 20 50 100 507 11.3 45 63.43 65.5 75.96 84.3 87014 26.56 45 78.96 84.29 84.8 87.14 88.85 89.43

is given by

tan-1 0.04 /(1 0.0083 2) tan-1 {0.04 / = G(j ) (1 0.0083 2)} 1.15 -112 2.31 -126.01 14.04 -138 63.44 -174.3 85.8 -195.4 180-19.98=160 -261.18 180-6=174 -268.55 180-2.9=177.1 -269.3

These values are plotted in the semilog graph sheet taking the same frequency as before along the logarithmic scale and phase angle in degrees along the linear scale. OUTPUT (from simulation) 242 s + 1210 ----------------------------s^4 + 6 s^3 + 126 s^2 + 121 s Gm = 2.0273 Pm = 41.8270 Wcp = 10.0961 Wcg = 3.6322

OUTPUT (from graph) gc= gc=3.1rad/sec Phase margin =180+ gc = 180-134 = 46 degrees Gain Margin = 12 db

pc

= 10.1 rad/sec

BODE PLOT

VIVA QUESTIONS: 1. 2. 3. 4. 5. 6. 7. 8. 9. Define stability of Linear Time Invariant System. Give the stability conditions of system using Pole-Zero plot. Define Bode Plot. What is the use of Bode Plot? What are the conditions of stability in bode plot? Define Stability criteria. Define Limits of stability. Define safe regions in stability criteria. Define Phase margin and Gain margin.

REFERENCE 1. 2. 3. 4. 5. NAGRATH & GOPAL, Control Systems. MATLAB User Manual . Control Systems by Nagoor gani Control system Engineering by S .P .Eugene Xavier and J.Joseph Cyril babu. Control system Engineering by R.Ananda Natarajan and P.Ramesh babu.

RESULT: i)The Bode plot is drawn for the given transfer function using matlab and verified manually ii) The system is stable

Expt. No:9 b)

STABILITY ANALYSIS OF LINEAR SYSTEMS (Root Locus Plot)

AIM To obtain the Root locus plot for the given system whose transfer function is given as G(S)= K s(s+3)(s2+3s+11.25)

APPARATUS REQUIRED Mat lab Software THEORY ROOT LOCUS PLOT : The characteristic of the transient response of a closed-loop system is related to the location of the closed loop poles. If the system has a variable loop gain, then the location of the closed-loop poles depend on the value of the loop gain chosen. A simple technique known as Root Locus Technique used for studying linear control systems in the investigation of the trajectories of the roots of the characteristic equation. This technique provides a graphical method of plotting the locus of the roots in the s-plane as a given system parameter is varied over the complete range of values(may be from zero to infinity). The roots corresponding to a particular value of the system parameter can then be located on the locus or the value of the parameter for a desired root location can be determined form the locus. The root locus is a powerful technique as it brings into focus the complete dynamic response of the system . The root locus also provides a measure of sensitivity of roots to the variation in the parameter being considered. This technique is applicable to both single as well as multiple-loop systems.

PROCEDURE: 1. Write a Program to (or using SIMULINK) obtain the Root locus plot for the given system. 2. Access the stability of given system using the plots obtained.

PROGRAM %ROOT LOCUS OF THE SYSTEM% num=[0 0 0 0 1] den=[1 6 20.25 33.75 0] sys=tf(num,den) rlocus(sys) v=[-10,10,-8,8]; axis(v) xlabel('Real Axis') ylabel('Imaginary Axis') title('Root Locus of the sytem ') title('Root Locus Plot of the system K/s(s+3)(s^2+3s+11.25))')

MANUAL CALCULATIONS 1. Number of poles =4, zeros = 0, number of root locus branches =4. Starting points s=0, -3 & 1.5+ j3. 2. Pole zero plot is as follows Section between 0 and -3 is part of root locus. One breakway point is between s=0 and s=-3. 3. Angle of asymptotes are 45,135,225 and 315 degrees 4. Centroid = -1.5 5. Three Breakway points are -1.5,-1.5 + j 1.8371 6. Intersection with imaginary axis s= + j2.37. 7. Angle of departure -90, +90. 8. Root locus is plotted. 9. Stability for 0< K<82.26 system is stable. K=82.26 system is marginally stable. K>82.26 system is unstable

OUTPUT num = 0 0 0 0 1 den = 1.0000 6.0000 20.2500 33.7500 Transfer function: 1 --------------------------------s^4 + 6 s^3 + 20.25 s^2 + 33.75 s GRAPH(from Simulation)

VIVA QUESTIONS 1. Define root locus technique. 2. What are the conditions of stability in root locus criteria. 3. What is the advantage of root locus technique. 4. Which method of stability analysis is more advantageous? 5. How the stability of unstable is improved? 6. What are the methods to improve the stability. 7. What is the use of compensators. 8. What do you mean by Root-Loci? 9. What is complementary Root Loci? 10. What are contours? 11. State the basic properties of Root Locus. 12. How would you find the number of branches of Root Loci? 13. How are the break away points of the root locus determined? 14. How is the point of intersection of the asymptotes with real axis found out.

REFERENCE 1. 2. 3. 4. NAGRATH & GOPAL, Control Systems. MATLAB User Manual . Control Systems by Nagoor gani Control system Engineering by S .P .Eugene Xavier and J.Joseph Cyril babu. 5. Control system Engineering by R.Ananda Natarajan and P.Ramesh babu.

RESULT: Thus the Root Locus plot is drawn for the given transfer function using matlab and verified manually.

Expt. No:9 c) STABILITY ANALYSIS OF LINEAR SYSTEMS (Nyquist Plot) AIM To obtain the Nyquist plot for the given system whose transfer function is given as G(S)= 50 (s+4)(s2+3s+3) and to find out whether the system is stable or not. APPARATUS REQUIRED Mat lab Software THEORY POLAR PLOTS OR NYQUIST PLOTS: The sinusoidal transfer function G(j ) is a complex function is given by G(j

) = Re[ G(j )] + j Im[G(j )] G(j ) = G(j )

or
G(j

= M

-----------(1)

From equation (1), it is seen that G(j ) may be represented as a phasor of magnitude M and phase angle . As the input frequency varies from 0 to , the magnitude M and phase angle changes and hence the tip of the phasor G(j ) traces a locus in the complex plane. The locus thus obtained is known as POLAR PLOT. Consider a simple RC filter having the transfer function Eo(s) 1 / Cs = G(s) = Ei(s) R + 1 / Cs Where T = RC , Therefore the sinusoidal transfer function is 1 1 G(j ) = = tan-1 1+ j =M = 0, M = 1 and T

1 +

When But as When As

= 0. increases. is -90. = - 45.

increases , M decreases and = 1/T , M = 1/2 and

increases towards , M becomes 0 and

The major advantage of the polar plot lies in stability study of systems. Nyquist related the stability of a system to the form of these plots. Polar plots are referred as NYQUIST PLOTS. NYQUIST stability criterion of determining the stability of a closed loop system by investigating the properties of the frequency domain plot of the loop transfer function G(s) H(s). Nyquist stability criterion provides the information on the absolute stability of a control system as similar to Routh- Hurwitz criterion. Not only giving the absolute stability, but indicates Degree of Stability i.e Relative Stability of a stable system and the degree of instability of an unstable system and indicates how the system stability can be improved. The Nyquist stability citerion is based on a Cauchys Residue Theorem of complex variables which is referred to as the principle of argument. Let Q(s) be a single valued function that has a finite number of poles in the splane. Suppose that an arbitrary closed path q is chosen in the s-plane so that the path does not go through any one of the poles or zeros of Q(s); the corresponding q locus mapped in the Q(s) plane will encircle the origin as many times as the difference between the number of the zeros and the number of poles of Q(s) that are encircled by the s-plane locus q. The principle of argument is given by N= Z - P Where N number of encirclemnts of the origin made by the Q(s) plane locus q. Z number of zeros of Q(s) encircled by the s-plane locus q in the s-plane. P - number of poles of Q(s) encircled by the s-plane locus q in the s-plane. ALGORITHM 1. Write a Program to (or using SIMULINK) obtain the Nyquist plot for the given system. 2. Access the stability of given system using the plots obtained. PROGRAM %NYQUIST PLOT %Enter the numerator and denominator of the transfer function num=[0 0 0 50] den=[1 7 12 12] sys=tf(num,den) %Specify the frequency range and enter the command nyquist(sys) v=[-3 5 -7 7] axis(v) xlabel('Real Axis'); ylabel('Imaginary Axis'); title('Nyquist Plot of the sytem 50/(s+4)(s^2+3s+3)') %To determine the Gain Margin,Phase Margin, Gain crossover frequency and

%phase cross over frequency [Gm,Pm,Wcp,Wcg]=margin(sys) OUTPUT v= -3 5 -7 7 Gm = 1.4402 Pm = 11.1642 Wcp = 3.4643 Wcg = 2.9533 MANUAL CALCULATIONS:

NYQUIST PLOT

VIVA QUESTIONS 1. What is polar plot? 2. What is Nyquist plot? 3. Define the conditions of stability in polar plot. 4. What is the use and advantage of polar plot. REFERENCE 1. NAGRATH & GOPAL, Control Systems. 2. MATLAB User Manual . 3. Control Systems by Nagoor gani RESULT: Thus the Nyquist plot is drawn for the given transfer function using matlab and verified manually

Expt. No: 10 AIM:

CLOSED LOOP CONTROL SYSTEMS.

To study the characteristics of a dc position control system. APPARATUS REQUIRED: i) ii) THEORY: A pair of potentiometers acts as error-measuring device. They convert the input and output positions into proportional electric signals. The desired position is set on the input potentiometer and the actual position is fed to feedback potentiometer. The difference between the two angular positions generates an error signal, which is amplified and fed to armature circuit of the DC motor. If an error exists , the motor develops a torque to rotate the output in such a way as to reduce the error to zero. The rotation of the motor steps when the error signal is zero, i.e., when the desired position is reached. DC position control kit and Motor unit Multimeter

PROCEDURE: 1. The input or ref potentiometer is adjusted nearer to zero initially. 2. The command switch is kept in continuous mode and some value of forward gain Ka is selected. 3. For various positions of input potentiometer (r) the positions of the response potentiometer (0) is noted. Simultaneously the reference voltage measured between Vr & E and the output voltage measured between VO & E are noted. 4. A graph is plotted with 0 along y-axis and r along x-axis. TABULAR COLUMN

S.`No

r degree

Vr in Volts

VO in Volts

degree

MODEL GRAPH:

Output Position (Deg)

Input Position (Deg)

VIVA QUESTIONS: 1. 2. 3. 4. 5. 6. 7. What is the difference between regulator & servomechanism? What are the basic components of control system? What are the Open loop and closed loop control systems? Give the advantages of closed loop control systems. What is tacho generator? What do you mean by feedback and what are the types of feedback? In this experiment what type of feedback is used? Why?

RESULT

Thus the dc position control system characteristics are studied and corresponding graphs are drawn.

Expt:No:11 AIM:

STUDY OF SYNCHROS

A. To study the characteristics of synchros as an error detector. B. To study the synchro transmitter and receiver pair. APPARATUS REQUIRED: Synchro transmitter and receiver kit. THEORY A Synchro is an electro magnetic transducer that is used to convert an angular step position into an electrical signal. The basic element of a synchro is a synchro transmitter whose construction is very similar to that of a 3 phase Alternator. The stator which is of concentric coil type in which three identical coil are placed in the stator with their axis 120 apart and is delta connected. The rotor is of dumb bell shaped construction and is wound with a concentric coil AC voltage is applied to the rotor winding. The constructional feature and schematic diagram of an synchro transmitter and receiver shown. Let an AC voltage Vc(t) = Vr Sin t to be applied to the rotor of the synchro transmitter as shown in fig. The applied voltage causes a flow of a magnetizing current in the rotor coil which produces a sinusoidal time varying flux direction along its axis and distributed nearly sinusoidal in the air gap along the stator periphery. Because of transformer action, voltage are induced in each of stator coil. As the air gap flux is sinusoidally distributed the flux linking any stator coil is proportional to the cosine of the angle between the rotor and stator coil axis and so is the voltage induced in the stator coil. Thus we see that synchro transmitter act like a single phase transformer in which the rotor coil is primary and stator coil forms the secondary. Let Vs1, Vs2 & Vs3 be the voltage induced to the stator coils S1,S2,S3 with respect to the neutral. Then for the position of the synchro transmitter shown where the

rotor axis makes an angle with the axis of the stator coil S2. Vs1 = K Vr Sin t Cos ( + 120 ) ---------------------------- (1) Vs2 = K Vr Sin t Cos ( ) ----------------------------------(2) Vs3 =K Vr Sin t Cos ( + 240 ) ----------------------------(3) The three terminal voltage of stator are Vs1 - Vs2 =3 KVr ( + 240 ) Sin t -----------------------(4) Vs2 - Vs3 = 3 KVr ( + 120 ) Sin t ----------------------(5) Vs1 - Vs3 =3 KVr ( + 120 ) Sin t -----------------------(6) When = 0 from (1) and (2), It is seen that the most voltage is induced in the stator coil so , while it follows from the equation (5) from that the terminal voltage Vs3 is zero . This position of the rotor is defined as electrical zero of the transmitter. The angular position of the rotor and the output is a set of 3 phase voltage given by equations (4) and (6) . The magnitude of these voltages are function of the a shaft position. The output of the synchro transmitter is applied to the stator winding of a synchro control technique. The control transformer is made cylindrical in shape so that the air gap is practically known. The system act as an error detector circulating current of the same phase but of difficult magnitude slow, through the two sets of statements. The results in the establishment of an identical flux partial in the gap at the control transformer as the voltage drop in resistance and leakage reactance of the two set of stator coils are usually small. The voltage induced in the control transformer rotor is proportional to the cosine of the angle between the two rotors . CONSTRUCTIONAL FEATURES, SCHEMATIC CIRCUIT OF A SYNCHRO TRANSMITTER

PROCEDURE: Tabulation 1: 1. Give connections as given in the circuit diagram. 2. Vary the input position by adjusting the synchro transmittr rotor and note down the output position. 3. Also note down the input and output voltage using Multimeter. 4. Plot the variation in output position with respect to the input position. Tabulation 2: 1. Give excitation to the rotor winding. 2. Measure the output voltage across S1-S2, S2-S3 and S3- S1 of stator winding for different rotor positions. 3. Plot the voltage Vs. angle characteristics.

SERVOLOOP USING SYNCHRO ERROR DETECTOR

Tabular column I

I/P O/P position position PI PO

I/P Voltage VI

O/P Voltage VO

Error (%) (PI - PO) X 100 / PO

(VI - VO) X100 / VO

Tabular Column II S.No Iuput angle() Vs1s2 (volts) Vs2 s3 (volts) Vs3 s1 (volts)

MODEL GRAPH :

Output Position
(Deg)

Input position (Deg)

VIVA QUESTIONS: 1. What is synchro pair? 2. What are the applications of Synchros? 3. What are the difference between synchro transmitter and control transformer? 4. What are the trade names of Synchros? 5. What is potentiometer? 6. Define synchro. 7. Define Electrical zero and null position in synchro. 8. What is synchro control transformer. REFERENCE: 1. Nagarath & Gopal - Control system 2. Lab Manual Synchros. RESULT: Thus the synchro transmitter and synchro receiver characteristics are studied and graphs are drawn.