EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RAJALAKSHMI ENGINEERING COLLEGE THANDALAM, CHENNAI 602 105

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

LABORATORY MANUAL
CLASS SEMESTER S!"JECT CODE S!"JECT : II YEAR EEE - A : IV (DEC 2010 MAY 2011 : EE225# : CONTROL SYSTEMS LA"ORATORY
A%%&'()*+ P,&-+%%&, EEE D+.),*/+0*

STAFF IN-CHARGE : P$S$MAY!RAPPRIYAN

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RAJALAKSHMI ENGINEERING COLLEGE THANDALAM, CHENNAI 602 105

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

EE225# CONTROL SYSTEMS LA"ORATORY MAN!AL

NAME CLASS SEMESTER ROLL N!M"ER

: : : :

REGISTER N!M"ER :

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

INDE1
S$ N&$ D)*+ T(*2+ &- E3.+,(/+0* P)4+ N&$ M),5% S(40)*6,+

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

SYLLA"!S EE225# CONTROL SYSTEM LA"ORATORY

1. Determination of transfer function of DC Servomotor 2. Determination of transfer function of AC Servomotor. 3. Analog simulation of Type - 0 and Type 1 systems . Determination of transfer function of DC !enerator ". Determination of transfer function of DC #otor $. Sta%ility analysis of linear systems &. DC and AC position control systems '. Stepper motor control system (. Digital simulation of first order systems 10.Digital simulation of second order systems ) * " Total * " DETAILED SYLLA"!S 1$ D+*+,/(0)*(&0 &- T,)0%-+, F60'*(&0 P),)/+*+,% &- ) DC S+,8& M&*&,
A(/ To derive t+e transfer function of t+e given D.C Servomotor and e,perimentally determine t+e transfer function parameters E3+,'(%+ 1. Derive t+e transfer function from %asic principles for a separately e,cited DC motor. 2. Determine t+e armature and field parameters %y conducting suita%le e,periments. 3. Determine t+e mec+anical parameter %y conducting suita%le e,periments. . )lot t+e fre-uency response. E96(./+0* 1. DC servo motor 2. Tac+ometer 3. #ultimeter . Stop 0atc+ 2$ . field separately e,cited loading facility varia%le voltage source - 1 /o . 1 /o . 2 /os . 1 /o

0 0 7 2

D+*+,/(0)*(&0 &- T,)0%-+, F60'*(&0 P),)/+*+,% &- AC S+,8& M&*&,

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

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

E3+,'(%+ 1. Derive t+e transfer function of t+e AC Servo #otor from %asic )rinciples. 2. 1%tain t+e D.C gain %y operating at rated speed. 3. Determine t+e time constant 2mec+anical3 . )lot t+e fre-uency response E96(./+0* 1. AC Servo #otor . #inimum of 1000 necessary sources for main 0inding and control 0inding 1 /o 2. Tac+ometer . 1 /o 3. Stop0atc+ . 1 /o . 4oltmeter . 1 /o

7$

A0)2&4 S(/62)*(&0 &- T:.+-0 A0; T:.+-1 S:%*+/

A(/ To simulate t+e time response c+aracteristics of 5 order and 55 order6 type 0 and type-1 systems. E3+,'(%+ 1. 1%tain t+e time response c+aracteristics of type 0 and type-16 5 order and 55 order systems mat+ematically. 2. Simulate practically t+e time response c+aracteristics using analog rigged up modules. 3. 5dentify t+e real time system 0it+ similar c+aracteristics. E96(./+0* 1. 7igged up models of type-0 and type-1 system using analog components. 2. 4aria%le fre-uency s-uare 0ave generator and a normal C71 - 1 /o 2or3 DC source and storage 1scilloscope - 1 /o

<$

D+*+,/(0)*(&0 &- T,)0%-+, -60'*(&0 &- DC G+0+,)*&,

A(/ To determine t+e transfer function of DC generator E3+,'(%+ 1. 1%tain t+e transfer function of DC generator %y calculating and gain E96(./+0* 1. DC !enerator 2. Tac+ometer 3. 4arious meters . Stop 0atc+

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

5$

D+*+,/(0)*(&0 &- T,)0%-+, -60'*(&0 &- DC M&*&,

A(/ To determine t+e transfer function of DC motor E3+,'(%+ 1. 1%tain t+e transfer function of DC motor %y calculating and gain E96(./+0* 1. DC #otor 2. Tac+ometer 3. 4arious meters . Stop 0atc+

6$

S*)=(2(*: A0)2:%(% &- L(0+), S:%*+/%

A(/ To analyse t+e sta%ility of linear systems using 8ode 9 7oot locus 9 /y-uist plot E3+,'(%+ 1. :rite a program to o%tain t+e 8ode plot 9 7oot locus 9 /y-uist plot for t+e given system 2. Access t+e sta%ility of t+e given system using t+e plots o%tained 3. Compare t+e usage of various plots in assessing sta%ility E96(./+0* 1. System 0it+ #AT;A8 9 #AT<CAD 9 e-uivalent soft0are - 3 user license

#$

DC )0; AC .&%(*(&0 C&0*,&2 S:%*+/%

A(/ To study t+e AC and DC position control system and dra0 t+e error c+aracteristics %et0een set point and error. E3+,'(%+ 1. To study various position control systems and calculate t+e error %et0een set point and output position 2. To measure outputs at various points 2%et0een stages3 E96(./+0* 1. AC and DC position control =it 0it+ DC servo motor. 2. )o0er transistor 3. Adder

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

>$

S*+..+, M&*&, C&0*,&2 S:%*+/

A(/ To study t+e 0or=ing of stepper motor E3+,'(%+ 1. To verify t+e 0or=ing of t+e stepper motor rotation using microprocessor. E96(./+0* 1. Stepping motor 2. #icroprocessor =it 3. 5nterfacing card . )o0er supply

?$

D(4(*)2 S(/62)*(&0 &- F(,%* O,;+, S:%*+/

A(/ To digitally simulate t+e time response c+aracteristics of first -order system E3+,'(%+ 1. :rite a program or %uild t+e %loc= diagram model using t+e given soft0are. 2. 1%tain t+e impulse6 step and sinusoidal response c+aracteristics. 3. 5dentify real time systems 0it+ similar c+aracteristics. E96(./+0* 1. System 0it+ #AT;A8 9 #AT<CAD 2or3 e-uivalent soft0are - minimum 3 user license.

10$

D(4(*)2 S(/62)*(&0 &- S+'&0; O,;+, S:%*+/%

A(/ To digitally simulate t+e time response c+aracteristics of second -order system E3+,'(%+ 1. :rite a program or %uild t+e %loc= diagram model using t+e given soft0are. 2. 1%tain t+e impulse6 step and sinusoidal response c+aracteristics. 3. 5dentify real time systems 0it+ similar c+aracteristics. E96(./+0* System 0it+ #AT;A8 9 #AT<CAD 2or3 e-uivalent soft0are - minimum 3 user license.

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

LIST OF E1PERIMENTS
FIRST CYCLE: 1. Determination of transfer function of armature controlled DC servomotor. 2. Determination of transfer function of field controlled DC servomotor. 3. Determination of transfer function of AC servomotor. . Determination of transfer function of separately e,cited DC generator. ". Determination of transfer function of DC motor. $. DC position control system. SECOND CYCLE: &. Analog simulation of Type-0 and Type-1 systems. '. Digital simulation of first order systems. (. Digital simulation of second order systems 10. Sta%ility analysis of linear systems. 11. Stepper motor control system. 12. AC position control system.

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+: DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of armature controlled DC servo motor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". $. &. D+%',(.*(&0 DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R)04+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T:.+ A6)0*(*: 1 1 1 1 1 1 1 1 As re-uired

#C #5 #C #5

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM FORM!LAE !SED: Transfer function of t+e armature controlled DC servomotor is given as

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

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 1$ T& ;+*+,/(0+ *B+ /&*&, *&,96+ '&0%*)0* K* )0; ")'5 +/- '&0%*)0* K=: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t and 8ac= emf constant ?% using t+e a%ove values. N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+,V) (V A,/)*6,+ C6,,+0*,I) (A S.++;,N (,./

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TORA!E CONSTANT K* AND "ACK EMF CONSTANT K=

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ ),/)*6,+ ,+%(%*)0'+ R): C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+, V)1 (V A,/)*6,+ C6,,+0*, I)1 (A A,/)*6,+ ,+%(%*)0'+, R ) (

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE RESISTANCE R)

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 7$ T& -(0; ),/)*6,+ (0;6'*)0'+, L) C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature inductance ;a.using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: S$ N&$ A,/)*6,+ V&2*)4+, V)2 (V A,/)*6,+ C6,,+0*, I)2 (/A A,/)*6,+ (/.+;)0'+ C ) (

CALC!LATIONS:

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE IND!CTANCE, L)

Department of EEE, Rajalakshmi Engineering College, Chennai

1$

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: <$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; -,('*(&0)2 '&-+--('(+0* ": C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values

O"SERVATIONS: S$ N&$ A,/)*6,+ V&2*)4+, V) (V A,/)*6,+ C6,,+0*, I) (A F(+2; C6,,+0*, I(A S.++;, N (,./
*1 (%+'% *2 (%+'%

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *1 N& 2&);

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *2 2&);

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM CALC!LATIONS:

RES!LT: T+e transfer function of armature controlled DC servomotor is determined as

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+:

DETERMINATION OF TRANSFER F!NCTION PARAMETERS OF FIELD CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of field controlled DC servo motor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". $. &. D+%',(.*(&0 DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R)04+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T:.+ A6)0*(*: 1 1 1 1 1 1 1 1 As re-uired

#C #5 #C #5

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

FORM!LAE !SED: Department of EEE, Rajalakshmi Engineering College, Chennai 22

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Transfer function of field controlled DC servo motor is given as6 2s3 9 4f 2s3 * ?m 9 s 21FsTf3 21FsTm3 0+ere #otor gain constant ?m * ?tf 9 7f 8 #otor tor-ue constant ?tf in /-m 9 A * T 9 5f Tor-ue T in /-m * (."" A% 5a 9 / 8ac= A#N A% in volts * 4a 5a 7a 4a * A,citation voltage in volts Armature resistance67a in * 4a1 9 5a1 Nield resistance67f in * 4f1 9 5f1 Nield time constant Tf * ;f 9 7f Nield 5nductance6;f in <* J;f 9 2f J;f in * 2Kf2 7f23 Kf in * 4f2 9 5f2 #ec+anical time constant Tm * L 9 8 #oment of inertia L in ?g m2 9 rad * : , 2$0 9 232 , dt9d/ / Stray loss6 : in 0atts * :M , E t2 9 2t1-t23 H )o0er a%sor%ed6 :M in :atts * 4a 5a t2 is time ta=en on load in secs t1 is time ta=en on no load in secs dt is c+ange in time on no load in secs d/ is c+ange in speed on no load is rpm / is rated speed in rpm Nrictional co-efficient6 8 in /-m 9 2rad 9 sec 3 * :MM 9 22/ 9 $0 32 :MM * 30 O of Constant loss Constant loss * /o load i9p Copper loss /o load 59) * 4 2 5a F 5f 3 Copper loss * 5a2 7a / is rated speed in rpm

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 1$ T& ;+*+,/(0+ *B+ /&*&, *&,96+ '&0%*)0* K*- : C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e field control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t f using t+e a%ove values. N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+,V) (V A,/)*6,+ C6,,+0*,I) (A S.++;,N (,./

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TORA!E CONSTANT K*-

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ ),/)*6,+ ,+%(%*)0'+ R): C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+, V)1 (V A,/)*6,+ C6,,+0*, I)1 (A A,/)*6,+ R+%(%*)0'+, R ) (

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE RESISTANCE R)

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 7$ T& ;+*+,/(0+ -(+2; ,+%(%*)0'+ R-: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e field of t+e servomotor. /ote t+e values of t+e field current 5f6 field voltage 4f. Nind t+e value of field resistance 7f using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: F(+2; V&2*)4+, V)1 (V F(+2; C6,,+0*, I)1 (A F(+2; R+%(%*)0'+, R - (

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD RESISTANCE RF

Department of EEE, Rajalakshmi Engineering College, Chennai

2(

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: <$ T& ;+*+,/(0+ F(+2; I0;6'*)0'+, L C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e field current 5f26 field voltage4f2. Nind t+e value of field inductance ;f.using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: S$ N&$ F(+2; V&2*)4+, V-2 (V F(+2; C6,,+0*, I-2 (/A F(+2; I/.+;)0'+ C - (

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD IND!CTANCE, LF

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 5$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; -,('*(&0)2 '&-+--('(+0* ": C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values

O"SERVATIONS: S$ N& A,/)*6,+ V&2*)4+, V) (V A,/)*6,+ C6,,+0*, I) (A F(+2; C6,,+0*, I(A S.++;, N (,./
*1 (%+'% *2 (%+'%

CALC!LATIONS:

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32

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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33

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *1 N& 2&);

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *2 2&);

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM CALC!LATIONS:

RES!LT: T+e transfer function of field controlled DC servomotor is determined as

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+: DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR AIM: To derive t+e transfer function of t+e given AC Servomotor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". D+%',(.*(&0 AC servo motor trainer =it AC servo motor Ammeter 4oltmeter )atc+ cords R)04+ 20-13 A 20-1003 mA 203003 4 20&"3 4 T:.+ #C #5 #C #5 A6)0*(*: 1 1 1 1 1 1 As re-uired

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

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

GENERAL SCHEMATIC OF AC SERVOMOTOR:

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

PROCED!RE: 1$ 1. 2. 3. . ". DETERMINATION OF FRICTIONAL CO-EFFICIENT, F C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. S0itc+ 1/ t+e #C8 4ary t+e control pot to apply rated supply voltage /ote t+e control 0inding current6 reference 0inding current6 supply voltage and speed. $. Nind t+e frictional co-efficient using t+e a%ove values O"SERVATIONS: S6..2: V&2*)4+ V (V C&0*,&2 E(0;(04 C6,,+0* I' (A R+-+,+0'+ D(0;(04 C6,,+0* I, (A S.++; N (,./

S$ N&$

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FRICTIONAL CO-EFFICIENT F:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ *B+ /&*&, 4)(0 '&0%*)0* K/
DETERMINATION OF FO FROM TORA!E - SPEED CHARACTERISTICS:

1. 2. 3. . ". $.

C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. Set t+e control pot in minimum position. C+ec= 0+et+er t+e motor is in no load condition S0itc+ 1/ t+e #C8 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. Apply load in steps. Nor eac+ load applied note do0n t+e speed and spring %alance readings. 2 Ta=e 3 or sets of readings3 '. 7educe t+e load fully and allo0 t+e motor to run at rated speed. (. 7epeat steps & and ' for &" O control 0inding voltage. 10. Dra0 t+e grap+ %et0een speed and tor-ue6 t+e slope of t+e grap+ gives N1. O"SERVATIONS: C&0*,&2 8&2*)4+ V'1 F S.,(04 ")2)0'+ S.++; T&,96+ 8)26+% N T S1 S2 (N/ (,./ (54 (54 C&0*,&2 8&2*)4+ V'2 F S.,(04 ")2)0'+ T&,96+ S.++; 8)26+% T N S1 S2 (,./ (N/ (54 (54

S$ N&

MODEL GRAPH: TORA!E - SPEED CHARACTERISTICS

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

DETERMINATION OF K FROM TORA!E - CONTROL VOLTAGE CHARACTERISTICS: 1. C+ec= 0+et+er t+e #C8 is in 1NN position. 2. )atc+ t+e circuit using t+e patc+ing diagram. 3. Set t+e control pot in minimum position. . C+ec= 0+et+er t+e motor is in no load condition ". S0itc+ 1/ t+e #C8 $. 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. ;oad t+e motor graduallyP t+e speed of t+e motor 0ill decrease. 4ary t+e control pot and increase t+e control 0inding voltage till t+e speed o%tained at no load is reac+ed. /ote do0n control voltage and spring %alance readings. '. 7epeat step & for various speeds and ta%ulate. 2for 1000 rpm3 (. )lot t+e grap+ %et0een tor-ue and control 0inding voltage. T+e slope of t+e grap+ gives t+e value of ?. O"SERVATIONS: C&0*,&2 V&2*)4+ V' (V S.++; N1 F S.,(04 ")2)0'+ 8)26+% S1 S2 (54 54 T&,96+ T N/ S.++; ,./ S.++; N2 F S.,(04 ")2)0'+ 8)26+% S1 S2 K4 K4 C&0*,&2 V&2*)4+ V' V

S$ N&

MODEL GRAPH: TORA!E - CONTROL VOLTAGE CHARACTERISTICS

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOTOR GAIN CONSTANT KM:

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM CALC!LATIONS:

RES!LT: T+e transfer function of AC servomotor is determined as

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: DETERMINATION OF TRANSFER F!NCTION OF SEPARATELY E1CITED DC GENERATOR AIM: To o%tain t+e transfer function of separately e,cited DC generator on no load and loaded condition. APPARATUS / INSTRUMENTS REQUIRED: S$ N& D+%',(.*(&0 R)04+ T:.+ A6)0*(*: D)*+:

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Ta=ing ;aplace transform of e-uation 223 0e get Ag 2s3 * 7a 5a2s3 F s;a 5a2s3 F 7; 5a2s3 Ag 2s3 * 5a2s3 E7a F s;a F 7;H Ta=ing ;aplace transform of e-uations 233 and 2 3 0e get 4;2s3 * 7; 5a2 s3 T+erefore6 5a2 s3 * 4;2s3 9 7; Ag2s3 * ?g 5f2s3 Su%stituting. e-uations 2&3 and 2'3 in e-uation 2$3 0e get ?g 5f2s3 * E7a F s;a F 7;H E4;2s3 9 7;H Su%stituting t+e value of 5f 2s3 in t+e a%ove e-uation 0e get ?g Af 2s3 9 E7f F s;fH * E7a F s;a F 7;H E 4;2s3 9 7;H <ence transfer function6 4;2s3 9 Af 2s3 * ?g 7; 9 WE7f F s;fH E7a F s;a F 7;HX Nor unloaded condition6 5a * 0 T+erefore transfer function 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH Nor loaded condition ;f * Y 2Kf2 7f23 9 2If ;a * Y 2Ka2 7a23 9 2If Transfer function 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere Gf * ;f 9 7f and Ga * ;a 9 27a F 7;3 FORM!LAE !SED: Transfer function of DC generator6 O0 0& 2&); '&0;(*(&0. 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH 0+ere ?g is gain constant 7f is field resistance in 1+ms ;f is field inductance in <enry O0 2&);+; '&0;(*(&0: 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere ?g is gain constant Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry Armature time constant Ga * ;a 9 27a F 7;3 7a is armature resistance in 1+ms ;a is armature inductance in <enry Department of EEE, Rajalakshmi Engineering College, Chennai

U 2$3

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

U2103 U 2113

U 2123

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

PROCED!RE: 1$ T& ;+*+,/(0+ *B+ 4)(0 '&0%*)0* K4 : N& 2&); &, &.+0 '(,'6(* 'B),)'*+,(%*('%: 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in /(0(/6/ ,+%(%*)0'+ position and t+e generator field r+eostat s+ould %e in /)3(/6/ ,+%(%*)0'+ .&%(*(&0 &, /(0(/6/ .&*+0*()2 .&%(*(&0 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+. ". Zsing t+e 3- point starter t+e DC motor is started and it is %roug+t to rated speed %y adQusting t+e motor field r+eostat. $. ?eeping t+e D)ST s0itc+ on t+e load side open6 t+e generated voltage A g and field current If of generator is noted do0n %y varying t+e generator field r+eostat. &. T+e a%ove step is repeated till 12" O of rated voltage is reac+ed. '. A grap+ is plotted %et0een Ag and 5f ta=ing 5f along ,- a,is. A tangent to t+e linear portion of t+e curve is dra0n from t+e origin and slope of t+is line gives ?g. O"SERVATIONS: S$ N&$ F(+2; '6,,+0*, I(A I0;6'+; V&2*)4+, E4 (V

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

MODEL GRAPH:

CIRC!IT DIAGRAM: T& ;+*+,/(0+ 4)(0 '&0%*)0*, K4:

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

L&); 'B),)'*+,(%*('%: 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in /(0(/6/ ,+%(%*)0'+ position and t+e generator field r+eostat s+ould %e in /)3(/6/ ,+%(%*)0'+ .&%(*(&0 &, /(0(/6/ .&*+0*()2 .&%(*(&0 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+ ". T+e generator is %roug+t to its rated voltage %y varying t+e generator field r+eostat. $. T+e D)ST s0itc+ on t+e load side is closed6 and t+e load is varied for convenient steps of load current up to 120 O of its rated capacity and t+e voltmeter 4 ; and ammeter 5a readings are o%served. 1n eac+ loading t+e speed s+ould %e maintained at rated speed. &. A grap+ is plotted %et0een 4; and 5; ta=ing 5; on ,- a,is. T+e slope of t+e grap+ gives ?g. O"SERVATIONS: S$ N&$ T+,/(0)2 V&2*)4+, VL (V L&); C6,,+0*, IL (A

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

MODEL GRAPH:

PROCEDURE: 2$ T& ;+*+,/(0+ -(+2; I0;6'*)0'+ L- . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRC!IT DIAGRAM:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

O"SERVATIONS: S$ N& F(+2; V&2*)4+, V (V F(+2; C6,,+0*, I (A F(+2; I/.+;+0'+, C(OB/%

CALCULATIONS:

PROCED!RE: 7$ D+*+,/(0)*(&0 &- ),/)*6,+ (0;6'*)0'+ L) . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Armature impedance Ka is calculated as 495 and t+e average value of Ka is o%tained. . Armature resistance 7a is measured using multimeter. ". Armature inductance ;a can %e calculated using formula6 ;a * Y 2Ka2 7a23 9 2If CIRC!IT DIAGRAM. Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

O"SERVATIONS: S$ N& A,/)*6,+ V&2*)4+, V (V A,/)*6,+ C6,,+0*, I (A A,/)*6,+ I/.+;+0'+, C) (OB/%

CALCULATIONS:

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RES!LT: T+e transfer function of separately e,cited DC generator is determined as

E3.*$ N&:

D)*+: DETERMINATION OF TRANSFER F!NCTION OF DC MOTOR

AIM: To o%tain t+e transfer function of field controlled DC motor. APPARATUS / INSTRUMENTS REQUIRED: S$ N& D+%',(.*(&0 R)04+ T:.+ A6)0*(*:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

THEORY:

FIELD CONTROLLED MOTOR:

FORM!LAE !SED:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Transfer function of field controlled DC motor6 2s3 9 4f 2s3 * ?m 9 Es 21FsGf3 21 F sGm3H 0+ere #otor gain constant6 ?m * ?tf 9 287f3 ?tf is motor tor-ue constant Tor-ue6 T is (.'1 J 7 2S1 S23 7 is radius of t+e %ra=e drum in m 7 * circumference of t+e %ra=e drum9 22 [3 8 is viscous co-efficient of friction 7f is field resistance in 1+ms Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry ;f * Y 2Kf2 7f23 9 2If Kf is field impedence in 1+ms 7f is field resistance in 1+ms #ec+anical time constant Gm * L98 #oment of inertia L * )av 9 E2[22/12 /22 32219t13-219t233H Average po0er delivered to t+e load6 )av* 24151 F 512 7a F 4252 F 522 7a3 9 2 7a is armature resistance in 1+ms ;a is armature inductance in <enry t2 is time ta=en on load in secs t1 is time ta=en on no load in secs 4iscous Co-efficient of friction6 8 * )stray 9 2/1 F /232 Stray loss6 )stray * E2[22/12 /22 3H L 9 t1 PROCED!RE: 1$ T& ;+*+,/(0+ /&*&, *&,96+ '&0%*)0*, K*- : 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e armature current 5a of t+e motor is set to some value %y adQusting t+e armature circuit resistance. T+is value of 5a is maintained constant t+roug+out t+e e,periment. 3. T+e field current 5f is varied in steps %y adQusting t+e field r+eostat and for eac+ value of 5f t+e %ra=e drum is adQusted suc+ t+at it Qust fails to rotate. T+e corresponding readings of ammeter and spring %alances are noted. . T+e value of tor-ue for eac+ value of 5f is calculated ". A grap+ is plotted %et0een tor-ue T and field current 5N ta=ing 5N along ,-a,is. T+e slope of t+e grap+ gives t+e value of ?tf O"SERVATIONS: Department of EEE, Rajalakshmi Engineering College, Chennai

"$

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

S$ N&$

A,/)*6,+ '6,,+0* I) (A

F(+2; '6,,+0* I(A

S.,(04 =)2)0'+ ,+);(04% S1 S2 (54 (54

T&,96+ T (N/

MODEL GRAPH:

CIRC!IT DIAGRAM:

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"&

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

CALC!LATIONS:

PROCED!RE 2$ T& ;+*+,/(0+ -(+2; I0;6'*)0'+ L- . 1. Connections are made as per t+e circuit diagram. Department of EEE, Rajalakshmi Engineering College, Chennai

"'

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRC!IT DIAGRAM:

O"SERVATIONS: S$ N&$ F(+2; V&2*)4+, V (V F(+2; C6,,+0*, I (A F(+2; I/.+;+0'+, C(G

CALCULATIONS:

PROCED!RE: 7$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; V(%'&6% -,('*(&0 C&-+--('(+0* ":

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e field current of t+e motor is set to some value %y adQusting t+e field resistance. 3. D)DT s0itc+ is t+ro0n to position 216113 and t+e motor is made to run at a speed / 1 21&00 rpm3 %y adQusting t+e armature r+eostat. . D)DT s0itc+ is opened from position 216113 and t+e stop 0atc+ is started simultaneously. T+e time ta=en t1 for t+e speed to drop from /121&00 rpm3 to /2 2 1300 rpm3 is noted. ". Again t+e D)DT s0itc+ is t+ro0n to position 2161 13 and t+e motor is made to run at a speed greater t+an /1 21&00 rpm3 %y adQusting t+e armature r+eostat. $. D)DT s0itc+ is t+ro0n to position 226213 and t+e stop 0atc+ is started 0+en t+e motor speed reac+es /1 21&00 rpm3. T+e time ta=en t 2 for t+e speed to drop from / 1 21&00 rpm3 to /22 1300 rpm3 is noted. Simultaneously t+e readings of t+e ammeter and voltmeter corresponding to /1 and /2 are noted. O"SERVATIONS: S$ N&$ N1 (,./ *1 (S+' V1 (V I1 (A N2 (,./ T2 (S+' V2 (V I2 (A

CALC!LATIONS:

CIRC!IT DIAGRAM:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

CALC!LATIONS:

CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RES!LT: T+e transfer function of field controlled DC motor is determined as

E3.*$ N&: DC POSITION CONTROL SYSTEM

D)*+:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM AIM: To study t+e c+aracteristics of a DC position control system. APPARAT!S @ INSTR!MENTS REA!IRED: i3 ii3 #ultimeter THEORY: A DC position control system is a closed loop control system in 0+ic+ t+e position of t+e mec+anical load is controlled 0it+ t+e position of t+e reference s+aft. A pair of potentiometers acts as error-measuring device. T+ey convert t+e input and output positions into proportional electric signals. T+e desired position is set on t+e input potentiometer and t+e actual position is fed to feed%ac= potentiometer. T+e difference %et0een t+e t0o angular positions generates an error signal6 0+ic+ is amplified and fed to armature circuit of t+e DC motor. T+e tac+ogenerator attac+ed to t+e motor s+aft produces a voltage proportional to t+e speed 0+ic+ is used for feed%ac=. 5f an error e,ists6 t+e motor develops a tor-ue to rotate t+e output in suc+ a 0ay as to reduce t+e error to Cero. T+e rotation of t+e motor stops 0+en t+e error signal is Cero6 i.e.6 0+en t+e desired position is reac+ed. PROCED!RE: 1. T+e input or reference potentiometer is adQusted nearer to Cero initially273. 2. T+e command s0itc+ is =ept in continuous mode and some value of for0ard gain ? A is selected. 3. Nor various positions of input potentiometer 273 t+e positions of t+e response potentiometer 203 is noted. Simultaneously t+e reference voltage 2473 measured %et0een t+e terminals 47 S A and t+e output voltage 2413 measured %et0een t+e terminals 41 S A are noted. . A grap+ is plotted 0it+ 0 along y-a,is and 7 along ,-a,is. DC position control =it and #otor unit

O"SERVATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM R+-+,+0'+ O6*.6* )0462), )0462), .&%(*(&0, .&%(*(&0, HO HR (;+4,++% (;+4,++% KA F KA F KA F KA F R+-+,+0'+ V&2*)4+, V, (V KA F KA F O6*.6* V&2*)4+VO (V KA F KA F

S$ N&

MODEL GRAPH:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

DC POSITION CONTROL SYSTEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&$ D)*+: ANALOG SIM!LATION OF TYPE 0 )0; TYPE 1 SYSTEMS AIM: To study t+e time response of first and second order type 0 and type- 1 systems. APPARAT!S @ INSTR!MENTS REA!IRED: 1. ;inear system simulator =it 2. C71 3. )atc+ cords FORM!LAE !SED: Damping ratio6 * 2ln #)32 9 22 F2ln #)323 :+ere #) is pea= percent overs+oot o%tained from t+e time response grap+ Zndamped natural fre-uency6 n * 9 Etp 21 - 23H 0+ere tp is t+e pea= time o%tained from t+e time response grap+ Closed loop transfer function of t+e type 0 second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?2 ?3 9 21FsT13 21 F sT23 0+ere ? is t+e gain ?2 is t+e gain of t+e time constant 1 %loc= *10 ?3 is t+e gain of t+e time constant 2 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms T2 is t+e time constant of time constant 2 %loc= * 1 ms Closed loop transfer function of t+e type 1-second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?1 ?2 9 s 21 F sT13 0+ere ? is t+e gain ?1 is t+e gain of 5ntegrator * (.$ ?2 is t+e gain of t+e time constant 1 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms THEORY: T+e type num%er of t+e system is o%tained from t+e num%er of poles located at origin in a given system. Type 0 system means t+ere is no pole at origin. Type 1 system means t+ere is one pole located at t+e origin. T+e order of t+e system is o%tained from t+e +ig+est po0er of s in t+e denominator of closed loop transfer function of t+e system. T+e first order system is Department of EEE, Rajalakshmi Engineering College, Chennai $&

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM c+aracteriCed %y one pole or a Cero. A,amples of first order systems are a pure integrator and a single time constant +aving transfer function of t+e form ?9s and ?92sTF13. T+e second order system is c+aracteriCed %y t0o poles and up to t0o Ceros. T+e standard form of a second order system is !2s3 * n2 9 2s2 F 2ns F n23 0+ere is damping ratio and n is undamped natural fre-uency. PROCED!RE: 1$ T& -(0; *B+ %*+);: %*)*+ +,,&, &- *:.+ 0 -(,%* &,;+, %:%*+/ 1. Connections are made in t+e simulator =it as s+o0n in t+e %loc= diagram. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e simulator =it is connected to t+e \- c+annel of C71. . T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. ". T+e gain ? is varied and different values of steady state errors are noted. "2&'5 ;()4,)/ &- T:.+-0 -(,%* &,;+, %:%*+/

O"SERVATIONS: S$ N&$ 1 2 3 G)(0, K S*+);: %*)*+ +,,&,, +%%

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM TRACES FROM CRO: F&, G)(0, K F

F&, G)(0, K F

F&, G)(0, KF

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE STEADY STATE ERROR OF TYPE 0 FIRST ORDER SYSTEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

2$ T& -(0; *B+ %*+);: %*)*+ +,,&, &- *:.+ 1 -(,%* &,;+, %:%*+/ 1. T+e %loc=s are Connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input triangular 0ave is set to 2 4pp in t+e C71 and t+is applied o t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e e,periment s+ould %e conducted at t+e lo0est fre-uency to allo0 enoug+ time for t+e step response to reac+ near steady state. ". T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. $. T+e gain ? is varied and different values of steady state errors are noted. &. T+e steady state error is also calculated t+eoretically and t+e t0o values are compared. "2&'5 ;()4,)/ &- T:.+- 1 F(,%* &,;+, %:%*+/

O"SERVATIONS: S$ N&$ 1 2 3 G)(0, K S*+);: %*)*+ +,,&,, +%%

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

TRACES FROM CRO: F&, G)(0, K F

F&, G)(0, K F

F&, G)(0, K F

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE STEADY STATE ERROR OF TYPE 1 FIRST ORDER SYSTEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 7$ T& -(0; *B+ '2&%+; 2&&. ,+%.&0%+ &- *:.+ 0 )0; *:.+- 1 %+'&0; &,;+, %:%*+/ 1. T+e %loc=s are connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e output 0aveform is o%tained in t+e C71 and it is traced on a grap+ s+eet. Nrom t+e 0aveform t+e pea= percent overs+oot6 settling time6rise time6 pea= time are measured. Zsing t+ese values n and are calculated. ". T+e a%ove procedure is repeated for different values of gain ? and t+e values are compared 0it+ t+e t+eoretical values. "2&'5 ;()4,)/ *& &=*)(0 '2&%+; 2&&. ,+%.&0%+ &- T:.+-0 %+'&0; &,;+, %:%*+/

O"SERVATIONS: P+)5 .+,'+0* O8+,%B&&* IMP 1 2 R(%+ *(/+ *, (%+' P+)5 T(/+ *. (%+' S+**2(04 *(/+ *% (%+' !0;)/.+; N)*6,)2 -,+96+0': 0 (,);@%+'

S$ N&$

G)(0 K

D)/.(04 ,)*(&

TRACES FROM CRO: F&, G)(0, K F F&, G)(0, K F

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM "2&'5 ;()4,)/ *& &=*)(0 '2&%+; 2&&. ,+%.&0%+ &- T:.+-1 %+'&0; &,;+, %:%*+/

O"SERVATIONS: P+)5 .+,'+0* O8+,%B&&* IMP 1 2 R(%+ *(/+ *, (%+' P+)5 T(/+ *. (%+' S+**2(04 *(/+ *% (%+' !0;)/.+; N)*6,)2 -,+96+0': 0 (,);@%+'

S$ N&$

G)(0 K

D)/.(04 ,)*(&

TRACES FROM CRO: F&, G)(0, K F F&, G)(0, K F

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE CLOSED LOOP RESPONSE OF TYPE 0 SECOND ORDER SYSTEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE CLOSED LOOP RESPONSE OF TYPE 1 SECOND ORDER SYSTEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM CALC!LATIONS:

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

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&$ AIM: To digitally simulate t+e time response c+aracteristics of a linear system 0it+out non- linearities and to verify it manually. APPARAT!S REA!IRED: A )C 0it+ #AT;A8 pac=age THEORY: T+e time response c+aracteristics of control systems are specified in terms of time domain specifications. Systems 0it+ energy storage elements cannot respond instantaneously and 0ill e,+i%it transient responses6 0+enever t+ey are su%Qected to inputs or distur%ances. T+e desired performance c+aracteristics of a system of any order may %e specified in terms of transient response to a unit step input signal. T+e transient response c+aracteristics of a control system to a unit step input is specified in terms of t+e follo0ing time domain specifications Delay time td 7ise time tr )ea= time tp #a,imum pea= overs+oot #p Settling time ts ST!DY OF "ASIC MATLA" COMMANDS: T+e name MATLA" stands for MATRI1 LA"ORATORY. #AT;A8 0as originally 0ritten to provide easy access to matri, soft0are developed %y t+e ;5/)AC? and A5S)AC? proQects. Today6 #AT;A8 engines incorporate t+e ;A)AC? and 8;AS li%raries6 em%edding t+e state of t+e art in soft0are for matri, computation. 5t +as evolved over a period of years 0it+ input from many users. 5n university environments6 it is t+e standard instructional tool for introductory and advanced courses (0 MATHEMATICS, ENGINEERING, AND SCIENCE. 5n industry6 #AT;A8 is t+e tool of c+oice for +ig+productivity researc+6 development6 and analysis. #AT;A8 is a +ig+-performance language for tec+nical computing. 5t integrates computation6 visualiCation6 and programming in an easy-to-use environment 0+ere pro%lems and solutions are e,pressed in familiar mat+ematical notation. Typical uses include6 #at+ and computation Algorit+m development Data ac-uisition #odeling6 simulation6 and prototyping Data analysis6 e,ploration6 and visualiCation &( D)*+: DIGITAL SIM!LATION OF FIRST ORDER SYSTEMS

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Scientific and engineering grap+ics Application development6 including grap+ical user interface %uilding

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Sine response of a first order system:

2$ MATLA" (/--(2+ .,&4,)/ *& &=*)(0 *B+ %*+. ,+%.&0%+ )0; (/.62%+ ,+%.&0%+ O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P grid O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P grid O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC

CALC!LATIONS: !0(* %*+. ,+%.&0%+ &- *B+ 4(8+0 RL %+,(+% '(,'6(*:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

!0(* I/.62%+ ,+%.&0%+ &- *B+ 4(8+0 RLC %+,(+% '(,'6(*:

RES!LT: T+e time response c+aracteristics of a first order system is simulated digitally and verified manually. VIVA-VOCE A!ESTIONS: 1. :+at is #AT;A8R Department of EEE, Rajalakshmi Engineering College, Chennai '3

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 2. 3. . ". $. &. '. :+at is t+e use of #AT;A8 )ac=ageR :+at are t+e tool%o,es availa%le in #AT;A8R :+at is t+e use of a simulationR Differentiate real time systems and simulated systems. !ive t0o e,amples for first order system. /ame t+e standard test signals used in control system. :+at is time responseR

E3.*$ N&: DIGITAL SIM!LATION OF SECOND ORDER SYSTEMS AIM:

D)*+:

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

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM . Nrom t+e sin= %loc= in t+e li%rary drag t+e scope. ". Nrom t+e mat+ operations %loc= in t+e li%rary drag t+e summing point. $. Connect all to form a system and give unity feed%ac= to t+e system. &. Nor c+anging t+e parameters of t+e %loc=s connected dou%le clic= t+e respective %loc=. '. Start simulation and o%serve t+e results in scope. 2Zse a mu, from t+e signal routing %loc= to vie0 more t+an one grap+ in t+e scope3 (. Nrom t+e step response o%tained note do0n t+e rise time6 pea= time6 pea= overs+oot and settling time. 10. Compare t+e simulated and t+eoretical results. "LOCK DIAGRAM: Step response of a second order system:

Sine response of a second order system:

2$ MATLA" .,&4,)/ *& &=*)(0 *B+ %*+. ,+%.&0%+ )0; (/.62%+ ,+%.&0%+ &- %+'&0; &,;+, %:%*+/. O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P

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'"

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC

O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC

CALC!LATIONS: !0(* %*+. ,+%.&0%+ &- *B+ 4(8+0 RLC %+,(+% '(,'6(*:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

!0(* (/.62%+ ,+%.&0%+ &- *B+ 4(8+0 RLC %+,(+% '(,'6(*:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM '. :+at is time responseR

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: STA"ILITY ANALYSIS OF LINEAR SYSTEMS a. USING BOD !LOT
AIM:

D)*+:

To o%tain t+e %ode plot and c+ec= for sta%ility of t+e system 0it+ open loop transfer function6 !2S3 * APPARAT!S REA!IRED: A )C 0it+ #AT;A8 Soft0are THEORY: A ;inear Time-5nvariant Systems is sta%le if t+e follo0ing t0o notions of system sta%ility are satisfied :+en t+e system is e,cited %y 8ounded input6 t+e output is also a 8ounded output. 5n t+e a%sence of t+e input6 t+e output tends to0ards Cero6 irrespective of t+e initial conditions. T+e follo0ing o%servations are general considerations regarding system sta%ility6 5f all t+e roots of t+e c+aracteristic e-uation +ave negative real parts6 t+en t+e impulse response is %ounded and eventually decreases to Cero6 t+en system is %*)=2+. 5f any root of t+e c+aracteristic e-uation +as a positive real part6 t+en system is 60%*)=2+. 5f t+e c+aracteristic e-uation +as repeated roots on t+e QB-a,is6 t+en system is 60%*)=2+. 5f one are more non-repeated roots of t+e c+aracteristic e-uation on t+e QBa,is6 t+en system is 60%*)=2+.

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

R62+ 1 A system is sta%le if t+e p+ase lag is less t+an 1'0^ at t+e fre-uency for 0+ic+ t+e gain is unity 2one3. Department of EEE, Rajalakshmi Engineering College, Chennai (0

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM R62+ 2 A system is sta%le if t+e gain is less t+an one 2unity3 at t+e fre-uency for 0+ic+ t+e p+ase lag is 1'0^. T+e application of t+ese rules to an actual process re-uires evaluation of t+e gain and p+ase s+ift of t+e system for all fre-uencies to see if rules 1 and 2 are satisfied. T+is is o%tained %y plotting t+e gain and p+ase versus fre-uency. T+is plot is called "ODE PLOT$ T+e gain o%tained +ere is &.+0 2&&. 4)(0$ T+e e,act terminology is in terms of a G)(0 M),4(0 and PB)%+ M),4(0 from t+e limiting values -uoted. 5f t+e p+ase lag is less t+an 1 0^ at t+e unity gain fre-uency6 t+e system is sta%le. T+is t+en6 is a 0^ PB)%+ M),4(0 from t+e limiting values of 1'0^. 5f t+e gain is "d8 %elo0 unity 2or a gain of a%out 0."$3 0+en t+e p+ase lag is 1'0^6 t+e system is sta%le. T+is is "d8 G)(0 M),4(0.

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

MAN!AL CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM ". Usin# Root Loc$s AIM: To o%tain t+e 7oot locus plot and to verify t+e sta%ility of t+e system 0it+ transfer function6 !2s3 * APPARAT!S REA!IRED: A )C 0it+ #AT;A8 Soft0are THEORY: ROOT LOC!S PLOT: T+e c+aracteristic of t+e transient response of a closed-loop system is related to t+e location of t+e closed loop poles. 5f t+e system +as a varia%le loop gain6 t+en t+e location of t+e closed-loop poles depend on t+e value of t+e loop gain c+osen. A simple tec+ni-ue =no0n as a7oot ;ocus Tec+ni-ueb used for studying linear control systems in t+e investigation of t+e traQectories of t+e roots of t+e c+aracteristic e-uation. T+is tec+ni-ue provides a grap+ical met+od of plotting t+e locus of t+e roots in t+e s-plane as a given system parameter is varied over t+e complete range of values 2may %e from Cero to infinity3. T+e roots corresponding to a particular value of t+e system parameter can t+en %e located on t+e locus or t+e value of t+e parameter for a desired root location can %e determined form t+e locus. T+e root locus is a po0erful tec+ni-ue as it %rings into focus t+e complete dynamic response of t+e system. T+e root locus also provides a measure of sensitivity of roots to t+e variation in t+e parameter %eing considered. T+is tec+ni-ue is applica%le to %ot+ single as 0ell as multiple-loop systems. PROCED!RE: 1. :rite a program to o%tain t+e root locus plot for t+e given system. 2. Assess t+e sta%ility of given system using t+e plot o%tained. PROGRAM: O711T ;1CZS 1N T<A S\STA#O num*E den*E sys*tf2num6den3 rlocus2sys3 v*E-106106-'6'HP a,is2v3 Department of EEE, Rajalakshmi Engineering College, Chennai (" H H

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM ,la%el2_7eal A,is_3 yla%el2_5maginary A,is_3 title2_7oot ;ocus of t+e system_3 title2_7oot ;ocus )lot of t+e system MAN!AL CALC!LATIONS: _3

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM O!TP!T (-,&/ /)06)2 ')2'62)*(&0

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM c. USING NY%UIST !LOT AIM: To o%tain t+e /y-uist plot and c+ec= t+e sta%ility of t+e system using /y-uist Sta%ility Criterion for t+e given unity feed%ac= system 0it+ transfer function !2s3<2s3 * APPARAT!S REA!IRED A )C 0it+ #AT;A8 Soft0are THEORY: NYA!IST STA"ILITY CRITERION.

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROGRAM O/\fZ5ST );1T OAnter t+e numerator and denominator of t+e transfer function num*E H den*E H sys*tf2num6den3 OSpecify t+e fre-uency range and enter t+e command ny-uist2sys3 v*E H a,is2v3 ,la%el2_7eal A,is_3P yla%el2_5maginary A,is_3P title2_/y-uist )lot of t+e system MAN!AL CALC!LATIONS:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM RES!LT: T+e /y-uist plot is dra0n for t+e given transfer function6 !2s3 * `````````````````````` using #AT;A8 and t+e system is found to %e ``````````````````````.

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

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: STEPPER MOTOR CONTROL SYSTEM D)*+:

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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