Professional Documents
Culture Documents
LABORATORY MANUAL
CLASS
: II YEAR EEE - A
SEMESTER
SUBJECT CODE
: EE2257
SUBJECT
: CONTROL SYSTEMS
LABORATORY
NAME
CLASS
SEMESTER
ROLL NUMBER
REGISTER NUMBER :
INDEX
S.
No.
Date
Title of Experiment
Page
No.
Marks
Signature
SYLLABUS
EE2257 CONTROL SYSTEM LABORATORY
0 0 3 2
2.
3.
4.
5.
6.
7.
8.
9.
10.
LIST OF EXPERIMENTS
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.
4. Determination of transfer function of separately excited DC generator.
5. Determination of transfer function of DC motor.
6. DC position control system.
SECOND CYCLE:
7. Analog simulation of Type-0 and Type-1 systems.
8. Digital simulation of first order systems.
9. Digital simulation of second order systems
10. Stability analysis of linear systems.
11. Stepper motor control system.
12. AC position control system.
Date:
DETERMINATION OF TRANSFER FUNCTION OF
ARMATURE CONTROLLED DC SERVO MOTOR
Description
DC servo motor trainer kit
DC servo motor
Rheostat
4.
Ammeter
5.
Voltmeter
6.
7.
Stopwatch
Patch cords
Range
500/1A
(0-1)A
(0-100) mA
(0300) V
(075) V
-
Type
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
1
1
As required
THEORY:
In servo applications a DC motor is required to produce rapid accelerations from standstill.
Therefore the physical requirements of such a motor are low inertia and high starting torque.
Low inertia is attained with reduced armature diameter with a consequent increase in the
armature length such that the desired power output is achieved. Thus, except for minor
differences in constructional features a DC servomotor is essentially an ordinary DC motor. A
DC servomotor is 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, T m = Km Ia. The back
emf developed by the motor is E b = Kb m.. In an armature controlled DC Servo motor, the
field winding is supplied with constant current hence the flux remains constant. Therefore
these motors are also called as constant magnetic flux motors. Armature control scheme is
suitable for large size motors.
ARMATURE CONTROLLED DC SERVOMOTOR:
10
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Press the reset button to reset the over speed.
Patch the circuit as per the patching diagram.
Put the selection button of the trainer kit in the armature control mode.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220 V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va, and speed N.
Find the motor torque constant Kt and Back emf constant Kb using the above values.
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature Voltage,Va
(V)
Armature Current,Ia
(A)
Speed,N
(rpm)
CALCULATIONS:
11
12
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the armature control mode.
The field terminal is left opened.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220 V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va.
Find the value of armature resistance Ra using the above values
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature resistance,
Ra ()
CALCULATIONS:
13
14
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the armature control mode.
The field terminal is left opened.
Switch ON the MCB.
Note the values of the armature current Ia, armature voltage Va.
Find the value of armature inductance La.using the above values
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature impedance
Za ()
CALCULATIONS:
15
16
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the armature control mode and the DPDT
switch in power circuit position.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and adjust the motor to run at rated speed.
Note the values of armature current Ia, armature voltage Va, field current If, Speed N.
Change the DPDT switch position from power circuit side to load side,
simultaneously noting the time taken t1 of the motor to come to rest from rated speed,
using a stop watch.
Set the potentiometer to minimum position and change the DPDT switch to power
circuit side
Connect a load of 500 Ohms in the load position
Vary the pot and adjust the motor to run at rated speed
Change the DPDT switch position from power circuit side to load side,
simultaneously noting the time taken t2 of the motor to come to rest from rated speed,
using a stop watch.
Find the values of moment of inertia J and frictional co-efficient B using the above
values
OBSERVATIONS:
S. No.
Armature
Voltage, Va
(V)
Armature
Current,
Ia
(A)
Field
Current, If
(A)
Speed, N
(rpm)
t1
t2
(secs)
(secs)
CALCULATIONS:
17
18
19
20
RESULT:
The transfer function of armature controlled DC servomotor is determined as
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
21
Date:
Description
DC servo motor trainer kit
DC servo motor
Rheostat
4.
Ammeter
5.
Voltmeter
6.
7.
Stopwatch
Patch cords
Range
500/1A
(0-1)A
(0-100) mA
(0300) V
(075) V
-
Type
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
1
1
As required
THEORY:
In a field controlled DC Servo motor, the electrical signal is externally applied to the field
winding. The armature current is kept constant. 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.
FIELD CONTROLLED MOTOR:
FORMULAE USED:
Department of EEE, Rajalakshmi Engineering College, Chennai
22
23
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Press the reset button to reset the over speed.
Patch the circuit as per the patching diagram.
Put the selection button of the trainer kit in the field control mode.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va, and speed N.
Find the motor torque constant Kt f using the above values.
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature Voltage,Va
(V)
Armature Current,Ia
(A)
Speed,N
(rpm)
CALCULATIONS:
24
25
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the armature control mode.
The field terminal is left opened.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va.
Find the value of armature resistance Ra using the above values
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature Resistance,
Ra ()
CALCULATIONS:
26
27
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the field control mode.
The armature terminal is left opened.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220V to the field of the servomotor.
Note the values of the field current If, field voltage Vf.
Find the value of field resistance Rf using the above values
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Field Resistance,
Rf ()
CALCULATIONS:
28
29
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the field control mode.
The armature terminal is left opened.
Switch ON the MCB.
Note the values of the field current If2, field voltageVf2.
Find the value of field inductance Lf.using the above values
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Field Impedance
Zf ()
CALCULATIONS:
30
31
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Patch the circuit as per the patching diagram
Put the selection button of the trainer kit in the armature control mode and the DPDT
switch in power circuit position.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and adjust the motor to run at rated speed.
Note the values of armature current Ia, armature voltage Va, field current If, Speed N.
Change the DPDT switch position from power circuit side to load side,
simultaneously noting the time taken t1 of the motor to come to rest from rated speed,
using a stop watch.
Set the potentiometer to minimum position and change the DPDT switch to power
circuit side
Connect a load of 500 Ohms in the load position
Vary the pot and adjust the motor to run at rated speed
Change the DPDT switch position from power circuit side to load side,
simultaneously noting the time taken t2 of the motor to come to rest from rated speed,
using a stop watch.
Find the values of moment of inertia J and frictional co-efficient B using the above
values
OBSERVATIONS:
S. No
Armature
Voltage, Va
(V)
Armature
Current,
Ia
(A)
Field
Current, If
(A)
Speed, N
(rpm)
t1
t2
(secs)
(secs)
CALCULATIONS:
32
33
34
35
RESULT:
The transfer function of field controlled DC servomotor is determined as
VIVA-VOCE QUESTIONS:
1. What are the main parts of a DC servo motor?
2. Name the two types of servo motor.
3. State the advantages and disadvantages of a DC servo motor.
4. Give the applications of DC servomotor.
5. What is servo mechanism?
6. What do you mean by field controlled DC servo motor?
36
Date:
DETERMINATION OF TRANSFER FUNCTION OF
AC SERVO MOTOR
AIM:
To derive the transfer function of the given AC Servomotor.
APPARATUS / INSTRUMENTS REQUIRED:
S. No
1.
2.
Description
AC servo motor trainer kit
AC servo motor
3.
Ammeter
4.
Voltmeter
5.
Patch cords
Range
-
Type
(0-1) A
(0-100) mA
(0300) V
(075) V
-
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
As required
THEORY:
An 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 an angle of 90 o 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 rotor construction is usually squirrel cage or
drag-cup type. 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 :
The stator windings are excited by voltages of equal magnitude and 90o phase difference.
These results in exciting currents i1 and i2 that are phase displaced by 90o and have
equal 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). 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.
37
FORMULAE USED:
Transfer function, Gm (s) = Km / (1+ sm)
Where
Motor gain constant, Km = K / FO + F
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 input 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
Motor time constant, m = J / FO + F
Moment of inertia J is d4 L R / 32
d is diameter of the rotor in m ( Given d =39.5 mm)
LR is length of the rotor in m (Given L R =76 mm)
is density = 7.8 X 102 gm / m
38
PROCEDURE:
1.
S. No.
Supply Voltage
V
(V)
Control winding
Current Ic
(A)
Reference Winding
Current Ir
(A)
Speed
N
(rpm)
CALCULATIONS:
39
40
1.
2.
3.
4.
5.
6.
S. No
41
S. No
Control
Voltage
Vc
(V)
Speed N1 =
Spring Balance
values
S1
S2
(kg
kg
Torque
T
Speed
Nm
rpm
Speed N2 =
Spring Balance
values
S1
S2
Kg
Kg
Control
Voltage
Vc
V
42
43
44
RESULT:
The transfer function of AC servomotor is determined as
VIVA-VOCE QUESTIONS:
1. What are the main parts of an AC servomotor?
2. State the advantages and disadvantages of an AC servo motor.
3. Give the applications of AC servomotor.
4. What do you mean by servo mechanism?
5. What are the characteristics of an AC servomotor?
45
Date:
DETERMINATION OF TRANSFER FUNCTION OF
SEPARATELY EXCITED DC GENERATOR
AIM:
To obtain the transfer function of separately excited DC generator on no load and
loaded condition.
APPARATUS / INSTRUMENTS REQUIRED:
S. No
Description
Range
Type
Quantity
THEORY:
Derivation of transfer function of separately excited DC generator is as follows,
Applying KVL to the field side,
ef = Rf if + Lf (dif / dt)
(1)
(2)
V L = RL i a
(3)
(4)
(5)
46
(6)
(7)
(8)
(9)
(10)
(11)
(12)
47
PROCEDURE:
1. To determine the gain constant Kg :
No load or open circuit characteristics:
1. Connections are made as shown in the circuit diagram
2. The motor field rheostat should be in minimum resistance position and the generator
field rheostat should be in maximum resistance position or minimum potential
position while switching ON and switching OFF the supply side DPST switch.
3. Ensure that the DPST switch on the load side is open.
4. Switch ON the supply DPST switch.
5. Using the 3- point starter the DC motor is started and it is brought to rated speed by
adjusting the motor field rheostat.
6. Keeping the DPST switch on the load side open, the generated voltage E g and field
current If of generator is noted down by varying the generator field rheostat.
7. The above step is repeated till 125 % of rated voltage is reached.
8. A graph is plotted between Eg and If taking If along x- axis. A tangent to the linear
portion of the curve is drawn from the origin and slope of this line gives Kg.
OBSERVATIONS:
S. No.
Field current, If
(A)
Induced Voltage, Eg
(V)
MODEL GRAPH:
48
CIRCUIT DIAGRAM:
To determine gain constant, Kg:
CALCULATIONS:
49
Load characteristics:
1. Connections are made as shown in the circuit diagram
2. The motor field rheostat should be in minimum resistance position and the generator
field rheostat should be in maximum resistance position or minimum potential
position while switching ON and switching OFF the supply side DPST switch.
3. Ensure that the DPST switch on the load side is open.
4. Switch ON the supply DPST switch
5. The generator is brought to its rated voltage by varying the generator field rheostat.
6. The DPST switch on the load side is closed, and the load is varied for convenient
steps of load current up to 120 % of its rated capacity and the voltmeter V L and
ammeter Ia readings are observed. On each loading the speed should be maintained at
rated speed.
7. A graph is plotted between VL and IL taking IL on x- axis. The slope of the graph
gives Kg.
OBSERVATIONS:
S. No.
Terminal Voltage, VL
(V)
Load Current, IL
(A)
MODEL GRAPH:
50
PROCEDURE:
2. To determine field Inductance Lf :
1. Connections are made as per the circuit diagram.
2. Auto transformer is varied in steps for different voltages and corresponding voltmeter
and ammeter readings are noted down.
3. Field impedance Zf is calculated as V/I and the average value of Zf is obtained.
4. Field resistance (Rf) is measured using multimeter.
5. Field inductance (Lf) can be calculated using formula
Lf = (Zf2 Rf2) / 2f
CIRCUIT DIAGRAM:
OBSERVATIONS:
S. No
Field Voltage, V
(V)
Field Current, I
(A)
Field Impedence, Zf
(Ohms)
CALCULATIONS:
51
PROCEDURE:
3. Determination of armature inductance La :
1. Connections are made as per the circuit diagram.
2. Auto transformer is varied in steps for different voltages and corresponding voltmeter
and ammeter readings are noted down.
3. Armature impedance Za is calculated as V/I and the average value of Za is obtained.
4. Armature resistance Ra is measured using multimeter.
5. Armature inductance La can be calculated using formula,
La = (Za2 Ra2) / 2f
CIRCUIT DIAGRAM:
OBSERVATIONS:
S. No
Armature
Voltage, V (V)
Armature
Current, I
(A)
Armature Impedence, Za
(Ohms)
CALCULATIONS:
52
RESULT:
The transfer function of separately excited DC generator is determined as
53
Expt. No:
Date:
DETERMINATION OF TRANSFER FUNCTION OF DC MOTOR
AIM:
To obtain the transfer function of field controlled DC motor.
APPARATUS / INSTRUMENTS REQUIRED:
S. No
Description
Range
Type
Quantity
THEORY:
54
FORMULAE USED:
Transfer function of field controlled DC motor,
(s) / Vf (s) = Km / [s (1+sf) (1 + sm)]
where
Motor gain constant, Km = Ktf / (BRf)
Ktf is motor torque constant
Torque, T is 9.81 X R (S1 S2)
R is radius of the brake drum in m
R = circumference of the brake drum/ (2 )
B is viscous co-efficient of friction
Rf is field resistance in Ohms
Field time constant f = Lf / Rf
Rf is field resistance in Ohms
Lf is field inductance in Henry
Lf = (Zf2 Rf2) / 2f
Zf is field impedence in Ohms
Rf is field resistance in Ohms
Mechanical time constant m = J/B
Moment of inertia J = Pav / [22(N12 N22 )((1/t1)-(1/t2))]
Average power delivered to the load, Pav= (V1I1 + I12 Ra + V2I2 + I22 Ra) / 2
Ra is armature resistance in Ohms
La is armature inductance in Henry
t2 is time taken on load in secs
t1 is time taken on no load in secs
Viscous Co-efficient of friction, B = Pstray / (N1 + N2)2
Stray loss, Pstray = [22(N12 N22 )] J / t1
55
Armature current
Ia
(A)
Field current
If
(A)
Torque
T
(Nm)
MODEL GRAPH:
56
CIRCUIT DIAGRAM:
CALCULATIONS:
PROCEDURE
Department of EEE, Rajalakshmi Engineering College, Chennai
57
OBSERVATIONS:
S. No.
Field Voltage, V
(V)
Field Current, I
(A)
Field Impedence, Zf
()
CALCULATIONS:
58
N1
(rpm)
t1
(Sec)
V1
(V)
I1
(A)
N2
(rpm)
T2
(Sec)
V2
(V)
I2
(A)
CALCULATIONS:
59
CALCULATIONS:
60
RESULT:
The transfer function of field controlled DC motor is determined as
Expt. No:
Date:
61
ii) Multimeter
THEORY:
A DC position control system is a closed loop control system in which the position of the
mechanical load is controlled with the position of the reference shaft. 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. The tachogenerator attached to the motor shaft produces a voltage proportional to the
speed which is used for feedback. 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 stops when the
error signal is zero, i.e., when the desired position is reached.
PROCEDURE:
1. The input or reference potentiometer is adjusted nearer to zero initially(R).
2. The command switch is kept in continuous mode and some value of forward gain K A
is selected.
3. For various positions of input potentiometer (R) the positions of the response
potentiometer (0) is noted. Simultaneously the reference voltage (VR) measured
between the terminals VR & E and the output voltage (VO) measured between the
terminals VO & E are noted.
4. A graph is plotted with 0 along y-axis and R along x-axis.
62
S. No
Reference
Output angular
angular position,
position, O
R
(degrees)
(degrees)
KA =
KA =
KA =
KA =
Reference
Voltage, Vr
(V)
KA =
KA =
Output
VoltageVO
(V)
KA =
KA =
MODEL GRAPH:
63
64
RESULT:
The DC position control system characteristics are studied and corresponding graphs are drawn.
65
Date:
ANALOG SIMULATION OF TYPE 0 and TYPE 1 SYSTEMS
AIM:
To study the time response of first and second order type 0 and type- 1 systems.
APPARATUS / INSTRUMENTS REQUIRED:
1. Linear system simulator kit
2. CRO
3. Patch cords
FORMULAE USED:
Damping ratio, = (ln MP)2 / (2 +(ln MP)2)
Where MP is peak percent overshoot obtained from the time response graph
Undamped natural frequency, n = / [tp (1 - 2)]
where tp is the peak time obtained from the time response graph
Closed loop transfer function of the type 0 second order system is
C(s)/R(s) = G(s) / [1 + G(s) H(s)]
where
H(s) = 1
G(s) = K K2 K3 / (1+sT1) (1 + sT2)
where 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 of time constant 1 block = 1 ms
T2 is the time constant of time constant 2 block = 1 ms
Closed loop transfer function of the type 1-second order system is
C(s)/R(s) = G(s) / [1 + G(s) H(s)]
where
H(s) = 1
G(s) = K K1 K2 / s (1 + sT1)
where K is the gain
K1 is the gain of Integrator = 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
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
Department of EEE, Rajalakshmi Engineering College, Chennai
66
OBSERVATIONS:
S. No.
1
2
3
Gain, K
67
For Gain, K =
For Gain, K=
68
69
OBSERVATIONS:
S. No.
1
2
3
Gain, K
70
For Gain, K =
For Gain, K =
71
72
OBSERVATIONS:
S. No.
Gain
K
Peak
percent
Overshoot
%MP
Rise
time
tr
(sec)
Peak
Time
tp
(sec)
Settling
time
ts
(sec)
Damping
ratio
Undamped
Natural
frequency
n
(rad/sec)
1
2
For Gain, K =
73
OBSERVATIONS:
S. No.
Gain
K
Peak
percent
Overshoot
%MP
Rise
time
tr
(sec)
Peak
Time
tp
(sec)
Settling
time
ts
(sec)
Damping
ratio
Undamped
Natural
frequency
n
(rad/sec)
1
2
For Gain, K =
74
75
76
RESULT:
The time response of first and second order type-0 and type-1 systems are studied.
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
6.
77
Date:
DIGITAL SIMULATION OF FIRST ORDER SYSTEMS
AIM:
To digitally simulate the time response characteristics of a linear system without
non- linearities and to verify it manually.
APPARATUS REQUIRED:
A PC with MATLAB package
THEORY:
The time response 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 peak overshoot Mp
Settling time ts
STUDY OF BASIC MATLAB COMMANDS:
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. It 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,
78
It 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. It also 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.
Some practical examples of first order systems are RL and RC circuits.
PROCEDURE:
1. Derive the transfer function of a RL series circuit.
2. Assume R= 1 Ohms L = 0. 1 H. Find the step response theoretically and plot it on a
graph sheet.
3. To build a SIMULINK model to obtain step response / sine response of a first order
system, the following procedure is followed:
1. In MATLAB software open a new model in SIMULINK library browser.
2. From the continuous block in the library drag the transfer function block.
3. From the source block in the library drag the step input/ sine input.
4. From the sink block in the library drag the scope.
5. From the math operations block in the library drag the summing point.
6. Connect all to form a system and give unity feedback to the system.
7. For changing the parameters of the blocks connected double click the
respective block.
8. Start simulation and observe the results in scope. (Use a mux from the signal
routing block to view more than one graph in the scope)
9. Compare the simulated and theoretical results.
BLOCK DIAGRAM:
Step response of a first order system:
79
2. MATLAB (m-file) program to obtain the step response and impulse response
% MATLAB program to find the step response
num=[
];
den=[
];
sys = tf (num,den);
step (sys);
grid
OUTPUT: (Paste the graph obtained from PC)
80
CALCULATIONS:
Unit step response of the given RL series circuit:
81
RESULT:
The time response characteristics of a first order system is simulated digitally and verified
manually.
VIVA-VOCE QUESTIONS:
1. What is MATLAB?
Department of EEE, Rajalakshmi Engineering College, Chennai
82
Expt. No:
Date:
DIGITAL SIMULATION OF SECOND ORDER SYSTEMS
AIM:
To digitally simulate the time response characteristics of a second order system and verify
manually.
APPARATUS REQUIRED
A PC with MATLAB 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
PROCEDURE:
1. Derive the transfer function of a RLC series circuit.
2. Assume R= 1 Ohms, L = 0. 1 H and C = 1 micro Farad. Find the step response
theoretically and plot it on a graph sheet.
3. To build a SIMULINK model to obtain step response / sine response of a second
order system, the following procedure is followed:
1. In MATLAB software open a new model in SIMULINK library browser.
2. From the continuous block in the library drag the transfer function block.
3. From the source block in the library drag the step input/ sine input.
Department of EEE, Rajalakshmi Engineering College, Chennai
83
2. MATLAB program to obtain the step response and impulse response of second order
system.
% MATLAB program to find the step response
num=[
];
den=[
];
sys = tf (num,den);
step (sys);
84
CALCULATIONS:
Unit step response of the given RLC series circuit:
85
86
RESULT:
The time response characteristics of the given second order system is simulated digitally and
verified manually.
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
6.
7.
What is MATLAB?
What is the use of MATLAB Package?
What are the toolboxes available in MATLAB?
What is the use of a simulation?
Differentiate real time systems and simulated systems.
Give two examples for second order system.
Name the standard test signals used in control system.
87
88
Date:
STABILITY ANALYSIS OF LINEAR SYSTEMS
To obtain the bode plot and check for stability of the system with open loop transfer function,
G(S) =
APPARATUS REQUIRED:
A PC with MATLAB 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,
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 jaxis, then system is unstable.
BODE PLOT :
Consider a Single-Input Single-Output system with transfer function
b0 sm + b1 sm-1 + + bm
C(s)
=
R(s)
Where m < n.
a0 sn + a1sn-1 + +an
Rule 1 A system is stable if the phase lag is less than 180 at the frequency
for which the gain is unity (one).
Department of EEE, Rajalakshmi Engineering College, Chennai
89
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.
PROCEDURE:
Step 1: Write a program to obtain the Bode plot for the given system.
Step 2: Assess the stability of given system using the plot obtained.
PROGRAM
%BODE PLOT OF THE SYSTEM
%Enter the numerator and denominator of the transfer function
num=[
];
den=[
];
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) in decibels')
title('Bode Plot of the system
')
%To determine the Gain Margin, Phase Margin, Gain crossover frequency and
%Phase cross over frequency
margin(sys)
[ Gm, Pm, Wpc, Wgc ]= margin (sys)
90
MANUAL CALCULATIONS:
91
92
RESULT:
The Bode plot is drawn for the given transfer function using MATLAB and verified
manually. From the plot obtained, the system is found to be ______________.
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
6.
7.
8.
9.
93
den=[
sys=tf(num,den)
rlocus(sys)
v=[-10,10,-8,8];
axis(v)
Department of EEE, Rajalakshmi Engineering College, Chennai
94
')
MANUAL CALCULATIONS:
95
96
RESULT:
The Root locus plot is drawn for the given transfer function, G(s)= ___________________
using MATLAB and the range of gain K for stability is______________.
VIVA-VOCE 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.
97
98
MANUAL CALCULATIONS:
99
100
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
101
Date:
STEPPER MOTOR CONTROL SYSTEM
102
103
104