Lab Manual New CS

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EXP NO 1
U5EEA22
CONTROL SYSTEMS LAB MANUAL
DETERMINATION OF TRANSFER FUNCTION OF

ARMATURE CONTROLLED DC SERVO MOTOR
AIM: To determine the transfer function of armature controlled DC servo motor.

APPARATUS / INSTRUMENTS REQUIRED:
DC Servo Motor Trainer Kit and connecting wires
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, Tm = Km Ia. The back
emf developed by the motor is Eb = 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:
FORMULAE USED:
Transfer function of the armature controlled DC servomotor is given as
(s) / Va(s) = Km / [s (1+sa)(1+sm ) + (Kb Kt /RaB)]

where
Motor gain constant, Km = (Kt/RaB)
Motor torque constant, Kt = T / Ia
Torque, T in Nm = 9.55 Eb Ia
Back emf, Eb in volts = Va Ia Ra
Va = Excitation voltage in volts
Back emf constant, Kb = Va /
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Angular velocity in rad/ sec = 2N / 60

Armature time constant, a = La / Ra
Mechanical time constant, m = J / B
Ra =10
La =0.8 mH
J=0.02gm=cm2
PROCEDURE:
1. To determine torque:
Remove the load and Switch on the module.

Note down the no load current and no load speed
Adjust the potentiometer for the rated voltage of 24 V
Adjust the load in steps till the current of 0.8 amps is obtained
At each load note down the speed.
Calculate the corresponding torque and plot the torque speed characteristics.
Repeat the procedure for 60% and 40% of the rated voltage
OBSERVATIONS:
S.
No.
Armature
Voltage,Va
(V)
Armature
Current,Ia
(A)
Speed,N
(rpm)
Load W (in
gram)
Torque
T=WxR
gram-cm)
W=W2-W1
R=Radius of the pulley-2.5 Cm
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SPEED Vs TORQUE CHARACTERISTICS
Speed in RPM
Rated Voltage (24 V)
60%Rated Voltage
40% Rated Voltage
Torque in gm-am
2. To Determine Kt and B
Switch on the mains of the supply unit and switch on the DC power supply to the
motor.
Run the motor at some nominal speed , Progressively increasing loads upto 80% of
the rated maximum current.
Determine the following in the process.
SI No
Armature
Current(A)
Ia
Speed
Angular
(N)in RPM velocity
=2N/60
Torque
T=W*R in
gm-cm
Torque
constant
Kt=T/Ia
Friction
Coefficient
B=T/ in
gm-cm/
(rad/s)
Back EMF
Eb=VaIa.Ra
Back EMF
constant
Kb=Eb/
To determine Kb
SI No
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Armature
voltage Va
U5EEA22
Armature
Current(A)
Ia
Speed
Angular
(N)in RPM velocity
=2N/60
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Result
This the Transfer function of DC servo motor is obtained experimentally
VIVA-VOCE QUESTIONS:
1.
2.
3.
4.
5.
Define transfer function.

What is DC servo motor? State the main parts.
What is servo mechanism?
Is this a closed loop or open loop system. Explain?
What is back EMF?
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EXP NO 2
U5EEA22
DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF

FIELD CONTROLLED DC SERVO MOTOR
AIM: To determine the transfer function of field controlled DC servo motor.

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:
Transfer function of field controlled DC servo motor is given as,
(s) / Vf (s) = Km / s (1+sTf) (1+sTm)
where
Motor gain constant Km = Ktf / Rf B
Motor torque constant Ktf in N-m / A = T / If
Torque T in N-m = 9.55 Eb Ia / N
Back EMF Eb in volts = Va Ia Ra
Va = Excitation voltage in volts
Armature resistance,Ra in = Va1 / Ia1
Field resistance,Rf in = Vf1 / If1
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Field time constant Tf = Lf / Rf

Field Inductance,Lf in H= XLf / 2f
XLf in = (Zf2 Rf2)
Zf in = Vf2 / If2
Mechanical time constant Tm = J / B
Moment of inertia J in Kg m2 / rad = W x (60 / 2)2 x dt/dN
N
Stray loss, W in watts = W x [ t2 / (t1-t2) ]
Power absorbed, W in Watts = Va Ia
t2 is time taken on load in secs
t1 is time taken on no load in secs
dt is change in time on no load in secs
dN is change in speed on no load is rpm
N is rated speed in rpm
Frictional co-efficient, B in N-m / (rad / sec ) = W / (2N / 60 )2
W = 30 % of Constant loss
Constant loss = No load i/p Copper loss
No load I/P = V ( Ia + If )
Copper loss = Ia2 Ra
N is rated speed in rpm
PROCEDURE:
1. To determine the motor torque constant Ktf :
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.
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OBSERVATIONS:
S.
No.
Armature Voltage,Va
(V)
Armature Current,Ia
(A)
Speed,N
(rpm)
PROCEDURE:
2. To determine armature resistance Ra:
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.
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:
OBSERVATIONS:
S.
No.
Armature Voltage, Va1

(V)
Armature Current, Ia1

(A)
Armature Resistance,
Ra ()
PROCEDURE:
3. To determine field resistance Rf:
The armature terminal is left opened.
Switch ON the MCB.
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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:
OBSERVATIONS:
S.
No.
Field Voltage, Va1

(V)
Field Current, Ia1

(A)
Field Resistance,
Rf ()
PROCEDURE:
4. To determine Field Inductance, Lf
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:
OBSERVATIONS:
S.
No.
Field Voltage, Vf2

(V)
Field Current, If2

(mA)
Field Impedance
Zf ()
PROCEDURE:
5. To determine moment of inertia J and frictional co-efficient B:
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Put the selection button of the trainer kit in the armature control mode and the DPDT
switch in power circuit 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)
RESULT:
The transfer function of field controlled DC servomotor is determined as
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
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EXP NO 3
U5EEA22
DETERMINATION OF TRANSFER FUNCTION OF

AC SERVO MOTOR
AIM:
To derive the transfer function of the given AC Servomotor
Apparatus Required
AC Servo motor Trainer Kit , Patch chords
THEORY:
An AC Servomotor is basically a two phase induction motor except for certain spcial design
features. A two phase induction motor consisting of teo stator windings oriented 90 degrees
electrically apart in space excited by AC volatages wehich differ in time phase by 90 degrees.
Generally voltages of equal magnitude and 90 degrees phase difference is applied to the two
stator phases thus making their respective fields 90 degrees apart in both time and space at
the synchronous speed. As there field sweeps over the rotor, voltages are induced in it
producing current in the short circuited rotor. The rotating magnetic firld interacts with these
currents producing a torque on the rotor in the direction of the field rotation.
The shape of the characteristics depends upon the ratio of the rotor reactance (X) to the rotor
resistance(R) On normal Induction motors X/R ratio is generally kept high so as to obtain the
maximum torque close to the opeearting region that is 5% slip.
GENERAL SCHEMATIC OF AC SERVOMOTOR:
FORMULA USED:
Transfer Function of AC Servo motor is given by
(s)/Ec(s) =Km/s(ms+1)
Where
Km= Motor Gain Constant- K1/(K2 +B)
m= Motor Time Constant-J/(K2+B)
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PROCEDURE:
Plot the speed torque characteristics.
From the graph determine K2.
Plot Control winding voltage vs torque characteristics for constant speed.
From the graph determine K1.
Determine Km and m by using values B and J given.
Substitute Km and m in the equation of the transfer function.
Determination of Motor Constant K2
Control Voltage = 230 V (rated Voltage)
Si No
Speed (RPM)
Torque (gm-cm)
Control Voltage = 200 V (rated Voltage)

Si No
Speed (RPM)
Torque (gm-cm)
Graph of Torque Vs Speed
Torque(gm-cm)
Slope = K2
Speed(RPM)
To Detrmine the motor Constant K1
Apply the rated voltage 230 V to the control winding.

Apply load on the motor gradually till the motor will run say 1300 rpm (N1).
Note down I and calculate Torque.
Decrease the load slightly till the motor runs at say 1600 rpm.
Reduce Vc slightly so that the motor comed to N1 rpm
Note down I and calculate the torque.
Repeat the procedure for N2 say 1000 rpm.
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Graph of Torque Vs Vc
N1
Torque
N2
Slope = K1
Result:
Thus the Transfer Function of AC servo motor is obtained Experimentally.
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?
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Exp No 4
U5EEA22
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
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PROGRAM:
num = [0 1]
den = [1 1]
Step (num, den)
FORMULA USED:
1.
2.
3.
Rise time, tr = -/d

Peak time, tp = /d
Settling time, ts = 4/n
SIMULINK MODEL:
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.
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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.
MODEL GRAPH
RESULT:
The time response characteristics of a first order system is simulated digitally and verified
manually.
1
2
3
4
5
6
7
8
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 first order system.
Name the standard test signals used in control system.
What is time response?
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Exp No 5
AIM:
U5EEA22
DIGITAL SIMULATION OF SECOND ORDER SYSTEM
To simulate the time response of second order system using MATLAB

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
FORMULA USED
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2.
3.
4.
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1. Rise time, tr = -/d

Peak time, tp = /d
Settling time, ts = 4/n
Maximum Peak Overshoot(%Mp) = e- /(1-2)1/2
SIMULINK MODEL
PROGRAM
Num = [0 0 100]
Den = [1 6 100]
Step (num, den)
PROCEDURE
Derive the transfer function of a RLC series circuit.
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
To build a SIMULINK model to obtain step response / sine response of a first order
system, the following procedure is followed:
In MATLAB software open a new model in SIMULINK library browser.
From the continuous block in the library drag the transfer function block.
From the source block in the library drag the step input/ sine input.
From the sink block in the library drag the scope.
From the math operations block in the library drag the summing point.
Connect all to form a system and give unity feedback to the system.
For changing the parameters of the blocks connected double click the respective
block.
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)
Compare the simulated and theoretical results.
MODEL GRAPH
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RESULT:
The time response characteristics of the given second order system is simulated digitally and
verified manually
1. Give two examples for second order system.
2. Name the standard test signals used in control system.
3. What is time response?
Exp No 6
STABILITY ANALYSIS OF LINEAR SYSTEM
AIM
(i)
To obtain the bode plot, Nyquist plot and the root locus of the given transfer
function.
(ii)
To analyse the stability of given linear system using Matlab
Apparatus Required
System with MATLAB
THEORY
Frequency Response:
The frequency response is the steady state response of a system when the input to the system
is sinusoidal signal.
Frequency response analysis of control system can be carried either analytically or
graphically. The various graphical techniques available for frequency response analysis are
1. Bode plot
2. Nyquist plot
3. Nicholas plot
4. Mand N circles
5. Nicholas Chart
Bode Plot
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The Bode plot is a frequency response plot of the gransfer function of a system. A bode plot
consiss of two graphs. One is plot of the magnitude of a sinusoidal transfer fubction versus
log . The other is plot of the phase angle of a sinusoidal transfer function versus log .
The main advamtage of the bode plot is that the multiplication of mafnitude can be converted
into addition. Also a simple methid for sketching an approximate log magnitude curve is
available.
Polar Plot:
The polar plot a sinusoidal transfer function G(j) on polar coordinates as is varied from
zero to infinity. Thus the polar plot is the locus of vector [G(j)] angle [G(j)] as is varied
from zero to infinity. The polar plot is also called nyquist plot.
Nyquist stability Criterion:
If G(s)H(s) contour in the G(s)H(s) plain corresponding to Nyquist contour in s-plane circles
the point-1+j0 in the anti-clock wise direction many times as the number of right half s-plane
of G(s)H(s). Then the closed loop system is stable.
Root Locus:
The Root Locus technique is a powerful tool for adjusting the location of closed loop poles to
achieve the desired system performance by varying one or more system parameters.
The path taken by the roos of the characteristics equation when open loop gain K is varied for
zero to infinity are called the root loci (or the path taken bya root of characteristic equation
when open loop fain K ios varied form zero to infiny is called root locus).
Frequency Domaun Specifications:
The performance and characteristics of a system in frequency domain are measured in term of
frequemcy domain specification. The requirements of a system to be designed are ysually
specified in terms if this specification.
1. Resonant Peak, Mr
2. Resonant Frequency, r
3. Bandwidth
4. Cut-off rate
5. Gain margin
6. Phase Margin
PROCEDURE
1. Enter the command window of the MATLAB
2. Create a new M-file by selecting File-New-M-file
3. Type and save the program
4. Execute the program by either pressing F5 or Debug-run.
5. View the results.
6. Analyse the stability of the system for various valuew of gain.
PROGRAM:
1. NYQUIST
PLOT:
Clear all
Num = [0 0 1]
Den = [1 0.8 1]
Nyquist (num, den)
2. BODE
PLOT:
Num = [0 0 25]
Den = [1 4 25]
Bode (num, den)
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3. ROOT
LOCUS:
Num = [0 0 0 18]
Den = [15 20 16 0]
Rlocus (num, den)
RESULT:
The plots are drawn for the given transfer function using MATLAB and verified manually.
From the plot obtained, the system is found to be ______________.
1.
2.
3.
4.
5.
6.
7.
8.
9.
Define stability of Linear Time Invariant System.

Give the stability conditions of system using Pole-Zero plot.
Define Bode Plot.
What is the use of Bode Plot?
What the conditions of stability are in Bode plot?
Define Stability criteria.
Define Limits of stability.
Define safe regions in stability criteria.
Define Phase margin and Gain margin.
Exp No 7
DETERMINATION OF TRANSFER FUNCTION OF SELF
EXCITED DC GENERATOR
AIM:
To obtain the transfer function of self excited DC generator on no load and loaded
condition.
Descriptio
S. No
n
Range
Type
Quantity
1.
Ammeter
(0-20) A/(0MC
1/1
2.5)A
2.
Voltmeter
(0-300)V
MC
1
3.
Rheostat
445/1A, 200
Wire wound
1/1
/1.4 A
4
Starter
3 point
1
5
Load
3 KW
Resistive
1
6
Connecting
Amount
Wires
Required
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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)
Applying KVL to the armature side,
Eg = Ra Ia + La (dIa / dt) + RL Ia
----(2)
V L = R L Ia
----(3)
Also since Eg if , let Eg = Kg If
---- (4)
Taking Laplace transform of equation (1) we get
Ef (s) = Rf If(s) + sLf If(s)
Ef (s) = If (s) [Rf + sLf]
If (s) = Ef (s) / [Rf + sLf]
---(5)
Taking Laplace transform of equation (2) we get
Eg (s) = Ra Ia(s) + sLa Ia(s) + RL Ia(s)
----(6)
Eg (s) = Ia(s) [Ra + sLa + RL]
Taking Laplace transform of equations (3) and (4) we get
VL(s) = RL Ia( s)
(7)
Therefore, Ia( s) = VL(s) / RL
Eg(s) = Kg If(s)
(8)
Substituting. equations (7) and (8) in equation (6) we get
Kg If(s) = [Ra + sLa + RL] [VL(s) / RL]
(9)
Substituting the value of If (s) in the above equation we get
Kg Ef (s) / [Rf + sLf] = [Ra + sLa + RL] [ VL(s) / RL]
Hence transfer function,
VL(s) / Ef (s) = Kg RL / {[Rf + sLf] [Ra + sLa + RL]}
(10)
For unloaded condition, Ia = 0
Therefore transfer function VL(s) / Ef (s) = Kg / [Rf + sLf]
(11)
For loaded condition
Lf = (Zf2 Rf2) / 2f
La = (Za2 Ra2) / 2f
Transfer function VL(s) / Ef (s) = Kg RL / [Rf (Ra + RL) (1+sf) (1 + sa)]
(12)
where f = Lf / Rf and a = La / (Ra + RL)
FORMULAE USED:
Transfer function of DC generator,
On no load condition: VL(s) / Ef (s) = Kg /[Rf + sLf]
where Kg is gain constant
Rf is field resistance in Ohms
Lf is field inductance in Henry
On loaded condition: VL(s) / Ef (s) = Kg RL / [Rf (Ra + RL) (1+sf) (1 + sa)]
where Kg is gain constant
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Field time constant f = Lf / Rf

Armature time constant a = La / (Ra + RL)
Ra is armature resistance in Ohms
La is armature inductance in Henry
PROCEDURE:
1. To determine the gain constant Kg :
No load or open circuit characteristics:
1.
2.
3.
4.
6.
7.
8.
Connections are made as shown in the circuit diagram

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.
Ensure that the DPST switch on the load side is open.
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.
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.
The above step is repeated till 125 % of rated voltage is reached.
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
Induced Voltage, Eg
(A)
(V)
MODEL GRAPH:
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LOAD CHARACTERISTICS:
1.
2.
3.
4.
5.
6.
7.

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.
Ensure that the DPST switch on the load side is open.
Switch ON the supply DPST switch
The generator is brought to its rated voltage by varying the generator field rheostat.
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.
A graph is plotted between VL and IL taking IL on x- axis. The slope of the graph
gives Kg.
OBSERVATION
S. No.
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Terminal Voltage, VL
Load Current, IL
(V)
(A)
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U5EEA22
MODEL GRAPH:
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RESULT:
The transfer function of separately excited DC generator is determined as
Exp No 8
AIM:
DETERMINATION OF TRANSFER FUNCTION OF DC MOTOR

To obtain the transfer functions of DC shunt motor.
APPARATUS REQUIRED:
S. No
Description
Range
Type
Quantity
1
2.
3
4
5
Ammeter
Voltmeter
Starter
Rheostat
Connecting Wires
(0-2.5) A
(0-300) V
200/1.4 A
-
MC
MC
3 pt starter
Wire wound
-
2
1
1
1
Amount required
THEORY:
FIELD CONTROLLED MOTOR:
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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
Field time constant f = Lf / Rf
Lf = (Zf2 Rf2) / 2f
Zf is field impedence in Ohms
PROCEDURE:
1. To determine motor torque constant, Ktf :

1.
4.

2. The armature current Ia of the motor is set to some value by adjusting the
armature circuit resistance. This value of Ia is maintained constant throughout
the experiment.
3. The field current If is varied in steps by adjusting the field rheostat and for each
values of If the brake drum is adjusted such that it just fails to rotate. The
corresponding readings of ammeter and spring balances are noted.
The value of torque for each value of If is calculated
5. A graph is plotted between torque T and field current I F taking IF along x-axis. The
slope of the graph gives the value of Ktf
OBSERVATIONS:
Armature current
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Field current
Spring balance readings
Torque
VELTECH UNIVERSITY
S. No.
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Ia
If
S1
S2
(A)
(A)
(kg)
(kg)
(Nm)
D
P
S
220V, D.C.
supply
T
S
MODEL GRAPH:
CIRCUIT DIAGRAM
20A
(0-2.5)A
MC
(0-300)V
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200 ,
1.4 A
(0-2.5)A
MC
A1
F1
U 5 E E A 2 2 MC C O N T R O L S Y S T E MM
S LAB MANUAL
20A
A2
F2
VELTECH UNIVERSITY
U5EEA22
RESULT:
The transfer function of field controlled DC motor is determined as
Exp No 9
ANALOG SIMULATION OF TYPE 0 AND TYPE 1 SYSTEM
AIM:
To study the time response of first and second order type 0 and type- 1 systems.
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)]
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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
T1 is the time constant of time constant 1 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
THEORY:
The type number of the system is obtained from the number of poles located at origin in a
given system. Type 0 system means there is no pole at origin. Type 1 system means there
is one pole located at the origin. The order of the system is obtained from the highest power
of s in the denominator of closed loop transfer function of the system. The first order system
is characterized by one pole or a zero. Examples of first order systems are a pure integrator
and a single time constant having transfer function of the form K/s and K/(sT+1). The second
order system is characterized by two poles and up to two zeros. The standard form of a
second order system is G(s) = n2 / (s2 + 2ns + n2) where is damping ratio and n is
undamped natural frequency.
Block diagram of Type- 1 First order system
Block diagram to obtain closed loop response of Type-0 second order system
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Block diagram to obtain closed loop response of Type-1 second order system
Procedure
PROCEDURE:
1. To find the steady state error of type 0 first order system
1. Connections are made in the simulator kit as shown in the block diagram.
2. The input square wave is set to 2 Vpp in the CRO and this is applied to the REF
terminal of error detector block. The input is also connected to the X- channel of
CRO.
3. The output from the simulator kit is connected to the Y- channel of CRO.
4. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.
5. The gain K is varied and different values of steady state errors are noted.
2. To find the steady state error of type 1 first order system

1. The blocks are Connected using the patch chords in the simulator kit.
2. The input triangular wave is set to 2 Vpp in the CRO and this applied o the REF
CRO.
3. The output from the system is connected to the Y- channel of CRO.
4. The experiment should be conducted at the lowest frequency to allow enough
time for the step response to reach near steady state.
5. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.
6. The gain K is varied and different values of steady state errors are noted.
7. The steady state error is also calculated theoretically and the two values are
compared.
3. To find the closed loop response of type 0 and type- 1 second order system
1. The blocks are connected using the patch chords in the simulator kit.
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2. The input square wave is set to 2 Vpp in the CRO and this applied to the REF
CRO.
3. The output from the system is connected to the Y- channel of CRO.
4. The output waveform is obtained in the CRO and it is traced on a graph sheet.
From the waveform the peak percent overshoot, settling time,rise time, peak time
are measured. Using these values n and are calculated.
5. The above procedure is repeated for different values of gain K and the values are
compared with the theoretical values.
WIRING SEQUENCE:
FOR TYPE 0 SYSTEMS:
+12V-1, GND-2,-12V-3, A1-4, FG-A9, GND-48, A11-A13, A14-CIACH1, 6-A15, A16CIACH0, GND-49.
FOR TYPE 1 SYSTEM:
+12V-1,GND-2,-12V-3,A1-4,6-12,14-38,FG-A9,FG GND-48,A11-A13,A14-CIA CH1,39A15,A16-CIA CH0,CIA GND-49.
RESULT:
The time response of first and second order type-0 and type-1 systems are studied.
1.
2.
3.
4.
5.
6.
Define order and type number.

What are dominant poles?
What is a closed loop system?
What is the effect of negative feedback?
What are poles and zeros of a system?
Define transfer function.
Exp No 10
DC POSITION CONTROL SYSTEM
AIM
To study the behavior of closed loop speed control using PID control
APPARATUS REQUIRED
PID controller kit with the motor, PID software, PC
THEORY
Control system which the output has an effect upon the input quantity in sucha manner
as to maintain the desired output value is called a closed loop system.
The open loop system cvan be modified as closed loop system by providing a feedback.
The provision of feed back automatically corrects the change in output due to disturbances.
Hence the closed loop system is also called closed loop system. The general block diagram of
an automatic control system is given below. It consists of an error detector, a controller, a
plant(open loop system) and feedback path element
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The reference signal(or input signal) corresponds to desired output. The feedback path
elements sampled the output and convert it to a signal of same type as that to reference
detector. The error signal generated by the error detector is the difference between reference
signal and feedback signal. The controller modifies and amplifies error signal to produce
better control action. The modified error signal is fed to the plant to correct its output.
A pair of potentiometers is used to convert the input and output position into
proportional electrical signals. The desired is set on the input potentiometer and the actual
position is fed to feedback potentiometer. The difference between the two angular position
generates an error signal, which is amplified and fed to armature circuit of the DC motor. If
an error exceeds, 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.
1/T1
Kp
Chopper
Motor
Gear
Position sensor
PROCEDURE:
1. PROPORTIONAL CONTROL WITH STEP CHANGE IN SET POINT:
PB 20%, Ti = 64000sec, Td = 0 sec, Kd = 10, Ts = 0.1s, Output lower limit 0, Upper limit
100+reverse action, source for measured variable channel 0, source for set value channel 1.
WIRING SEQUENCE:
+12V-1, -12V-3, GND-2, FG(A17)-A13, A14-CIA CH1, CIA CH0-11, 32-4, CIA GND-36,
CIA DAC O/P(5)-31.
2. PROPORTIONAL + INTEGRAL CONTROL WITH STEP CHANGE SET

POINT:
WIRING SEQUENCE:
CIA DAC O/P(5)-31.
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3. PROPORTIONAL+INTEGRAL+DERIVATIVE
CHANGE IN SET POINT:
CONTROL
WITH
STEP
WIRING SEQUENCE:
CIA DAC O/P(5)-31.
RESULT:
Thus the DC position control system using P, PI, and PID controller is done.
Exp No 11
STEPPER MOTOR CONTROL SYSTEM
AIM:
To write a simple program to interface a stepper motor with 8255 and to interface it.
APPARATUS REQUIRED:
1.
2.
3.
4.
5.
Switched mode power supply

IC port-8255
XPO ST/DC Kit
XPO85 Kit
Stepper motor
PROCEDURE:
For giving the input:
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1.
2.
3.
4.
5.
U5EEA22
Press reset R.
Press sub S.
Press CR 2 times to enter data.
Enter 7A33 in the address then press CR.
Enter the respective data in the respective memory location..
To get the output:
1.
2.
Press reset R
Press G for getting the output.
3. Then press G for getting the output then press CR two times thus the stepper
motor. rotates according to the program.
To enter the missing code in between the program:
1.
2.
3.
Press CNT+CR at the same time.

The input code moves one step before.
Press CR to enter the missing code.
PROGRAM:
ADDRESS
OPCODE
7A33
7A36
7A38
31 00 21
3E 80
D3 0B
7A3A
7A3C
7A3E
7A40
7A42
7A44
7A47
7A4A
16 20
1E 10
3E 00
D3 08
0E 00
21 62 7A
06 04
D3 08
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COMMENTS
START:LXISP,2100
H
MVIA,80H,INIT 8255 PORTS
OUT CR55,A,B,C AS O/P PORTS
MVID,20H,INITIALISE DELAY
COUNTER
MVIE,10H
MVIA,00H
OUT PORT A
MVIC,00H
MVIB,04H
OUTPORT A
VELTECH UNIVERSITY
U5EEA22
7A4C
7A4F
CD 15 06
CD 15 06
7A52
0C
7A53
7A54
7A56
7A59
7A5A
7A5B
7A5E
7A61
7A62
7A63
79
FE 64
CA 61 7A
23
05
C2 49 7A
C3 44 7A
CF
06
09 03
STEP
1
2
3
4
A1
1
0
0
1
ANTICLOCKWISE
A2 B1 B2
DATA
0
0 1
AH
1
0 1
5H
1
1 0
6H
0
1 0
AH

CALL DELAY
CALL DELAY
IHR
C
MOVA,
C
CPI 19H
J2 NEXT
INX H
DCR B
JNZ BACK
JMP AGAIN
NEXT:RST1
DB 0CH
STEP
1
2
3
4
A1
1
0
0
1
CLOCKWISE
A2
B1
B2
0
0
1
1
1
0
1
0
1
0
0
1
DATA
AH
6H
5H
AH
RESULT:
Thus the stepper motor was interfaced with the 8051 microcontroller and
motor is rotated in forward and reverse direction.
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U5EEA22

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VELTECH UNIVERSITY

CONTROL SYSTEMS LAB MANUAL

DETERMINATION OF TRANSFER FUNCTION OF

AIM: To determine the transfer function of armature controlled DC servo motor.

(s) / Va(s) = Km / [s (1+sa)(1+sm ) + (Kb Kt /RaB)]

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Angular velocity in rad/ sec = 2N / 60

Remove the load and Switch on the module.

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

SPEED Vs TORQUE CHARACTERISTICS

Determine the following in the process.

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Define transfer function.

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF

AIM: To determine the transfer function of field controlled DC servo motor.

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Field time constant Tf = Lf / Rf

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Armature Voltage, Va1

Armature Current, Ia1

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Field Voltage, Va1

Field Current, Ia1

Field Voltage, Vf2

Field Current, If2

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

DETERMINATION OF TRANSFER FUNCTION OF

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Control Voltage = 200 V (rated Voltage)

Graph of Torque Vs Speed

Apply the rated voltage 230 V to the control winding.

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

DIGITAL SIMULATION OF FIRST ORDER SYSTEMS

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

Rise time, tr = -/d

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

CONTROL SYSTEMS LAB MANUAL

DIGITAL SIMULATION OF SECOND ORDER SYSTEM

To simulate the time response of second order system using MATLAB

CONTROL SYSTEMS LAB MANUAL