Exp 1

Download as docx, pdf, or txt
Download as docx, pdf, or txt
You are on page 1of 33

SARGUN SINGH 21104140

CONTROL SYSTEM

LAB EXPERIMENTS

SUBMITTED BY-

Sargun Singh
21104140
SARGUN SINGH 21104140

INDEX

S.NO AIM
1 1) to study rlc (second order) system

2) to study step response of rlc seond order system

2 To study the response of a variety of simulated linear systems and to

correlate the studies with theoretical results

3 To study the pid control

4 To observe the process characteristics of time vs temp

5 To study open loop and closed loop temperature controller:

6 Study of error detector. Position control through step command.

7 To draw nyquist plot of open loop transfer loop functions and examine

the stability of the closed loop system

8 Plot bode plot of given transfer function. Also determine the relative

stability by measuring gain and phase margins.

9 Plot the nyquist plot for given transfer function and to discuss closed loop

stability.
SARGUN SINGH 21104140

EXPERIMENT – 1

Objectives:-

1) To study RLC (Second order) System

2) To study Step Response of RLC Seond Order System

Instruments Required:-
C.R.O, Function Generator, DMM

Components Used:-

R₁ =10062, R21K, R₁ = 10K, C₁ =0.01 µf, C₂ = 0.022uf, C3=1000uf. L = 68mh

Theory:-

RLC circuit (resistance, inductance and the capacitor elements connected in series) is used in
as a second order system. A step input is applied to obtain the time response and a sine
function is applied for frequency response of the system. The responses of the second order
system to these inputs are analyzed and they are compared with the theoretical results

The RLC circuit shown in Figure 1 can be described by an equation containing the complex
variables of the Laplace transform. The denominator of this equation becomes zero for
certain values of s. Since these values represent the characteristics of the circuit, the
denominator being equal to zero is known as the characteristic equation of the circuit. The
roots of this equation plotted in the s plane are shown in Figure 2. If the roots are complex
conjugates, the system is under damped and will exhibit oscillations. If the roots are real and
equal, the system is critically damped while two real unequal roots indicate an over damped
system

The characteristic equation of the system can (and should) be factored to have the following
form:

x²+203+00, -0. a and, (the undamped natural frequency) are as illustrated in Figure 2.
However, the damping factor, E, is related to a and con through Ealeo. Therefore the
characteristic equation may be written as:

s²+250,s+w² = 0.

If E<1, then the system is underdamped,


If E=1, then the system is critically damped,
If E>1, indicates an overderdamped system
SARGUN SINGH 21104140

se

Procedure:

1) Study the circuit provided on the front of the kit.


2) Select the RLC network with R from R1 R2 R and C from C1 C2 C3
3) Apply the low frequency square wave as step input of V to the second order system from
function generator or apply DC I/P_V say 10V from the variable DC Supply provided on the
kit
4) Connect the CRO at the I/P & O/P side of the system or connect the digital voltmeter at the
output.
5) Observe the effect of each parameter on the system such as the oscillations, steady state
error etc. 6) Using equation of on and get the theoretical value and the corresponding
practical values from plot. Observe and note the waveform of second order under damped
system on CRO and note down the values of Mp,Tp,Tr & Ts
7) Repeat the above steps for the other network.
8) For the applied Sine wave I/P the circuit will work as a RLC series circuit.
SARGUN SINGH 21104140

RESULT
Thus the second order RLC system to study its time constant is studied

EXPERIMENT – 2

LINEAR SYSTEM SIMULATOR


1. OBJECT
To study the response of a variety of simulated linear systems and to correlate the studies
with theoretical results

2. EQUIPMENT DESCRIPTION
The present set up has been designed to provide a convenient means of studying. the transient
response of linear systems. Special attention has been given at every stage to make the
systems operationally simple and straightforward. Instead of bothering The students with
system configuration, disturbance points etc Block diagram approach has been employed as a
standard technique with Fig 1 depicting the features available to the user. A description of the
various subsystems is presented next, an understanding of which is necessary for both
conducting the routine and designing more advanced ones.

2.1 SIGNAL SOURCES

There are three built-in sources in the unit with the following nominal specifications actual
values may vary somewhat from unit to unit without causing any limitations to the scope of
the experiment.

Square Wave-
1. Frequency 20-80 Hz (variable).
2. p-p amplitude 0-2 Volt (variable)
Triangular-
1. Frequency 20-80 Hz (variable)
2. p-p amplitude 0-2 Volt (variable)-

Trigger-
1. Frequency 20-80 Hz (variable)
2. Amplitude 15 Volt (approx)

All the above sources are derived from the same basic circuit and are therefore synchronized.
They are uncalibrated both in frequency and amplitude, are zero balanced and grounded to a
common earth. The actual frequency in a particular experiment could be easily measured on
the CRO
SARGUN SINGH 21104140

BUILDING BLOCKS

A dynamic system of the desired configuration may be constructed by a suitable


interconnection of the basic blocks available. To avoid unnecessary commodation. these
blocks are all pre-wired; they all have fixed transfer functions and handle signals referred to a
common ground. These are therefore easily identified with the familiar pictorial
representation of a block diagram, with one difference viz., all blocks in this system have
transfer function with a negative sign. Following types of blocks have been included in the
system

(a) Error Detector-Cum-Gain: The block has three inputs (e1, e2, and e3) and one output (e0)
which are related by expression
E0 = -K(e1+e2+e3)
where K is the gain. The value of K may e varied form 0 to 10 by a ten-turn potentiometer
having a calibrated dial. This block may be used as a simple error detector (with one signal
inverted) in a multiple loop system or simply as an adder.
(b) Integrator: The integrator block has an approximate transfer function of the form K1/s and
is used in simulating type-1 system having a pole at the origin. Nominal value of K1 is 10.
(c) Time Constant: The two time constant blocks in the system have transfer functions of the
from -K1/(ST+1) each. The second block has an x5 option which results in a higher gain if
necessary. Nominal values of gains are K,=K,=10 and of time constant are T1 = T2 = 10
msec.
(d) Disturbance Adder: This is a two input (e1 , e2) one output (e0) block having a defining
equation of the form.
E0 = -(e1+e2)
The block can have applications similar to the error detector.
(e) Uncommitted Amplifier: While completing the feedback path, one might need to invert
the signal so that the resulting system is a negative feedback system. The uncommitted
amplifier is used specifically for this purpose.

POWER SUPPLY
The set-up has an internal +/- 12V IC regulated power supply, which is permanently
connected to all the circuits. The power supply and all the circuits are short circuit protected
and will not get damaged under normal operation. No external do supply should be connected
to the unit. With the help of the above sub-systems a very large variety of simulated systems.
can be constructed. Besides single-output systems this would include multi-input systems
with feedforward path and systems with minor loops as well.
Considering the time constrains in the laboratory class, a limited number of basic experiments
have been proposed in the following pages, which are compatible with the average course
content of the subject. A good quality dual trace measuring oscilloscope is the only external
equipment required for the experiments
SARGUN SINGH 21104140

 OPEN LOOP
SARGUN SINGH 21104140

===
SARGUN SINGH 21104140

 CLOSED LOOP
SARGUN SINGH 21104140
SARGUN SINGH 21104140

EXPERIMENT - 3

AIM : To study the PID control

EQUIPMENT REQUIRED
1. Temperature System Simulator
2. A stop watch

PROCEDURE

1. From the response curve taken in experiment 1, apply Kp. Ki and Kd value
2. Set S. P. at 60". Select oven temperature at display reading. Switch ON the heater and
start the stop watch. Note the temperature at regular intervals at 10 seconds
3. Plot the response curve from the results obtained from the experiment. Find out the %
error from the plot as Tset - Toven/ Tset x100.
4. Change the temperature setting and adjust Kp according to it. Note as given in page 5,
the Ki and Kd is effected by Kp, and system constant does effect only Kp (see table at
page 7).
5. Take a final curve from the controlled process. Find out Mp and Tp from the curve.
Calculate te damping factor and undamped natural frequency. Write the transfer
function of the system
SARGUN SINGH 21104140

AFTER TUNING

 P
At P =1

AT P=10
SARGUN SINGH 21104140

 PI
P=1, I=1

P=1, I=1, T= 10000

P=10, I=1
SARGUN SINGH 21104140

RESULT:
SARGUN SINGH 21104140

EXPERIMENT - 4
AIM : To observe the process characteristics.

EQUIPMENT REQUIRED
1. Temperature System Simulator
2. A stop watch

PROCEDURE

1. Connect the oven with the set up. Keep 'ION' switch towards off. Keep Heater switch
in off position. The D control at minimum and P control at centre 12'o clock position
(dial setting 5).
2. Switch ON the power. The display will be ON. Select Temperature switch (situated
just below of display) to OVEN side. Note the temperature when heater is off
3. Now select the Temperature selector to S.P. side. Adjust SET POINT control to raise
the reference temperature about 20 degree.
4. Select the Temperature selector again to oven. Switch ON the heater and start the
stop watch simultaneously. Note the oven temperature at 5, 10, 20, 30 seconds till the
temperature becomes stable at any degree. 1.5 Plot the curve between the temperature
and the time. Find out the inflation point where the temperature. Draw the tangent line
and find out the values of T and L.
SARGUN SINGH 21104140

OBSERVATION:
SARGUN SINGH 21104140

TIME(SECS) TEMP
0 24.6
10 26
20 29
30 33
40 37.2
50 41.2
60 45.7
70 48.8
80 51.3
90 52.9
100 53.4
110 53.1
120 52.2
130 50.8
140 49.3
150 47.8
160 46.3
170 45.3
180 45.3
190 46.1
200 47.5
210 49
220 50.1
230 50.8
240 50.9
250 50.7
260 50.3
270 49.5
280 48.7
290 48
300 47.6
310 47.5
320 47.8
330 48.4
340 48.9
350 49.4
360 49.7
370 49.8
380 49.7
390 49.4
SARGUN SINGH 21104140

400 49.1
410 48.8
420 48.5
430 48.3
440 48.3
450 48.4
460 48.7
470 48.9
480 49
490 49.2
500 49.3
510 49.3
520 49.2
530 49
540 48.9
550 48.8
560 48.7
570 48.6
580 48.7
590 48.8
600 48.9

TEMP
60

50

40

30
TEMP

20

10

0
0 30 60 90 120 150 180 210 240 270 300 330 360 390 420 450 480 510 540 570 600

TIME

RESULT:
SARGUN SINGH 21104140

EXPERIMENT – 5

Aim
To study open loop and closed loop temperature controller:

Circuit Description:
The figure shown on the front panel of the board is Open & Closed loop temperature control
system. The actuator Set I/P Vref is set by "Ref Adj" as Vref to the OP-Amp as summing
amplifier which drives the Heater driver circuit. The RTD Temperature sensor and Error
circuit generates F/B or Error O/P VF (Ve). This feed back O/P may be feedback to V or V
This would select the different temperature cutt-off. When the F/B is Open the circuit will
work as an "OPEN LOOP" temperature controller. When the F/B is connected through either
V or Vi₂ then Heater temperature will set the respective temperature cut-off. The
Temperature Indicator display the Heater temperature in °C.

Circuit diagram

Procedure
(A) OPEN LOOP TEMPERATURE CONTROLLER:
1. Study the circuit provided on front panel of the kit
2. Connect the Heater and RTD sensor in the circuit. Keep the F/B Connection OPEN.
3. Now Connect the set I/P Vref in circuit. Ensure Initially the Heater is in OFF State.
4. Now Vary the Set I/P Adj to Turn-On the Heater.
5. Observe that the Heater temperature goes on increasing and heater will not turn off at any
temperature. Such a operation is called as Open loop Control Temperature controller.
6. Repeat the above steps for different values of Set I/P Vref.

(B) CLOSED LOOP TEMPERATURE CONTROLLER:


SARGUN SINGH 21104140

1. Study the circuit provided on front panel of the kit.


2. Connect the Heater and RTD sensor in the circuit.
3. Make all the connections shown by dotted lines. Connect the F/B Connection to V or VF2.
4. Now Connect the set I/P Vref in circuit. Ensure Initially the Heater is in OFF State.
5. Now Vary the Set I/P Adj to Turn-On the Heater.

Observation
CLOSED LOOP

On OFF
Temperature 32.4 39.2
Temperature 31.2 33.6

Conclusion
In open loop system, when heater is switched on, the temperature keeps on increasing.
In closed-loop system, initially, the heater is off, and fan is on and temperature keeps on
decreasing. At a particular temperature, the heater switches on and temperature increases. At
a certain temperature heater switches off and this is repeated.

EXPERIMENT – 6
SARGUN SINGH 21104140

AIM- STUDY OF ERROR DETECTOR. POSITION CONTROL


THROUGH STEP COMMAND.

EXPERIMENTAL PROCEDURE

Set gain KA = 4 . Position reference pot to 120°

Connect CRO one channel at reference socket (V,). Note the signal amplitude in
VA, p-p.

Connect other channel with feedback socket (v;,) and


measure the AC p-p voltagethere as V0.
Now apply step signal and note the rms signal value at Vr socket

After elapse of time when motor move to previous position (11


second later) move the reference dial for same reading obtained with
step signal. Note the dial position and out the step signal actuation
in degree.
For example start degree is 120 and newer is 200 than step signal actuation is
equal to 200 - 120 = 80°.
Now remove CRO one channel connected with feedback socket, and connect it
with the error output socket EH
Apply step command and note the error output ( a noisy signal may
appear in mV order)

e 00 = error output

constant c in deg.·
SARGUN SINGH 21104140

Set gain KA =7, Apply same step and find out the e,,.
Connect
0

back
1 with is is voltage at 120° and
SARGUN SINGH 21104140

initial value and vo’ _is_finaI v_a-1l e, where v


applying step signal in steady state.
after

RESULT:
SARGUN SINGH 21104140

EXPERIMENT-7

Aim
To draw nyquist plot of open loop transfer loop functions and examine the stability of the
closed loop system

Procedure:
1. Introduction
Nyquist plots are a valuable tool in the analysis and design of control systems. They offer a
graphical representation of the frequency response of a system, which helps engineers and
scientists gain insights into the system's stability, performance, and dynamic behaviour. In
this experiment, we will explore Nyquist plots and their crucial role in control system
analysis.

2. Mathematical Background
Mathematical Foundation of Nyquist Plots:
A Nyquist plot is a graphical representation of the frequency response of a system. It is
constructed by mapping the complex values of the system's transfer function, G(s), as s varies
over the complex plane. The key equations and concepts for Nyquist plots include:
1. Transfer Function (G(s)): The transfer function is a mathematical representation of a
linear time-invariant system. It relates the Laplace transform of the system's output to the
Laplace transform of its input. The general form of a transfer function is:
G(s) = Y(s) / X(s)
Where G(s) is the transfer function, Y(s) is the Laplace transform of the system's output,
and X(s) is the Laplace transform of the input.
2. Complex Frequency (s): In the Laplace domain, s is a complex variable with a real part
(σ) and an imaginary part (jω), where σ represents the damping and ω represents the
frequency. The Nyquist plot analyses how the system responds to different values of s.

3. Nyquist Path: The Nyquist plot is created by tracing the behaviour of G(s) as s varies over
a semi-circular path in the right-half complex plane. This path is typically along the
imaginary axis and extends to infinity.

4. Nyquist Plot Points: At each point along the Nyquist path, you calculate the complex
value of G(s), yielding G(jω) for each ω. These values are plotted as points on the Nyquist
diagram.

Relationship to Transfer Function:


The relationship between the Nyquist plot and the transfer function is established through
G(jω), where ω represents the frequency of the input signal. The Nyquist plot shows the
system's behavior at different frequencies. When the Nyquist path is traced, you examine the
behavior of G(s) at various complex frequencies, which is crucial in understanding system
stability, performance, and control.
SARGUN SINGH 21104140

Key Stability Concepts:


1. Time Constant (τ): The time constant of a system is a measure of how quickly the system
responds to changes in the input. It can be calculated as the reciprocal of the real part of the
dominant pole of the system's transfer function:
τ = 1 / Re{Pole}
2. Gain (K): The gain of a system represents the amplification factor for a unit input. In the
context of Nyquist plots, it corresponds to the magnitude of G(jω) at ω = 0:
K = |G(j0)|
3. Gain Margin: The gain margin measures the system's robustness to variations in gain (K).
It is the amount by which the system gain can be increased without causing instability. It is
typically measured in decibels (dB).
4. Phase Margin: The phase margin quantifies the system's stability in terms of phase shift.
It is the amount by which the phase of G(jω) can be increased before the system becomes
unstable. It is typically measured in degrees.

3. MATLAB Setup
a. Launch MATLAB on your computer.
b. Create a new script or function file for implementing Nyquist plots and stability analysis.
4. Nyquist Plot and Stability Analysis for a Single Transfer Function
a. Define the transfer function. For example, consider a system with the following transfer
function:
G = tf([1], [1, 2, 1])
b. Compute the Nyquist plot for the defined transfer function and visualize it:
nyquist(G);
c. Calculate and display the gain and phase margin:
[GM, PM, WC] = margin(G);
d. Calculate the time constant (if applicable) using the transfer function parameters
[num, den] = tfdata(G, 'v');
time_constant = -1 / min(real(roots(den)))
e. Customize the plot with labels, titles, and other necessary information
title('Nyquist Plot for G(s) = 1 / (s^2 + 2s + 1)');
xlabel('Real');
ylabel('Imaginary');
f. Save the plot for documentation purposes.

5. Nyquist Plot and Stability Analysis for Multiple Transfer Functions


If you want to analyze multiple transfer functions, repeat steps 4 for each of them. Compare
the Nyquist plots and stability parameters to understand system behavior.

Transfer function :
10
1.
( s+2)( s+5)
SARGUN SINGH 21104140

( s +2 )
2.
( s +1 )( s−1 )

3. Gain = 1, Pole = -1, 0, -2

4. Zeroes = -3, -5 and Poles= 2,4


SARGUN SINGH 21104140
SARGUN SINGH 21104140

RESULT:
SARGUN SINGH 21104140

Experiment 8

Objective: Plot bode plot of given transfer function. Also determine the relative stability by
measuring gain and phase margins.

Apparatus Used: MATLAB with Control System Toolbox

Theory: The Bode plot of a transfer function is a very useful graphical tool for the analysis
and design of linear control systems in the frequency domain. Before the inception of
computers, Bode plots were often called the “asymptotic plots,” because the magnitude and
phase curves can be sketched from their asymptotic properties without detailed plotting.
Modern applications of the Bode plot for control systems should be identified with the
following advantages.

Matlab Code:
num=[1,2];
den=[1,5,0];
sys1=tf(num,den)
% step(sys1)
bode(sys1)

Result :
bode_plot
s+ 2 s +2
sys 1 = 2 , sys2 =
s +5s s +5
Continuous-time transfer function.

Plot :
SARGUN SINGH 21104140

Precautions:
1. Program must be written carefully to avoid errors.
2. Programs can never be saved as standard function name.
3. Functions in MATLAB case sensitive so commands must be written in proper format

Experiment 9

Objective: Plot the Nyquist plot for given transfer function and to discuss closed loop
stability.

Apparatus Used: MATLAB with Control System Toolbox.


SARGUN SINGH 21104140

Theory: It is a graphical technique for determining the stability of linear time-invariant


system. Considering the closed loop system shown.

For stability, all the roots of the characteristic equation 1+GH(s) = 0 must lie in the lefthalf
plane. • Note that open loop transfer function of a stable system may have poles in the left
half plane. • Nyquist stability criteria relates the open-loop transfer functions and the poles of
the characteristic function.

Matlab Code :
num=[1,2];
den=[1,0,-1];
sys1=tf(num,den)
% step(sys1)
nyquist(sys1)

Result :
nyquist_plot
s+2
sys1 = 2
s −1
Continuous-time transfer function.

s+2
sys2 = 2
s + 2 s−1
Continuous-time transfer function.
Plot :
SARGUN SINGH 21104140

Precautions:
1. Program must be written carefully to avoid errors.
2. Programs can never be saved as standard function name.
3. Functions in MATLAB case sensitive so commands must be written in proper format.

EXPERIMENT 10
AIM:

Objective : Plot root locus of given transfer function

Apparatus : MATLAB with Control System Toolbox.


SARGUN SINGH 21104140

Theory → Introduction of Root Locus: The root locus of an (open-loop) transfer function
H(s) is a plot of the locations (locus) of all possible closed-loop poles with proportional gain
K and unity feedback.

The closed-loop transfer function is: Y(s) / R (s) = KH (s) / 1+ K H(s)


and thus the poles of the closed-loop system are values of such that 1 + K H(s) =0

Code in Matlab :

RESULT:

You might also like