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Control Systems Laboratory Manual

DEPARTEMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

EE 47- CONTROL SYSTEM LABORATORY MANUAL ACADEMIC YEAR 2011-2012

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PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE

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Control Systems Laboratory Manual

LIST OF EXPERIMENTS

1. Determination of transfer function of DC Servomotor 2. Determination of transfer function of AC Servomotor. 3. Analog simulation of Type - 0 and Type 1 systems 4. Determination of transfer function of DC Generator 5. Determination of transfer function of DC Motor 6. Stability analysis of linear systems 7. DC and AC position control systems 8. Stepper motor control system 9. Digital simulation of first systems 10. Digital simulation of second systems

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Control Systems Laboratory Manual

TRANSFER FUNCTION OF DC SERVO MOTOR EXPT.NO : DATE AIM: To determine the transfer function of the DC servomotor APPARATUS REQUIRED: S.No Name of the Equipment Range Type Quantity :

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THEORY:
Speed can be controlled by varying (i) flux per pole (ii) resistance of armature circuit and (iii) applied voltage. It is known that N Eb. If applied voltage is kept, Eb = V IaRa will

Remain constant. Then, N

By decreasing the flux speed can be increased and vice versa. Hence this method is called field control method. The flux of the DC shunt motor can be changed by changing field current, Ish with the help of shunt field rheostat. Since the Ish relatively small, the shunt filed rheostat has to carry only a small current, 2 which means Ish R loss is small. This method is very efficient. In non-interpolar machines, speed can be increased by this methods up to the ratio 2: 1. In interpolar machine, a ratio of maximum to minimum speed of 6:1 which is fairly common. FORMULA: Armature Control D.C. Servo motor: It is DC shunt motor designed to satisfy the requirements of the servomotor. The field excited by a constant DC supply. If the field current is constant then speed is directly proportional to armature voltage and torque is directly proportional to armature current. Transfer Function = Km = Tm = Kt = Eb = Constant Values J = B = Km S (1 + TmS) 1 / Avg Kb JRa / Kb Kt T / Ia V-Ia Ra 0.039 Kg m 0.030 N / rpm
2

Field Control D.C. Servo motor: It is DC shunt motor designed to satisfy the requirements of the servomotor. In this motor the armature is supplied with constant current or voltage. Torque is directly proportional to field flux controlling the field current controls the torque of Kb = Eb / Sl.No If Ia S1 S2 N V T Eb

the motor. K Transfer Function = Js (1 + s) K = Kt / Rf 2 = Lf / Rf = V Zf Rf2 / 2 f / Rf = 2 N / 60 T = r ( S1 S2 ) * 9.81 N-m and r = .075m


2

OBSERVATION TABLE FOR TRANSFER FUNCTION ARMATURE CONTROL DC SERVO MOTOR: Table No. 1 Finding the value of Kb

Avg Kb Table No. 2 To find Ra Sl.No Volt Va Current Ia Ra = Va / Ia

Avg Ra =

PRECAUTIONS: At starting, The field rheostat should be kept in minimum resistance position PROCEDURE FOR TRANSFER FUNCTION OF ARMATURE CONTROL DC SERVOMOTOR:

Finding Kb 1. Keep all switches in OFF position. 2. Initially keep voltage adjustment POT in minimum potential position. 3. Initially keep armature and field voltage adjustment POT in minimum position. 4. Connect the module armature output A and AA to motor armature terminal A and AA respectively, and field F and FF to motor field terminal F and FF respectively. 5. Switch ON the power switch, S1, S2. 6. Set the field voltage 50% of the rated value. 7. Set the field current 50% of the rated value. 8. Tight the belt an take down the necessary readings for the table 1 to find the value of Kb. 9. Plot the graph Torque as Armature current to find Kt. Finding Ra 1. Keep all switches in OFF position. 2. Initially keep voltage adjustment POT in minimum position. 3. Initially keep armature and field voltage adjustment POT in minimum potential position. 4. Connect module armature output A and AA to motor armature terminal A to AA respectively. 5. Switch ON the power switch and S1. 6. Now armature voltage and armature current are taken by varying the armature POT with in the rated armature current value. 7. The average resistance value in the table -2 gives the armature resistance.

PROCEDURE FOR TRANSFER FUNCTION OF FIELD CONTROL D.C. SERVOMOTOR: Finding Rf 1. Keep all switches in OFF position. 2. Keep armature field voltage POT in minimum potential position. 3. Initially keep armature and field voltage adjustment POT in minimum potential position. 4. Connect module filed output F and FF to motor filed terminal F and FF respectively.

5. Switch ON the power, S1 and S2. 6. Now filed voltage and filed current are taken by varying the armature POT with in the rated armature current value. 7. Tabulate the value in the table no 3 average resistance values give the fied resistance. Finding Zf 1. Keep all switches in OFF position. 2. Keep armature and field voltage POT in minimum position. 3. Initially keep armature and field voltage adjustment POT in minimum position. 4. Connect module varaic output P and N to motor filed terminal F and FF respectively. 5. Switch on the power note down reading for the various AC supply by adjusting varaic for the table no 4. Finding Ktl 1. Keep all switches OFF position. 2. Initially keep voltage adjustment POT in minimum potential position. 3. Initially keep armature and field voltage adjustment POT in minimum position. 4. Connect the module armature output A and AA to motor armature terminal and AA respectively, and field F and FF to motor field terminal F and FF respectively. 5. Switch ON the power switch, S1 and S2. 6. Set the filed voltage at rated value (48V). 7. Adjust the armature voltage using POT on the armature side till it reaches the 1100 rpm. l 8. Tight the belt and take down the necessary reading for the table 5 Kt l 9. Plot the graph Torque as Field current to find Kt OBSERVATION TABLE FOR TRANSFER FUNCTION OF ARMATURE CONTROL DC SERVO MOTOR: Table No:3 To find Rf Sl.No If (amp) Vf (Volt) Rf (ohm)
l

Control Systems Laboratory Manual

Avg Rf = Table No:4 To find Zf Sl.No If (amp) mA Vf (Volt) Zf = Vf / If

Table No: 5 To find Sl.No If

l Kt

Avg Zf = Ia S1 S2 T( N m) N (rpm)

MODEL GRAPH:

Kt = T / If

Kt = T / Ia

PREPARED BIfY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Ia

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Field Current

Control Systems Laboratory Manual Armature Current

Control Systems Laboratory Manual

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

MODEL CALCULATION:

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Control Systems Laboratory Manual

Result:

TRANSFER FUNCTION OF AC SERVO MOTOR EXPT.NO : DATE AIM:


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Control Systems Laboratory Manual

To determine the transfer function of the given AC servomotor APPARATUS REQUIRED: S.No Name of the Equipment Range Type Quantity

NAME PLATE DETAILS: OUTPUT VOLTAGE CURRENT SPEED FUSE RATINGS: Blocked rotor test: 125% of rated current. THEORY: An servo motor is basically a two phase induction type except for certain special design features. A two phase servomotor differ in the following two ways from a normal induction motor. The rotor of the servomotor is built with high resistance. So that its X / R (Inductive reactance / resistance) ratio is small which result in liner speed torque characteristics. The excitation voltage applied to two stator winding should have o a phase difference of 90 WORKING PRINCIPLE OF AC SERVOMOTOR Voltages of equal rms magnitude and 90 phase difference excite the stator winding. These results in exciting current i1 and i2 that are phase displaced by 90 and have equal rms value. These current are rise to a rotating magnetic field of constant magnitude. The direction of rotation depends on the phase relationship of the two current (or voltage).
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o o

: : : :

Control Systems Laboratory Manual

The rotating magnetic field sweeps over the rotor conductor. The rotor conductors experience a change in flux and so voltage are induced in rotor conductors. This voltage circulates current in the short circuited rotor conductors and the current creates rotor flux. Due to the interaction of stator and rotor flux, a mechanical force (or torque) is developed on the rotor and the rotor starts moving in the same direction as that of rotating magnetic field.

FORMULA: Laplace Transform of output Transfer Function = Laplace Transform of input (s) / Es(s) = K1 / sJ + K2 + B = Km / 1 + s ------ (1) Km = K1 / (K2 + B) ------------------------------- motor gain constant (2)
m

= J / (K2 + B) ---------------------------------- motor time constant (3)

Torque (T) = 9.81 * r * s Nm S = applied load in Kg R = radius of shaft in m = 0.068 m Constant Values: J = 52 gmcm = 0.05kg cm , B = 0.01875 Table No: 1 OBSERVATION TABLE FOR DETERMINIG MOTOR CONSTANT K1 : S.No Load (kg) Control Voltage (Vc) Torque (Nm)
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2 2

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Table No: 2 OBSERVATION TABLE FOR DETERMINING MOTOR CONSTANT K2 : S.No Speed (N) rpm Load (kg) Torque (Nm)

PRECAUTIONS: i. ii. iii. Initially DPST switch should be in open condition. Keep the autotransformer in minimum potential position. In blocked rotor test, block the rotor by tightening the belt around the the brake drum before starting the experiment.

BLOCK DIAGRAM OF SERVOMOTOR

PROCEDURE: For determining motor constant K1 1. Keep variac in minimum potential position. 2. Connect banana connectors Pout to Pin and Nout to Nin. 3. Connect 9pin D connector from the motor feed back to the input of module VPET 302. 4. Switch ON the 230V AC supply of the motor setup. 5. Switch ON the power switch. 6. Switch ON the S2 (main winding) and S1 (control winding) switches. 7. Set the rated voltage (230V) to control phase using VARIAC. 8. Apply load to the motor step by step until it reaching 0 rpm. 9. Take necessary readings for the table -1. 10.To calculate K1 plot the graph torque vs control winding.

For determining motor constant K2 1. Keep variac in minimum potential position. 2. Connect banana connectors Pout to Pin and Nout to Nin. 3. Connect 9pin D connector from the motor feed back to the input of module VPET 302. 4. Switch ON the 230V AC supply of the motor setup. 5. Switch ON the power switch. 6. Switch ON the S2 (main winding) and S1 (control winding) switches.

7. Set the rated voltage (230V) to control phase using VARIAC. 8. Apply load to the motor step by step until it reaches 0 rpm. 9. Take necessary readings for the table -2. 10.To calculate K2 plot speed vs torque curve.

MODEL GRAPH MOTOR CONSTANT K2 MOTOR CONSTANT K1

K2 = T / N V N

K1= T / V Speed in rpm

Speed in rpm

MODEL CALCULATION:

Control Systems Laboratory Manual

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

Result:

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. APPARATUS REQUIRED: 1. Linear system simulator kit 2. CRO FORMULAE USED: PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE 17 Page

Control Systems Laboratory Manual 1. Damping ratio, = (ln MP) / ( + (ln MP) ) Where MP is peak percent overshoot obtained from the response graph 2 2. Undamped natural frequency, n = / tp (1 - ) Where tp is peak time obtained from the response graph 3. Closed loop transfer function of type-0 second order system is C(s) / R(s) = G(s) / 1+G(s) Where G(s) = K K2 K3 / [(1+sT1) (1 + sT2)] K is the gain K2 is the gain of the time constant 1 block =10 K3 is the gain of the time constant 2 block =10 T1 is the time constant time constant 1 block = 1 ms T2 is the time constant time constant 2 block = 1 ms 4. Closed loop transfer function of type-1 second order system is C(s) / R(s) = G(s) / 1+G(s) Where G(s) = K K1 K2 /[s (1 + sT1)] 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 Theoretical Values of n and can be obtained by comparing the co-efficients of the denominator of the closed loop transfer function of the second order system with the standard format of the second order system where the standard format is 2 2 2 C(s) /R(s) = n / s + 2 ns + n THEORY: The type number of the system is obtained from the number of poles located at origin in a given system. Type 0 system means there is no pole at origin. Type 1 system means there is one pole located at the origin. The order of the system is obtained from the highest power of s in the denominator of closed loop transfer function of the system The first order system is characterized by one pole or a zero. Examples of first order systems are a pure integrator and a single time constant having transfer function of the form K/s and K/ (sT+1). The second order system is characterized by two poles and upto two zeros. The 2 2 2 standard form of a second order system is C(s) /R(s) = n / (s + 2 ns + n ) where is damping ratio and n is undamped natural frequency. BLOCK DIAGRAM: 1. To find steady state error of type- 1 system
2 2 2

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Control Systems Laboratory Manual

2. To find steady state error of type- 0 system

3. To find the closed loop response of Type-1 second order system

4. To find the closed loop response of Type-0 second order system

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Control Systems Laboratory Manual

PROCEDURE: 1. To find the steady state error of type 1 first order system 1. The blocks are connected using the patch cords in the simulator kit. 2. The input triangular wave is set to 1 V peak to peak in the CRO and this is applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3. The output from the system is connected to the Y- channel of CRO. 4. The experiment should be conducted at the lowest frequency so keep the frequency knob in minimum position 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. 2. To find the steady state error of type 0 first order system 1. The blocks are connected using the patch cords in the simulator kit. 2. The input square wave is set to 1 V peak to peak in the CRO and this is applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3. The output from the system is connected to the Y- channel of CRO. 4. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical displacement between the two curves. 5. The gain K is varied and different values of steady state errors are noted. 3. To find the closed loop response of type 0 and type- 1 second order system 1. The blocks are connected using the patch cords in the simulator kit. 2. The input square wave is set to 1 V peak to peak in the CRO and this is applied to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO. 3. The output from the system is connected to the Y- channel of CRO. 4. The output waveform is obtained in the CRO and it is traced on a graph sheet. From the waveform the peak percent overshoot, settling time, rise time, peak time are measured. Using these values n and are calculated. PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE Page 20

Control Systems Laboratory Manual 5. The above procedure is repeated for different values of gain K and the values are compared with the theoretical values. TABULAR COLUMN: 1. To find the steady state error of type 1 first order system S.No. Gain ,K Steady state error ess (V)

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

3. To find the closed loop response of type 0 second order system S.No. Ga Peak in, percent K Overshoot, %MP Rise time, tr (sec) Peak time, tp (sec) Settling time,ts (sec) Graphical Theoretical Undamped natural frequency, n(rad/sec)

Dam Undamped Dam ping natural ping ratio frequency, ratio n (rad/sec)

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Control Systems Laboratory Manual 4. To find the closed loop response of type 1 second order system S.No. Gain, Peak K percent Overshoot, %MP Rise time, tr (sec) Theoretical Peak Settling Graphical time, time,ts Dam Undamped Damping Undamped tp (sec) ping natural ratio natural (sec) frequency, ratio frequency, n n(rad/sec) (rad/sec)

MODEL GRAPH:

MODEL CALCULATION:

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Control Systems Laboratory Manual

STABILITY ANALYSIS OF LINEAR SYSTEM


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Control Systems Laboratory Manual

EXPT.NO : DATE AIM: (i) (ii) To obtain the bode plot, Nyquist plot and root locus of the given transfer function. To analysis 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 a 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. Polar plot (Nyquist plot) 3. Nichols plot 4. M and N circles 5. Nichols chart Bode plot: The bode plot is a frequency response plot of the transfer function of a system. A bode plot consists of two graphs. One is plot of the magnitude of a sinusoidal transfer function versus log . The other is plot of the phase angle of a sinusoidal transfer function versus log . The main advantage of the bode plot is that multiplication of magnitude can be converted into addition. Also a simple method for sketching an approximate log magnitude curve is available.
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Control Systems Laboratory Manual

Polar plot: The polar plot of a sinusoidal transfer function G (j ) on polar coordinates as is varied from zero to infinity. Thus the polar plot is the locus of vectors G (j ) 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) plane corresponding to Nyquist contour in s-plane encircles the point 1+j0 in the anti clockwise direction as many times as the number of right half s-plain 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 roots of the characteristics equation when open loop gain K is varied from 0 to are called root loci (or the path taken by a root of characteristic equation when open loop gain K is varied from 0 to is called root locus.) Frequency Domain Specifications: The performance and characteristics of a system in frequency domain are measured in term of frequency domain specifications. The requirements of a system to be designed are usually specified in terms of these specifications. The frequency domain specifications are 1. Resonant peak, Mr 2. Resonant Frequency, r. 3. Bandwidth. 4. Cut off rate 5. Gain margin 6. Phase margin
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Control Systems Laboratory Manual

Resonant Peak, Mr The maximum value of the magnitude of closed loop transfer function is called the resonant peak, Mr. A large resonant peak corresponds to a large over shoot in transient response. Resonant Frequency,
r

The bandwidth is the range of frequency for which the system gain is more than -3db. The frequency at which the gain is -3db is called cut off frequency. Bandwidth is usually defined for closed loop system and it transmits the signals whose frequencies are less than cut-off frequency. The bandwidth is a measured of the ability of a feedback system to produce the input signal, noise rejection characteristics and rise time. A large bandwidth corresponds to a small rise time or fast response. Cut-Off Rate: The slope of the log-magnitude curve near the cut off frequency is called cut-off rate. The cut-off rate indicates the ability of the system to distinguish the signal from noise. Gain Margin, Kg The gain margin, Kg is defined as the reciprocal of the magnitude of open loop transfer function at phase cross over frequency. The frequency at witch the phase of open loop transfer function is 180 is called the phase cross over frequency, pc. Phase Margin, The phase margin , is that amount of additional phase lag at the gain cross over frequency required to bring the system to the verge of instability, the gain cross over frequency gc is the frequency at which the magnitude of open loop transfer function is unity (or it is the frequency at which the db magnitude is zero). PROCEDURE:
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Control Systems Laboratory Manual

1. 2. 3. 4. 5. 6.

Enter the command window of the MATLAB. Create a new M file by selecting File New M File. Type and save the program. Execute the program by either pressing F5 or Debug Run. View the results. Analysis the stability of the system for various values of gain.

Problem 1 Obtain the bode diagram for the following system

x1

1 x1

1 1 y 1

25 x2 y1 0

4 2 1

01 y 2

x1

y2

25

4 x2

MATLAB Program a = [0 1 ; -25 -4] b = [1 1 ; 0 1] c = [1 1 ; 1 1] d = [0 0 ; 0 0] bode (a, b, c, d) grid title (BODE DIAGRAM)

Problem 2
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1
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Control Systems Laboratory Manual

Draw the Nyquist plot for G(s) = MATLAB Program num = [0 0 0] den = [1 1 0] nyquist (num,den) v = [-2,2,-5,5] axis (v) grid title (Nyquist Plot) Problem 2 Obtain the root focus plot of the given open loop T.F is

G(s) H (s) =

s( s

K 0 . 5 )( s
2

0.6 s

10 )

MATLAB Program num = [0 0 0 0 den = [11.1 10.3 5 rlocus (num,den) grid title [Root Locus Plot] 1] 0]

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Result:

CLOSED LOOP SPEED CONTROL SYSTEM

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Control Systems Laboratory Manual

EXPT.NO : DATE AIM: To study the behavior of closed loop speed control system using PID controller APPARATUS REQUIRED: (i) (ii) PID controller with motor CRO :

THEORY: Closed loop system Control system which the output has an effect upon the input quantity in such a manner as to maintain the desired output value is called closed loop systems. The open loop system can be modified as closed loop system by providing a feedback. The provision of feedback automatically corrects the change in output due disturbances. Hence the closed loop system is also called closed loop system. The general block diagram of an automatic control system is given below. In consists of an error detector, a controller, plant (open loop system) and feedback path element. The reference signal (or input signal) corresponds to desired output. The feedback path elements sample the output and convert it to a signal of same type as that of reference detector. The error signal generated by the error detector is the difference between reference signal and feedback signal. The controller modifies and amplifies the error signal to produce better control action. The modified error signal is fed to the plant to correct its output.

PROCEDURE:
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Control Systems Laboratory Manual

1. 2. 3. 4.

Make the connections as per the circuit diagram. Set the speed of the motor using set position. Vary the gain values of P,I, and D controller until to get the set speed to current speed. Repeat the above procedure for different values of set speed.

Result:

STUDY OF AC SYNCHRO TRANSMITTER AND RECEIVER


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EXPT.NO : DATE AIM: To study the operation of AC synchro transmitter and receiver APPARATUS REQUIRED: S.No 1 2 3 THEORY: A synchro is an electromagnetic transducer commonly used to convert an angular position of a shaft into an electric signal. It is commercially known as a selsyn or an autosyn. The basic synchro unit is usually called a synchro transmitter. Its construction is similar to that of three phase alternator. The stator is of laminated silicon steel and is slotted to accommodate a balanced three phase winding which is usually of concentric coil type and star connected. The rotor is dumb bell construction and its wound with a concentric coil. AC voltage is applied to rotor winding through slip rings. Let and AC voltage Vr (t) = Vr sin ct be applied to the rotor of the synchro transmitter. The voltage causes a flow of magnetizing current in rotor coil which produces a sinusoidally time varying flux directed along its axis and distributed nearly sinusoidally in the air gap along the stator periphery. Because of transformer action, voltage is induced in each of the stator coil. As the air gap flux sinusoidally distributed the flux linking with any stator coil is proportional to the cosine of the angle between the axes of rotor and stator coil. This flux voltage in each stator coil. Voltages are in time.
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Name of the Equipment Synchro transmitter and receiver unit Multimeter (Digital / Analog ) Patch cords

Quantity 1 Nos 1 Nos As required

Control Systems Laboratory Manual

phase with each other. Thus the synchro transmitter acts a like a single-phase transformer in which the rotor coil is the primary and the stator coil is the secondary. Let Vs1n, Vs2n, Vs3n, be the voltage induced in the stator coils, S1, S2, S3 respectively with respect to the neutral. Then for a rotor position of the synchro transmitter, is the angle made by rotor axis with the stator coil S2. The various stator voltages are Vs1n = KVr sin ct cos ( + 120 ) Vs2n = KVr sin ct cos o Vs1n = KVr sin ct cos ( + 240 ) The terminal voltages of the stator are
Vs1s2 Vs1n Vs2n Vs2s3 Vs2n Vs3n Vs3s1 Vs3n Vs1 n 3 KVr sin( 3 KVr sin( 3 KVr sin sin
o 240 sin o 120 ) sin c c

t
c

When = 0, Vs1s2 and Vs2 s3 have the maximum voltage and while Vs3s1 has zero voltage. This position of rotor is defined as ht electrical zero of the transmitter and is used as reference for specifying the angular position of the rotor. Thus it is seen that the input to the synchro transmitter is the angular position of its rotor shaft and the output is a set of three signal phase voltages. The magnitudes of this voltage are function of the shift position. The output of the synchro transmitter is applied to stator winding of synchro control transformer. The control transmitter is similar in construction to a synchro transmitter except for the fact that rotor of the control transformer in made cylindrical in shape so that the air gap is practically uniform. The system (transmitter and control transformer pair) acts an error detector, circulating current to the same phase but of different magnitudes flow through two stator coils. The result is establishment of an indentical flux pattern in the air gap of the control transformer as the voltage drops in resistance and lockage reactances of two sets of stator coils are usually small.

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Control Systems Laboratory Manual

OBSERVATION TABLE:
S.No Transmitter (Degree) Receiver (Degree) Vs1 Vs2 Vs2 Vs3 Vs3 Vs1 Error

the synchro transmitter rotor, the voltage induced the control transformer rotor is proportional to the cosine of the angle between the two rotors given by E (t) = KVr cos sin
r

t
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Control Systems Laboratory Manual

The synchro transmitter and control transformer thus act as an error detector giving a voltage signal at the rotor terminals of the control transformer proportional to the angular difference between the transmitter control transformer shaft positions. PROCEDURE: 1. Make the connections as per the patching diagram. 2. Switch ON the supply. 3. Vary the shaft position of the transmitter and observe the corresponding changes in the shaft position of the receiver. 4. Repeat the above steps for different angles of the transmitter. 5. Tabulated the different voltage at the test points of S1 S2, S3S2, and S3S1.

Result:

CYCLE 2

7. (a) Lag Compensator.


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Control Systems Laboratory Manual

7. (b) Lead Compensator. 8. Digital Simulation of Non-Liner System. 9. Digital Simulation of Liner System. 10. Digital Simulation of Type 0 and Type 1 System.

DIGITAL SIMULATION OF NON-LINEAR SYSTEM EXPT.NO :


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Control Systems Laboratory Manual

DATE AIM:

To simulate the time response characteristic of liner system with simple non-linearities like saturation and dead zone. APPARATUS REQUIRED: System with MATLAB 6.5 THEORY: Non-Linear Systems: The non linear system are system witch do not obey the principle of superposition. In practical engineering systems, there will be always some non linearity due to friction, inertia, stiffness, backslash, hysteresis, saturation and dead zone. The effect of the non linear components can be avoided by restricting the operation of the component over a narrow limited range. Classification of non linearities: The non linearities can be classified as incidental and intentional. The incidental non linearities are those which are inherently present in the system. Common examples of incidental non linearities are saturation, dead zone, coulomb friction, stiction, backlash, etc. The intentional non linearities are those which are deliberately inserted in the system to modify system characteristics. The most common example of this type of non linearity is a relay. Saturation:
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Control Systems Laboratory Manual

In this type of non linearity the output proportional to input for limited range of input signals. When the input exceeds this range, the output tends to become nearly constant. All devices when driven by sufficient large signals, exhibit the phenomenon of saturation due to limitations of their physical capabilities. Saturation in the output of electronic, rotating and flow amplifiers, speed and torque saturation in electric and hydraulic motors, saturation in the output of sensors for measuring position, velocity, temperature, etc. are the well known examples. Dead Zone: The dead zone is the region in witch the output is zero for given input. Many physical devices do not respond to small signals, i.e., if the input amplitude is less than some small value, there will be no output. The region in which the output is zero is called dead zone. When the input is increased beyond this dead zone value, the output will be linear. PROCEDURE: 1. Double click on MATLAB 6.5 icon on desktop command window opens. 2. From File Tab, select New Model file. 3. A Simulink model screen opens a untitled. 4. From Simulink library select necessary blocks and place in new model screen. Block Constant Simulator Transfer function Simulink-Continuous Simulink-Math operator Simulink-Continuous
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Control Systems Laboratory Manual

Scope Dead Zone, Saturation

Simulink sink Simulink-Non-linear

5. Select properties for each item and connect them as shown in diagrams. 6. Select simulation Tab and configuration parameters and select ode23tb model. 7. Save file under work directory. 8. Simulated the system with step and sine inputs with and without dead zone, saturation non linearities. 9. Name the signals as mentioned in diagram and observe signal names on scope by right clicking on response curve and by opening axes.

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Control Systems Laboratory Manual

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Control Systems Laboratory Manual

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Control Systems Laboratory Manual

Result:

DIGITAL SIMULATION OF LINEAR SYSTEM EXPT.NO : DATE :


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Control Systems Laboratory Manual

AIM: To simulate the time response characteristic of higher-order Multiinput multi output (MIMO) liner system using state variable formulation. APPARATUS REQUIRED: MATLAB 6.5 THEORY: Time Domain Specification The desired performance characteristics of control systems are specified in terms of time domain specification. System 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 the transient response to a units step input signal. The transient response of a system to a unit step input depends on the initial conditions. Therefore to compare the time response of various systems it is necessary to start with standard initial conditions. The most practical standard is to start with the system at rest and output and all time derivatives there of zero. The transient response of a practical control system often exhibits damped oscillation before reaching steady state. The transient response characteristics of a control system to a unit step input are specified in terms of the following time domain specifications.
1.

Delay time, td

2. Rise time, tr 3. Peak time, tp 4. Maximum overshoot, Mp


PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE 43 Page

Control Systems Laboratory Manual

5. Setting time, ts FORMULA:

Risetime
d
1

where

tan

Damped frequency of oscillation, PROCEDURE:

7. Enter the command window of the MATLAB. 8. Create a new workspace by selecting new file. 9. Complete your model. 10.Run the model by either pressing F5 or start simulation. 11.View the results. 12.Analysis the stability of the system for various values of gain. PROBLEM: Obtain the step response of series RLC circuit with R = 1.3K , L = 26mH and C=3.3 f using MATLAB M File.

MATLAB PROGRAM FOR UNIT IMPULSE PRSPONSE: PROGRAM: num = [ 0 0 1 ] den = [ 1 0.2 1 ]
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Control Systems Laboratory Manual

impulse grid

(num, den)

title ( unit impulse response plot) MATLAB PROGRAM FOR UNIT STEP PRSPONSE: PROGRAM: Format long e num = [ 0 0 1.6e10 den = [ 1 50000 step grid on title (step response of series RLC circuit) (num, den) ] ] 1.6e10

Result:

DIGITAL SIMULATION OF TYPE 0 AND TYPE 1 SYSTEM EXPT.NO : DATE :


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Control Systems Laboratory Manual

AIM: To simulate the time response characteristics of first order second order, type 0 and type 1 system using MATLAB. APPARATUS REQUIRED: System employed with MATLAB 6.5 THEORY: The desired performance characteristics of control system are specified in terms of time domain specification. 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 pf any order may be specified in terms of the transient response to a unit step input signal. The transient response of a system to unit step input depends on the initial conditions. Therefore to compare the time response of various systems it is necessary to start with standard initial conditions. The most practical standard is to start with the system at rest and output and all time derivatives there of zero. The transient response of a practical control system often exhibits damped oscillations before reaching steady state. The transient response characteristics of a control system to a unit step input are specified in terms of the following time domain specifications. 1. Delay time, td 2. Rise time, tr 3. Peak time, tp 4. Maximum overshoot, Mp 5. Settling time, ts
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE 46 Page

Control Systems Laboratory Manual

The time domain specification is defined as follows. 1. Delay Time: It is the taken for response to reach 50% of the final value, for the very first time. 2. Rise Time: It is the time taken for response to raise from 0 to 100% for the very first time. For under damped system, the rise time is calculated from 0 to 100%. But for over damped system it is the time taken by the response to raise from 10% to 90%. For critically damped system, it is the time taken for response to raise from 5% to 95%.

Risetime
d

Where
3. Peak Time:

tan

1 s2/s
n 1 s
2

Damped frequency of oscillation, d

It is the time taken for the response to reach the peak value for the very first time. (or) It is the taken for the response to reach the peak overshoot, tp. Peak time = / d 4. Peak Overshoot (Mp): It is defined as the ration of the maximum peak value measured from final value to the final value. Let final value Maximum vale = = c (e) c (tp)

Peak Overshoot, Mp =

c(tp )

c(e)
Page

c(e)

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Control Systems Laboratory Manual

%M

s 1
3

x100

5. Settling Time: It is defined as the time taken by the response to reach and stay within a specified error. It is usually expressed as % of final value. The usual tolerable error is 2% or 5% of the final value.

ts ts

4
n

for 2 % erroe for 5 % erroe


n

FORMULA:

%M

s 1
3

x100

ts ts

4
n

for 2 % erroe for 5 % erroe


n

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Control Systems Laboratory Manual

PROCEDURE: Closed loop response of first order system: 1. Enter the command window of the MATLAB. 2. Create a new workspace by selecting new file. 3. Complete your model. 4. Run the model by either pressing F5 or start simulation. 5. Analysis the stability of the system for various values of gain Closed loop response of second order system: 1. Enter the command window of the MATLAB. 2. Create a new workspace by selecting new file. 3. Complete your model. 4. Run the model by either pressing F5 or start simulation. 5. View the results. 6. Analysis the stability of the system for various values of gain.

General MATLAB coding for closed loop response for type 0 and type1 system: PROGRAM: clear all
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE 49 Page

Control Systems Laboratory Manual

close all clc T1 = tf (2.25, [1 0.5 2.25 ]) p=pole (T1) pre=abs (real (p(1))) pim=abs (imag (p(1))) wn=sqrt(pre*pre*+pim*pim) damping _ratio=(pre/wn) os=(exp(-1*pre*pi/pim))*100 tp=pi/pim ts=4/pre step(T1) t=[ 0.1:0.1:25] for x=1:length (t) c (x)=1-1.01418*(cos (1.47902*t(x)-(9.59*pi/180))*exp(-25*t(x))) end figer plot(t,c)

Result:

LAG COMPENSATOR EXPT.NO : DATE :

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Control Systems Laboratory Manual

APPARATUS REQUIRED: System employed with MATLAB 6.5 THEORY: The control systems are designed to perform specific taskes. When performance specification are given for single input. Single output linear time invariant systems. Then the system can be designed by using root locus or frequency response plots. The first step in design is the adjustment of gain to meet the desired specifications. In practical system. Adjustment of gain alone will not be sufficient to meet the given specifications. In many cases, increasing the gain may result poor stability or instability. In such case, it is necessary to introduce additional devices or component in the system to alter the behavior and to meet the desired specifications. Such a redesign or addition of a suitable device is called compensations. A device inserted into the system for the purpose or satisfying the specifications is called compensator. The compensator behavior introduces pole & zero in open loop transfer function to modify the performance of the system. The different types of electrical or electronic compensators used are lead compensator and lag compensator. In control systems compensation required in the following situations. 1. When the system is absolutely unstable then compensation is required to stabilize the system and to meet the desired performance. 2. When the system is stable. Compensation is provided to obtain the desired performance. LAG COMPENSATOR: A compensator having the characteristics of a lag network is called a lag compensator. If a sinusoidal signal is applied to a lag network, then in steady state the output will have a phase lag with respect input.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE 51 Page

Control Systems Laboratory Manual

Lag compensation result in a improvement in steady state performance but result in slower response due to reduced bandwidth. The attenuation due to the lag compensator will shift the gain crossover frequency to a lower frequency point where the phase margin is acceptable. Thus the lag compensator will reduce the bandwidth of the system and will result in slower transient response. Lag compensator is essentially a low pass filter and high frequency noise signals are attenuated. If the pore introduce by compensator is cancelled by a zero in the system, then lag compensator increase the order of the system by one. FORMULA:

Gain

B A

y0 x0

20 log( B / A )

Phase

sin ( x 0 / A) sin
1

(y /B)
0

PROCEDURE: With out compensator: 1. Make the connection as per the circuit diagram. 2. Apply the 2V p-p sin wave input and observe the waveform. 3. Very the frequency of the sin wave input and tabulate the values of xo and yo 4. Calculated gain and phase angle. 5. Draw the bode plot. With lag compensator: 1. From the bode plot find the new gain crossover frequency. 2. Find out values and writ the frequency function. G(s).
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Control Systems Laboratory Manual

3. From the transfer function calculated R1, R2 and C. 4. Set the amplifier gain at unity. 5. Insert the lag compensator with the help of passive components and determine the phase margin of the plant. 6. Observe the step response of the compensated system. MATLAB coding with Compensator: PROGRAM: num den sys margin = [ 0 0 100 = [ 400 = (sys) (sys) 202 5 ]; 1 0 ];

[ gm, ph, wpc, wgc ] = margin (sys) title (BODE PLOT OF COMPENSATED SYSTEM) MATLAB coding with out lag Compensator: PROGRAM: num den sys bode = [ 0 0 5 ]; = [ 2 1 0 ]; = tf (num, den) (sys)

Margin (sys) [ gm, ph, wpc, wgc ] = margin (sys). title (BODE PLOT OF UNCOMPENSATED SYSTEM);

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Result:

LEAD COMPENSATOR: A compensator having the characteristics of a lead network is called a lead compensator. If sinusoidal signal is applied to a lead network, then in steady state the output will have a phase lead with respect to input.
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Control Systems Laboratory Manual

The lead compensator increase the bandwidth, which improves the speed of response and also reduces the amount of overshoot. Lead compensation appreciably improves the transient response, whereas there is a small change in steady state accuracy. Generally lead compensation is provided to make an unstable system as a stable system. A lead compensator is basically a high pass filter and so it amplifies high frequency noise signals. If the pole is introduced by the compensator is not cancelled by a zero in the system, then lead compensator increases order of the system by one. FORMULA:

Gain

B A

y0 x0

20 log( B / A )

Phase

sin ( x 0 / A) sin
1

(y /B)
0

PROCEDUR: 1. Enter the command window of MATLAB. 2. Create a New M-File by selecting file New M-File. 3. Type and save the program. 4. Execute the program by pressing F5 or Debug Run. 5. View the results. 6. Analyze the Results. With lead compensator: 1. Enter the command window of the MATLAB. 2. Create a new M file by selecting File New M-File.
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Control Systems Laboratory Manual

3. Type and save the program. 4. Execute the program by either pressing F5 or Debug Run. 5. View the results. 6. Analysis the result. MATLAB coding with out Compensator for loop system PROGRAM: den=[ 1 0.739 0.921 0 ]; pitch=tf(num, den); sys_cl=feedback (pitch,1); de=0.2; t=0:0.01:10; figure step(de*sys_cl, t) sys_cl=feedback (pitch,10); de=0.2; t=0:0.01:10; bode(sys_cl, t) grid on title ( 'BODE PLOT FOR CLOSED LOOP SYSTEM WITHOUT COMPENSATOR')

MATLAB coding with Compensator for loop system PROGRAM:


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Control Systems Laboratory Manual

num=[1 151 0.1774 ]; den=[1 0.739 0.921 0 ]; pitch=tf(num, den); alead=200; Tlead=0.0025; K=0.1; lead=tf(K*[alead*Tlead 1], [Tlead 1]); bode(lead*pitch) sys_cl=feedback(lead*pitch,10); de=0.2; t=0:0.01:10; figure step (de*sys_cl, t) title('BODE PLOT FOR CLOSED LOOP SYSTEM WITH COMPENSATOR')

Result:

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