1

LIST OF THE EXPERIMENTS

1. Magnetic Amplifier 2
2. Torque Speed characteristics of AC Servomotor 5
3. Study of DC Servomotor 8
4. DC position control system 10
5. Study of Digital control system 13
6. Synchro Transmitter and Receiver pair 17
7. Study of Lead and Lag compensators 20
8. Study of PID controller 24
9. Study of Second order system 27
10. Temperature control using PID 31
11. Study of First order system 35





2

1. MAGNETIC AMPLIFIER

AIM: To study the characteristics of series connected Magnetic Amplifier and parallel
connected Magnetic Amplifier.

APPARATUS: Magnetic Amplifier study unit, Rheostat- 250/1A, patch cards.

PROCEDURE:
a) Series Connected Magnetic Amplifier.

1. Connections are made as per circuit diagram shown in fig1 with the help of patch
cards. Take care of the polarity of the winding.
2. Connect control voltage supply V
C
with DC current meter (I
C
) in series with control
winding.
3. Connect the load rheostat and load current meter (I
L
) as shown in circuit diagram.
4. Vary control winding current I
C
in steps and record the corresponding load current
in table-1
5. Plot the graph between I
C
and I
L.


b) Parallel Connected Magnetic Amplifier

1. Connections are made as per circuit diagram shown in fig2 with the help of patch
cards. Take care of the polarity of the winding.
2. Connect control voltage supply V
C
with DC current meter (I
C
) in series with
control winding.
3. Connect the load rheostat and load current meter (I
L
) as shown in circuit diagram.
4. Vary control winding current I
C
in steps and record the corresponding load
current in table-2
5. Plot the graph between I
C
and I
L.



PRECAUTIONS:

1. Use the AC voltage available on the panel (a step down transformer to
furnish the desired AC voltage).
2. Do not exceed control winding current above 100mA.

Result: The characteristics of series connected Magnetic Amplifier and parallel
connected Magnetic Amplifier are studied and drawn.







3





Fig 1

S. No Control winding
current (I
C,
mA)
Load winding
current (I
L,
mA)

Table-1

4








Fig 2
S. No Control winding
current (I
C,
mA)
Load winding
current (I
L,
mA)


Table-2

5

2. TORQUE SPEED CHARACTERISTICS
OF A.C. SERVO MOTOR

AIM: To study the Speed- torque characteristics of A.C. Servo motor.

APPARATUS: Voltmeter, AC servomotor kit

PROCEDURE:

(1) Study all the controls carefully on the front panel shown in fig1.
(2) Initially keep load control switch at OFF position, indicating that the armature
circuit of dc machine is not connected to auxiliary dc supply 12V dc. Keep
servomotor switch also at OFF position.
(3) Ensure load potentiometer and control voltage transformer at minimum position.
(4) Now switch ON mains supply to the unit and also AC servomotor supply switch.
(5) Vary the control voltage transformer and observe that ac servomotor starts rotating
and speed will be indicated by the tachometer on the front panel.
(6) With load switch OFF position, vary the speed of the ac servomotor by moving the
control voltage and note down the back emf generated by dc machine (now working
as dc generator or tacho). Enter results in the table-1.
(7) Now with load switch at OFF position, switch on ac servomotor and keep the speed
in minimum position.
(8) Now set the control winding voltage at a particular value. You can observe that the
ac servomotor stars moving with speed indicated by tachometer and set the speed for
maximum speed.
(9) Now switch ON the load switch and start loading ac servomotor by varying load
potentiometer slowly. Note down the corresponding values of current from ammeter
and speed provided in the unit and enter these results in table-2. And also enter the
back emf for different speed.
(10) Repeat the steps from 7 to 9 for different control voltage 200,180 etc..
(11) Plot the sped - torque characteristic for various values of control winding
voltages.

Result: The characteristics of A.C servo motor for various control voltages are drawn.





6





Fig 1



S.No Speed(rpm) E
b
( volts)
1
2
3
.
.


Table-1





7

Control voltage, V
c
= Volts

S.No
.
I
a
(mA)
N
(rpm)
E
b
(Volts) P = E
b
I
a

T= torque (gm.cm)
P*1.019*10
4
*60
= --------------------------
2[N
1
2
3
.
.




Table-2































J.F
u
Tm



Servo
Amplifier
A
C
T S
U I
A G
T N
I A
N L
G
Vc
CONTRO WINDING
SPEED
T
O
R
Q
U
E
8

3. STUDY OF D.C SERVO MOTOR

AIM: To obtain the transfer function of D.C. servomotor.
APPARATUS: 1. spring balance kit
2. D.C. Servo motor.

SPECIFICATIONS: Operating voltage: 12V; No-load speed at rated voltage: 1500rpm;
Starting torque: 13.3 N-mt; Moment of inertia, J: 0.4 Kg.cm
2
; Armature resistance:
7.3ohm; Armature inductance: 21.4H.


PROCEDURE:
Speed torque/ torque current characteristics:
1. Make the connections as shown in circuit diagram. Connect the motor to control
unit using a pin-connected card.
2. Make power ON to the unit, keep RPM meter switch at output speed position.
3. Adjust the voltage using potentiometers of DC power supply to 8V. Keep knob
k of spring balance loading system for no-load position.
4. Note the speed of motor N, armature current I
a
and T1, T2 of spring balance .
Increase the load on dc servomotor by adjusting Knob k of the spring balance
loading system in proper steps and note the readings N, I
a
, T1, T2 . Tabulate the
results.
Back- Emf Characteristics:

1. Keep minimum load on motor by adjusting Knob k of spring balance loading
system.
2. Use same circuit connections as above.
3. Vary dc voltage from minimum to maximum in proper steps by adjusting the pot
and note armature voltage, I
a
, N and tabulate the results.
Transfer function:

Transfer function of the d.c servomotor is given by
) (
) (
1 +
=
m
m
ST S
K
s G
K
m
: Motor gain constant
T
m
: Motor time constant
K
m
= K
T
/(R
a
f+ K
b
K
T
) = 1/ K
b
if f is

neglected.


T
m
= R
a
J/ K
b
K
T

GRAPH:
(i) Plot the graph between E
b
and e. Where w is speed in red/sec.
Calculate the motor back-emf constant:
K
b
= AE
b
/Ae v /rad/sec.
(ii) Plot the graph between torque and armature current.
Calculate torque constant :
K
T
= AT/AIa
Result : The transfer function of the DC servomotor is obtained.

9

Circuit Diagram:
















Observations:
Torque Current characteristics

V= 8v

T
1


T
2


T
eq

T = 2* T
eq
N-Cm

Speed
Armature
Current, Ia


Back emf characteristics

T
1
= T
2
=
Armature
voltage
Ia Speed W=2[N/60 Eb= V-IaRa

Graph
i) Torque- current characteristics ii) Back E.M.F characteristics
T T

I
a
W


k
T =
AT/ AI
a
k
b=
AE
b
/AW

A

V
A

AA
AA
T
2
T
1

+
-
+ -
-
+
DC
Servo
Motor
Spring
Balance
Source
0-500mA
MC
0-20V
MC
10

4. DC POSITION CONTROL SYSTEM

AIM: To study the performance characteristics of a D.C. Motor angular position control
system.

APPARATUS:
DC Position control system unit.

PROCEDURE:
a) Tacho out ( -ve feedback)
1. Keep Tacho-out position in SW1 and switch on SW3 and SW4 in
fig1.
2. Set amplifier gain at say 20 and feedback gain at 20.
3. Then vary input potentiometer in clockwise direction and observe
output potentiometer.
4. Note down the remarks in table1 i.e whether critically damped or
under damped or overdamped or undamped. ( Oscillations w.r.t time)
5. Repeat above procedure for different values of amplifier gain and
feedback gains and note down the remarks.
b) Tacho In ( -ve feedback)
1. Keep Tacho-in position in SW1 and switch on SW3 & SW4 and
feedback in degenerative mode in fig1.
2. Set amplifier gain at say 20 and feedback gain at 20.
3. Then vary input potentiometer in clockwise direction and observe
output potentiometer.
4. Note down the remarks in table2 i.e whether critically damped or
under damped or overdamped or undamped. ( Oscillations w.r.t time)
5. Repeat above procedure for different values of amplifier gain and
feedback gains and note down the remarks.

Observations:
1. In Tacho-out, for low gains observed the critical and overdamped; for
medium range of gains observed underdamped; for high gains observed
continuous oscillations- undamped.
2. In Tacho-in, for low gains observed critical damping and for high gains
observed the overdamped.
Result: The dc positional control system is studied and plots are drawn.


11




Fig 1
Tabular Columns
Tacho out ( -ve feedback)
Amplifier Gain Feedback Gain Input Output Remarks

Table-1
Tacho In ( -ve feedback)
Amplifier Gain Feedback Gain Input Output Remarks

Table-2

12

MODEL GRAPH







13

5. STUDY OF DIGITAL CONTROL SYSTEM

AIM: To study the digital control of a simulated system using an 8-bit
microprocessor and to obtain the parameters peak time and peak overshoot for
different values of gain and delay setting.

APPARATUS: Lab trainer consisting of digital control system with microprocessor
based digital controller.

PROCEDURE:

Process Identification:

The first step before any control is attempted is to be experimentally determine
the process parameters, the gain k and the location of double poles a may be determined
easily from the step response. Actually, a square wave input is used. So that a continuous
display of the response is available on the CRO for measurements. For proper time
measurements, the time base should be synchronized with the square wave input from
fig(1).
The process parameters are now calculated as

input wave squre the of value P P
state steady at response the of value P P
K
~
~
=
a = (1.678)/ time to reach of steady state value, t
2 / 1


An explicit expression for G(s) is written as

2
2
) (
) (
a s
Ka
s G
+
=


a) Fixed forward gain variable sampling rate:

The steps to be followed for an experimental verification as under:
1. Connect the circuit as shown in fig(2)
2. Execute the program DELETE available at the adress5000H. Give a value
of gain and delay setting of 0 when asked by the program.
3. Observe the circuit out pulse on the CRO and measure the time between
any two pulses. This is the actual sampling period.
4. Observe on the CRO response of the system and obtain the peak overshoot
by noting the peak and steady state values.
5. Repeat steps 2 to 4 for different delay setting (1, 2, 3) and tabulate the
results.


14

b) Fixed sampling rate variable forward gain:

This experiment may be conducted in a manner very similar to that of the last
section. Connections are same as before. The delay is kept at the lowest level, i.e., 0 and
the response is situated for various values of p- gain 1, 2, 3 similar results are
observed.

OBSERVATIONS:

Gain setting =
Delay
setting
Sampling
period
tin ms
Peak
time,t
p

in ms
C
peak

(Volts)
C
ss

(Volts)
%Mp
en x 10
3
en x 10
3




Delay setting =
Gain
setting
Sampling
period
ms
Peak
time,t
p

in ms
C
peak

(Volts)
C
ss

(Volts)
%Mp
en x 10
3
en x 10
3






Result: The response of a system with and without digital controller are studied and plots
are drawn.




15

Determination of process parameters:













Fig (1)













Fig (2)



Program:
GO 5000H
FILL
PC 4
FILL
DEL (0.1)
FILL
EXECUTE






C(s)
+
Digital
Controller
Process

R(s)
Digital
Controller
Process

Output
R(s)
+
16



Model Graphs:

(i) Without digital controller:

(i) Without digital controller:


(ii) With digital controller:






17

6. SYNCHRO TRANSMITTER AND RECEIVER PAIR

AIM: To study the properties of synchro pair and study of synchro pair as an error
detector.

APPARATUS: Synchro pair unit, Voltmeter.

PART A: STUDY OF SYNCHRO TRANSMITTER:

In this part of the experiment because of the transformer action the angular position of
rotor is transformed into a unique set of stator voltages.

Procedure:

1. Connect the system to main supply.
2. Switch ON the main switch.
3. Do not connect any wires between the stator winding of T
X
and T
R
.
4. Starting from zero position, note down the voltage between stator terminals i.e.,
Vs
1
s
2
, Vs
2
s
3
and Vs
3
s
1
in a sequential fashion. Enter the readings in table-1and plot
graph of angular position versus voltage for all the three phases.


PART B: STUDY OF SYNCHRO TRASMITTER & RECEIVER:

In this part of the experiment we can study the phenomenon of transmitting motion to
distance by electrical means.

Procedure:

1. Connect the system to main supply.
2. With the help of patch cords establish connections between corresponding terminals
of T
X
and T
R
stators i.e., connect s
1
, s
2
to s
2
& s
3
to s
3
of T
X
& T
R
respectively.
3. Switch ON the two switches.
4. Move the pointer (rotor position of T
X
in steps of 30
0
) and observe the new rotor
position of T
R
.
5. Enter the input angular position and output angular position in the table-2 and plot
the graph.

Result: The properties of synchro pair are studied and their characteristics are drawn







18

Circuit Diagram:













































V/2
V
Stator winding
of transmitter
N
S
2

S
1

S
3

S
2
1

S
1
1

S
3
1

V
V/2
V/2
60
0

60
0

R
1

R
2

R
1
1

R
2
1

Stator winding
of receiver

A.C. Line
Rotor winding
of transmitter
Rotor winding
of receiver
0
\3/2V
Transmitter
Stator
N
S
2

S
1

S
3

S
2
1

S
1
1

S
3
1

\3/2
V \3/2V
0
60
0

60
0

R
1

R
2

R
1
1

R
2
1

Receiver
Stator

A.C. Line
Rotor
transmitter
Rotor
Receiver
30
0

30
0

19

Observations:

S.No
Rotor
Position
(Degrees)
Stator Terminal Voltage (R.M.S)
Vs
1
s
2
Vs
2
s
3
Vs
3
s
1

1
2
3
.
.
.

. Table-1


S.No.
Synchro T
x
Shaft
Position
Synchro T
r
shaft
position.
1
2
.
.


. Table-2

Model Graphs



20

7. STUDY OF LEAD -LAG COMPENSATORS

AIM: To study the frequency response of lead and lag networks.

APPARATUS: Lead and lag networks study unit, patch cards.

LEAD COMPENSATOR:

Procedure:
a) Make the connections as shown in fig.1
b) Connect the sine wave output to the network input.
c) Note down the peak voltage input using digital voltmeter provided on the unit by
varying the amplitude of sine wave to some value say 3V.
d) Now vary the frequency from 20Hz to 2000Hz and note down the corresponding
output voltage and phase angle difference and enter the readings in table1.
e) Compare the measured values with theoretical values.
f) Plot the graph between gain and frequency (magnitude plot) and between phase
and frequency (phase plot).


Observations:
V
in
= 3volts

S. No Frequency,
Hz
Phase Angle,
Degrees
Output
voltageV
o
,volts
Gain
20log (V
o
/ V
in
)












21



LAG COMPENSATOR:

Procedure:

a) Make the connections as shown in fig.2
b) Connect the sine wave output to the network input.
c) Note down the peak voltage input using digital voltmeter provided on the unit by
varying the amplitude of sine wave to some value say 3V.
d) Now vary the frequency from 20Hz to 2000Hz and note down the corresponding
output voltage and phase angle difference and enter the readings in table2.
e) Compare the measured values with theoretical values.
f) Plot the graph between gain and frequency (magnitude plot) and between phase
and frequency (phase plot).
Observations:
V
in
= 3volts

S. No Frequency,
Hz
Phase Angle,
Degrees
Output
voltageVo,volts
Gain
20log(V
o
/ V
in
)



Results: Lag and lead networks are studied and bode plots are drawn.










22



Fig 1


Fig 2

23

MODEL GRAPH




24

8. P.I.D CONTROLLER

AIM: To study the effect of PID controller on a second order system.

APPARATUS: PID control unit assembly, CRO.

Procedure:
P-controller
(i) Assemble the circuit shown in fig (a)
(ii) Apply a step input (i.e., square wave signal of amplitude of 1.0V).
(iii) Vary the value of K
p
and observe the output C(s) on CRO.
(iv) See the effect of K
p
on output waveform.
(v) Note down the time domain specifications for each of K
p
value.
PI-controller
(i) Add the circuit of Integrator block as shown in fig.(a) Note the effect of this block
on the output performance by varying the value of K
I
as done in the case of P
controller.
(ii) Note open loop response also.
PD-controller
(i) Replace Integrator block by Derivative block and repeat the same experiment as
done in PI controller.
PID controller
(i) Assemble the circuit as shown in fig.(a)
(ii) Adjust the potentiometer K
I
& K
P
such that almost exact square wave is obtained at
the output. Thus response is almost similar to input.
(iii) Study open loop response for PID controller
Observations:
With P controller

kp t
r
t
s
t
p
e
ss
Mp

n
e


With PI controller
kp K
I
t
r
t
s
t
p
e
ss
Mp

n
e


Result: The effect of different controllers on second order system is studied and plots are
drawn

25





Fig (a)


With PD controller
Kp K
D
t
r
t
s
t
p
e
ss
Mp

n
e


With PID controller
Kp K
I
K
D
t
r
t
s
t
p
e
ss
Mp

n
e



26

MODEL GRAPHS:



27

9. STUDY OF SECOND ORDER SYSTEM

AIM: To study the response of a second order system by using RLC and op-amp and
make the measurement of time domain specifications.

APPARATUS: Second order system study unit

PROCEDURE:
a) By using RLC
6. Connections are made as per fig1.
7. Measure resistance value by using multimeter by setting potentiometer R on the unit
with main switch in OFF position.
8. Now switch ON the mains supply, observe the signal source output by selecting
square wave input and set input voltage say 5V by using amplitude potentiometer.
9. Then observe the output on CRO.
10. Plot response and measure the all time domain specifications and record in table1.

b) By using OP-AMP
(i) For square wave input
6. Switch ON the mains supply, observe the signal source output by selecting square
wave input as in fig2 and set input voltage say 5V by using amplitude
potentiometer.
7. Keep the damping factor at say 0.3 and time constant at 3msec.
8. Then observe the output on CRO and plot the response.
9. Measure time domain specifications and record in table2.
10. Repeat the above procedure for different values of damping factors say at 0.7 &1.
(ii) For step input
1. Select step input as in fig3; adjust the amplitude potentiometer to get 5V.
2. Select 5sec time constant and damping factor at say 0.3 and switch off the signal.
3. Now switch on the signal and monitor the output on multimeter.
4. Note down the output voltage with respect to time.


OBSERVATIONS:

The parameters are R = ; L = 2H; C = 0.32F

Undamped natural frequency,
n
=
LC
1
and f =
LC t 2
1

Damping factor, =
L
C R
2

Percentage peak overshoot, %M
p
= e
2
1

H
* 100


28

Rise time, t
r
=
d
e
u H
; = Tan
1
(

2
1
)
Peak time, t
p
=
d
e
H
;
2
1 e e =
n d
Damped natural frequency
Settling time, t
s
=
n
e
4
for 2% tolerance
Transfer function =
2 2
2
2
n n
n
s s e e
e
+ +




Tabular Form:
Time response specifications Theoretical Practical



Table-1

S. No t
d
t
r
t
p
M
p
t
s
e
ss

0.3

0.7

Table-2


PRECAUTIONS:

3. Make sure that the signal source is correct before connecting the input of
second order system.
4. Readings are taken without parallax error.

Result: The response of second order system is studied and time domain specifications
are compared between theoretical and practical values.





29





Fig 1



Fig 2



30



Fig 3





31

10. TEMPERATURE CONTROL USING PID

AIM: To study and observe the different analog controllers on temperature control
process.

APPARATUS: Temperature controller unit

PROCEDURE:

a) Proportional controller

(12) Study all the controls carefully on the unit.
(13) Establish the connection between conditioning unit and the model process with
help of cables provided as in fig1.
(14) Connect red 3 and black 1 with help of patch card shown in fig1 and give
connection to only RTD from PID controller then switch on the kit.
(15) Set the temperature in ohm by using SET potentiometer such that deviation is
zero which corresponds to room temperature. And set the proportional band control
to 10%.
(16) Fix the maximum deviation (+5) by varying set temperature in ohms and also fix
minimum deviation (-5)
(17) Adjust the set temperature pot at higher than room temperature then switch off the
kit.
(18) Then connect heater socket and switch on the kit also turn on fan regulator.
(19) Now vary the load and observe the deviation indicator and record the deviation
readings at intervals of 10-15seconds in table1 until the deviation indicator stabilizes
at some point.
(20) Draw the graph between time and deviation.

b) Proportional+ Integral controller

(1) Connect red3 to black 2 and red 1 to black 1 with the help of patch cards in fig1. Keep
proportional band in same position as in proportional controllers.
(2) Keep coarse control for integral action at 10% band and fine control at midway.
(3) Repeat same procedure as in proportional controller from step7 to step9.


c) Proportional+ Derivative controller

(1) Connect red 3 to black 3 and red2 to black1 with the help of patch cards in fig1.
(2) Keep coarse control for derivative action at 10% band and fine control at midway.
(3) Repeat same procedure as in proportional controller from step7 to step9.






32


d) Proportional+ Integral + Derivative controller

(1) Connect red3 to black3, red2 to black2, red1 to black1 with the help of patch cards in
fig1.
(2) Keep coarse control for integral at 10% band and fine control at midway and
coarse control for derivative at 10% band and fine control at midway.
(3) Repeat same procedure as in proportional controller from step7 to step9.




S.No Time(sec)
Deviation
( Degree C)
1
2
3
.
.



Table-1




Result: The different analog controllers on temperature control process are studied and
observed.



















33


Circuit Diagarm

Model Graphs:

Fig 2: Proportion Action

34


Fig 3: Proportion+ Integral Action

Fig 4: Proportion + Derivative Action



35

11. STUDY OF FIRST ORDER SYSTEM

AIM: To study the response of First Order linear system for a given input signals.

APPARATUS: The linear system simulator study set-up, connecting wires, CRO

SPECIFICATIONS:

Square wave: frequency 40 Hz 100 Hz, p-p amplitude 0-5v. It acts as a step input
signal.

PROCEDURE:

1. Give step input to the first order system shown in circuit diagram.
2. Observe the waveform for output on CRO without feedback.
3. Point out 63.2% of final value in the response.
4. Then measure the time taken for initial point to the above mentioned final value.
This time is called time constant of the system.
5. Find the gain of the system by using output/input.
6. The transfer function is obtained.
7. Now with feedback observe the output on CRO and repeat the procedure from
step3 to step6.


Observations:

(1) Without feedback:
Input = ; output = ;
Gain = output/input = k
Transfer function = k/ (1+s) where : Time constant
Response c (t) = k (1-e
-t/
)
(2) With feedback:
Input = ; output = ;
Gain = output/input = k
Transfer function = k/ (1+k+s) where : Time constant
Response c (t) = k (1-e
-t (k+1)/
)/k+1


Result: The response of first order system with and without feedback was studied
and plots are drawn.






36

Circuit Diagram


Linear system simulator






MODEL GRAPHS:




















S
K

1 + sT
k

37
























































38












































39










































40