Ee2257 LM

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM
RAJALAKSHMI ENGINEERING COLLEGE

THANDALAM, CHENNAI 602 105
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
LABORATORY MANUAL
CLASS
: II YEAR EEE - A
SEMESTER
: IV (DEC 2010 MAY 2011)
SUBJECT CODE
: EE2257
SUBJECT
: CONTROL SYSTEMS
LABORATORY
STAFF IN-CHARGE : P.S.MAYURAPPRIYAN

Associate Professor
EEE Department
Department of EEE, Rajalakshmi Engineering College, Chennai
RAJALAKSHMI ENGINEERING COLLEGE

THANDALAM, CHENNAI 602 105
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
EE2257 CONTROL SYSTEMS LABORATORY MANUAL
NAME
CLASS
SEMESTER
ROLL NUMBER
REGISTER NUMBER :
INDEX
S.
No.
Date
Title of Experiment
Page
No.
Marks
Signature
SYLLABUS
EE2257 CONTROL SYSTEM LABORATORY
0 0 3 2
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 order systems
10.Digital simulation of second order systems
P = 45 Total = 45
DETAILED SYLLABUS
1.
Determination of Transfer Function Parameters of a DC Servo Motor

Aim
To derive the transfer function of the given D.C Servomotor and experimentally
determine the transfer function parameters
Exercise
1. Derive the transfer function from basic principles for a separately excited DC
motor.
2. Determine the armature and field parameters by conducting suitable experiments.
3. Determine the mechanical parameter by conducting suitable experiments.
4. Plot the frequency response.
Equipment
1. DC servo motor
2. Tachometer
3. Multimeter
4. Stop watch
2.
: field separately excited loading facility variable voltage

source - 1 No
: 1 No
: 2 Nos
: 1 No
Determination of Transfer Function Parameters of AC Servo Motor

Aim
To derive the transfer function of the given A.C Servo Motor and experimentally
determine the transfer function parameters

Exercise
1. Derive the transfer function of the AC Servo Motor from basic Principles.
2. Obtain the D.C gain by operating at rated speed.
3. Determine the time constant (mechanical)
4. Plot the frequency response
Equipment
1. AC Servo Motor : Minimum of 100w necessary sources for main winding and
control winding 1 No
2. Tachometer
: 1 No
3. Stopwatch
: 1 No
4. Voltmeter
: 1 No
3.
Analog Simulation of Type-0 And Type-1 System

Aim
To simulate the time response characteristics of I order and II order, type 0 and type-1
systems.
Exercise
1.
Obtain the time response characteristics of type 0 and type-1, I order and II
order systems mathematically.
2. Simulate practically the time response characteristics using analog rigged up
modules.
3. Identify the real time system with similar characteristics.
Equipment
1. Rigged up models of type-0 and type-1 system using analog components.
2. Variable frequency square wave generator and a normal CRO - 1 No
(or)
DC source and storage Oscilloscope - 1 No
4.
Determination of Transfer function of DC Generator

Aim
To determine the transfer function of DC generator
Exercise
1. Obtain the transfer function of DC generator by calculating and gain
Equipment
1. DC Generator
2. Tachometer
3. Various meters
4. Stop watch
5.
Determination of Transfer function of DC Motor

Aim
To determine the transfer function of DC motor
Exercise
1. Obtain the transfer function of DC motor by calculating and gain
Equipment
1. DC Motor
2. Tachometer
3. Various meters
4. Stop watch
6.
Stability Analysis of Linear Systems

Aim
To analyse the stability of linear systems using Bode / Root locus / Nyquist plot
Exercise
1. Write a program to obtain the Bode plot / Root locus / Nyquist plot for the given
system
2. Access the stability of the given system using the plots obtained
3. Compare the usage of various plots in assessing stability
Equipment
1. System with MATLAB / MATHCAD / equivalent software - 3 user license
7.
DC and AC position Control Systems

Aim
To study the AC and DC position control system and draw the error characteristics
between set point and error.
Exercise
1. To study various position control systems and calculate the error between set point
and output position
2. To measure outputs at various points (between stages)
Equipment
1. AC and DC position control kit with DC servo motor.
2. Power transistor
3. Adder
8.
Stepper Motor Control System

Aim
To study the working of stepper motor
Exercise
1. To verify the working of the stepper motor rotation using microprocessor.
Equipment
1. Stepping motor
2. Microprocessor kit
3. Interfacing card
4. Power supply
9.
Digital Simulation of First Order System

Aim
To digitally simulate the time response characteristics of first -order system
Exercise
1. Write a program or build the block diagram model using the given software.
2. Obtain the impulse, step and sinusoidal response characteristics.
3. Identify real time systems with similar characteristics.
Equipment
1. System with MATLAB / MATHCAD (or) equivalent software - minimum 3 user
license.
10.
Digital Simulation of Second Order Systems

Aim
To digitally simulate the time response characteristics of second -order system
Exercise
1. Write a program or build the block diagram model using the given
software.
2. Obtain the impulse, step and sinusoidal response characteristics.
3. Identify real time systems with similar characteristics.
Equipment
System with MATLAB / MATHCAD (or) equivalent software - minimum 3 user
license.
LIST OF EXPERIMENTS
FIRST CYCLE:
1. Determination of transfer function of armature controlled DC
servomotor.
2. Determination of transfer function of field controlled DC servomotor.
3. Determination of transfer function of AC servomotor.
4. Determination of transfer function of separately excited DC generator.
5. Determination of transfer function of DC motor.
6. DC position control system.
SECOND CYCLE:
7. Analog simulation of Type-0 and Type-1 systems.
8. Digital simulation of first order systems.
9. Digital simulation of second order systems
10. Stability analysis of linear systems.
11. Stepper motor control system.
12. AC position control system.

Expt. No:
Date:
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:
S. No
1.
2.
3.
Description
DC servo motor trainer kit
DC servo motor
Rheostat
4.
Ammeter
5.
Voltmeter
6.
7.
Stopwatch
Patch cords
Range
500/1A
(0-1)A
(0-100) mA
(0300) V
(075) V
-
Type
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
1
1
As required
THEORY:
In servo applications a DC motor is required to produce rapid accelerations from standstill.
Therefore the physical requirements of such a motor are low inertia and high starting torque.
Low inertia is attained with reduced armature diameter with a consequent increase in the
armature length such that the desired power output is achieved. Thus, except for minor
differences in constructional features a DC servomotor is essentially an ordinary DC motor. A
DC servomotor is a torque transducer which converts electrical energy into mechanical
energy. It is basically a separately excited type DC motor. The torque developed on the motor
shaft is directly proportional to the field flux and armature current, T m = Km Ia. The back
emf developed by the motor is E b = Kb m.. In an armature controlled DC Servo motor, the
field winding is supplied with constant current hence the flux remains constant. Therefore
these motors are also called as constant magnetic flux motors. Armature control scheme is
suitable for large size motors.
ARMATURE CONTROLLED DC SERVOMOTOR:

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 /
Angular velocity in rad/ sec = 2N / 60
Armature time constant, a = La / Ra
Armature Inductance, La in H= XLa / 2f
XLa in =(Za2 Ra2)
Za in = Va2 / Ia2
Armature resistance,Ra in = Va1 / Ia1
Mechanical time constant, m = 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
10

PROCEDURE:
1. To determine the motor torque constant Kt and Back emf constant Kb:
Check whether the MCB is in OFF position in the DC servomotor trainer kit
Press the reset button to reset the over speed.
Patch the circuit as per the patching diagram.
Put the selection button of the trainer kit in the armature control mode.
Check the position of the potentiometer; let it initially be in minimum position.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220 V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va, and speed N.
Find the motor torque constant Kt and Back emf constant Kb using the above values.
Note:
If the voltmeter and ammeter in the trainer kit is found not working external meters
of suitable range can be used.
OBSERVATIONS:
S. No.
Armature Voltage,Va
(V)
Armature Current,Ia
(A)
Speed,N
(rpm)
CALCULATIONS:
11

DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC SERVO MOTOR
PATCHING DIAGRAM TO DETERMINE THE MOTOR TORQUE CONSTANT Kt AND BACK EMF CONSTANT Kb
12

PROCEDURE:
2. To determine armature resistance Ra:
Patch the circuit as per the patching diagram
The field terminal is left opened.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220 V to the armature of the servomotor.
Note the values of the armature current Ia, armature voltage Va.
Find the value of armature resistance Ra using the above values
Note:
OBSERVATIONS:
S. No.
Armature Voltage, Va1

(V)
Armature Current, Ia1

(A)
Armature resistance,
Ra ()
CALCULATIONS:
13

PATCHING DIAGRAM TO DETERMINE ARMATURE RESISTANCE Ra
14

PROCEDURE:
3. To find armature inductance, La
Switch ON the MCB.
Find the value of armature inductance La.using the above values
Note:
OBSERVATIONS:
S. No.

(V)

(mA)
Armature impedance
Za ()
CALCULATIONS:
15

PATCHING DIAGRAM TO DETERMINE ARMATURE INDUCTANCE, La
16

PROCEDURE:
4. To determine moment of inertia J and frictional co-efficient B:
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
using a stop watch.
Find the values of moment of inertia J and frictional co-efficient B using the above
values
OBSERVATIONS:
S. No.
Armature
Voltage, Va
(V)
Armature
Current,
Ia
(A)
Field
Current, If
(A)
Speed, N
(rpm)
t1
t2
(secs)
(secs)
CALCULATIONS:
17
18

PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT B: ( t1 No load)
19

PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT B: ( t2 load)
20

CALCULATIONS:
RESULT:
The transfer function of armature controlled DC servomotor is determined as
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?
21

Expt. No:
Date:
DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF

FIELD CONTROLLED DC SERVO MOTOR
AIM: To determine the transfer function of field controlled DC servo motor.
S. No
1.
2.
3.
Description
DC servo motor trainer kit
DC servo motor
Rheostat
4.
Ammeter
5.
Voltmeter
6.
7.
Stopwatch
Patch cords
Range
500/1A
(0-1)A
(0-100) mA
(0300) V
(075) V
-
Type
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
1
1
As required
THEORY:
In a field controlled DC Servo motor, the electrical signal is externally applied to the field
winding. The armature current is kept constant. In a control system, a controller generates the
error signal by comparing the actual o/p with the reference i/p. Such an error signal is no
enough to drive the DC motor. Hence it is amplified by the servo amplifier and applied to the
field winding. With the help of constant current source, the armature current is maintained
constant. When there is change in voltage applied to the field winding, the current through
the field winding changes. This changes the flux produced by field winding. This motor has
large Lf / Rf ratio, so time constant of this motor is high and it cant give rapid responses to
the quick changing control signals.
FIELD CONTROLLED MOTOR:
FORMULAE USED:
22

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
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
dt is change in time on no load in secs
dN is change in speed on no load is 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
23

PROCEDURE:
1. To determine the motor torque constant Ktf :
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.
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:
OBSERVATIONS:
S. No.
Armature Voltage,Va
(V)
Armature Current,Ia
(A)
Speed,N
(rpm)
CALCULATIONS:
24

DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC SERVO MOTOR
PATCHING DIAGRAM TO DETERMINE THE MOTOR TORQUE CONSTANT Ktf
25

PROCEDURE:
2. To determine armature resistance Ra:
Switch ON the MCB.
Vary the pot and apply rated voltage of 220V to the armature of the servomotor.
Find the value of armature resistance Ra using the above values
Note:
OBSERVATIONS:
S. No.

(V)

(A)
Armature Resistance,
Ra ()
CALCULATIONS:
26

PATCHING DIAGRAM TO DETERMINE ARMATURE RESISTANCE Ra
27

PROCEDURE:
3. To determine field resistance Rf:
The armature terminal is left opened.
Switch ON the MCB.
Vary the pot and apply rated voltage of 220V to the field of the servomotor.
Note the values of the field current If, field voltage Vf.
Find the value of field resistance Rf using the above values
Note:
OBSERVATIONS:
S. No.
Field Voltage, Va1

(V)
Field Current, Ia1

(A)
Field Resistance,
Rf ()
CALCULATIONS:
28

PATCHING DIAGRAM TO DETERMINE FIELD RESISTANCE RF
29

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 ()
CALCULATIONS:
30

PATCHING DIAGRAM TO DETERMINE FIELD INDUCTANCE, LF
31

PROCEDURE:
5. To determine moment of inertia J and frictional co-efficient B:
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.
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
using a stop watch.
Find the values of moment of inertia J and frictional co-efficient B using the above
values
OBSERVATIONS:
S. No
Armature
Voltage, Va
(V)
Armature
Current,
Ia
(A)
Field
Current, If
(A)
Speed, N
(rpm)
t1
t2
(secs)
(secs)
CALCULATIONS:
32
33

PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT B: ( t1 No load)
34

PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT B: ( t2 load)
35

CALCULATIONS:
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?
36

Expt. No:
Date:
AC SERVO MOTOR
AIM:
To derive the transfer function of the given AC Servomotor.
S. No
1.
2.
Description
AC servo motor trainer kit
AC servo motor
3.
Ammeter
4.
Voltmeter
5.
Patch cords
Range
-
Type
(0-1) A
(0-100) mA
(0300) V
(075) V
-
MC
MI
MC
MI
Quantity
1
1
1
1
1
1
As required
THEORY:
An AC servo motor is basically a two phase induction motor with some special design
features. The stator consists of two pole pairs (A-B and C-D) mounted on the inner periphery
of the stator, such that their axes are at an angle of 90 o in space. Each pole pair carries a
winding, one winding is called reference winding and other is called a control winding. The
exciting current in the winding should have a phase displacement of 90o. The supply used to
drive the motor is single phase and so a phase advancing capacitor is connected to one of the
phase to produce a phase difference of 90o.The rotor construction is usually squirrel cage or
drag-cup type. The rotor bars are placed on the slots and short-circuited at both ends by end
rings. The diameter of the rotor is kept small in order to reduce inertia and to obtain good
accelerating characteristics. The drag cup construction is employed for very low inertia
applications. In this type of construction the rotor will be in the form of hollow cylinder
made of aluminium. The aluminium cylinder itself acts as short-circuited rotor conductors.
Electrically both the types of rotor are identical.
WORKING PRINCIPLE :
The stator windings are excited by voltages of equal magnitude and 90o phase difference.
These results in exciting currents i1 and i2 that are phase displaced by 90o and have
equal values. These currents give rise to a rotating magnetic field of constant
magnitude. The direction of rotation depends on the phase relationship of the two
currents (or voltages). This rotating magnetic field sweeps over the rotor
conductors. The rotor conductor experience a change in flux and so voltages are
induced rotor conductors. This voltage circulates currents in the short-circuited
rotor conductors and currents create rotor flux. Due to the interaction of stator &
rotor flux, a mechanical force (or torque) is developed on the rotor and so the rotor
starts moving in the same direction as that of rotating magnetic field.
37
GENERAL SCHEMATIC OF AC SERVOMOTOR:
FORMULAE USED:
Transfer function, Gm (s) = Km / (1+ sm)
Where
Motor gain constant, Km = K / FO + F
K is T / C
FO is T / N
Torque, T is 9.81 X R (S1 S2)
R is radius of the rotor in m
Frictional co-efficient, F = W / (2N / 60)2
Frictional loss, W is 30 % of constant loss in Watts
Constant loss in watts = No load input Copper loss
No load i/p = V (IR+IC)
V is supply voltage, V
IR is current through reference winding, A
IC is current through control winding, A
Copper loss in watts = IC2 RC
RC = 174
Motor time constant, m = J / FO + F
Moment of inertia J is d4 L R / 32
d is diameter of the rotor in m ( Given d =39.5 mm)
LR is length of the rotor in m (Given L R =76 mm)
is density = 7.8 X 102 gm / m
38
PROCEDURE:
1.
DETERMINATION OF FRICTIONAL CO-EFFICIENT, F

1.
2.
3.
4.
5.
Check whether the MCB is in OFF position.

Patch the circuit using the patching diagram.
Switch ON the MCB
Vary the control pot to apply rated supply voltage
Note the control winding current, reference winding current, supply voltage and
speed.
6. Find the frictional co-efficient using the above values
OBSERVATIONS:
S. No.
Supply Voltage
V
(V)
Control winding
Current Ic
(A)
Reference Winding
Current Ir
(A)
Speed
N
(rpm)
CALCULATIONS:
39

DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR
PATCHING DIAGRAM TO DETERMINE FRICTIONAL CO-EFFICIENT F:
40

PROCEDURE:
2. To determine the motor gain constant Km
DETERMINATION OF FO FROM TORQUE - SPEED CHARACTERISTICS:
1.
2.
3.
4.
5.
6.
Check whether the MCB is in OFF position.

Patch the circuit using the patching diagram.
Set the control pot in minimum position.
Check whether the motor is in no load condition
Switch ON the MCB
Vary the control pot and apply rated voltage to the reference phase winding and
control phase winding. Note down the no load speed.
7. Apply load in steps. For each load applied note down the speed and spring balance
readings. ( Take 3 or 4 sets of readings)
8. Reduce the load fully and allow the motor to run at rated speed.
9. Repeat steps 7 and 8 for 75 % control winding voltage.
10. Draw the graph between speed and torque, the slope of the graph gives FO.
OBSERVATIONS:
S. No
Control voltage Vc1 =

Spring Balance
Speed
Torque
values
N
T
S1
S2
(Nm)
(rpm)
(kg)
(kg)
Control voltage Vc2 =

Spring Balance
Torque
Speed
values
T
N
S1
S2
(rpm)
(Nm)
(kg)
(kg)
MODEL GRAPH: TORQUE - SPEED CHARACTERISTICS
41
DETERMINATION OF K FROM TORQUE - CONTROL VOLTAGE

CHARACTERISTICS:
1. Check whether the MCB is in OFF position.
2. Patch the circuit using the patching diagram.
3. Set the control pot in minimum position.
4. Check whether the motor is in no load condition
5. Switch ON the MCB
6. Vary the control pot and apply rated voltage to the reference phase winding and
control phase winding. Note down the no load speed.
7. Load the motor gradually; the speed of the motor will decrease. Vary the control pot
and increase the control winding voltage till the speed obtained at no load is
reached. Note down control voltage and spring balance readings.
8. Repeat step 7 for various speeds and tabulate. (for 1000 rpm)
9. Plot the graph between torque and control winding voltage. The slope of the graph
gives the value of K.
OBSERVATIONS:
S. No
Control
Voltage
Vc
(V)
Speed N1 =
Spring Balance
values
S1
S2
(kg
kg
Torque
T
Speed
Nm
rpm
Speed N2 =
Spring Balance
values
S1
S2
Kg
Kg
Control
Voltage
Vc
V
MODEL GRAPH: TORQUE - CONTROL VOLTAGE CHARACTERISTICS
42
43

DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR
PATCHING DIAGRAM TO DETERMINE MOTOR GAIN CONSTANT KM:
44

CALCULATIONS:
RESULT:
The transfer function of AC servomotor is determined as
1. What are the main parts of an AC servomotor?
2. State the advantages and disadvantages of an AC servo motor.
3. Give the applications of AC servomotor.
4. What do you mean by servo mechanism?
5. What are the characteristics of an AC servomotor?
45

Expt. No:
Date:
SEPARATELY EXCITED DC GENERATOR
AIM:
To obtain the transfer function of separately excited DC generator on no load and
loaded condition.
S. No
Description
Range
Type
Quantity
THEORY:
Derivation of transfer function of separately excited DC generator is as follows,
Applying KVL to the field side,
ef = Rf if + Lf (dif / dt)
(1)
Applying KVL to the armature side,

eg = Ra ia + La (dia / dt) + RL ia
(2)
V L = RL i a
(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)
46
Taking Laplace transform of equation (2) we get

Eg (s) = Ra Ia(s) + sLa Ia(s) + RL Ia(s)
Eg (s) = Ia(s) [Ra + sLa + RL]
(6)
Taking Laplace transform of equations (3) and (4) we get

VL(s) = RL Ia( s)
Therefore, Ia( s) = VL(s) / RL
Eg(s) = Kg If(s)
(7)
(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]}
For unloaded condition, Ia = 0
Therefore transfer function VL(s) / Ef (s) = Kg / [Rf + sLf]
(10)
(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
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
47
PROCEDURE:
1. To determine the gain constant Kg :
No load or open circuit characteristics:
1. Connections are made as shown in the circuit diagram
2. The motor field rheostat should be in minimum resistance position and the generator
field rheostat should be in maximum resistance position or minimum potential
position while switching ON and switching OFF the supply side DPST switch.
3. Ensure that the DPST switch on the load side is open.
4. Switch ON the supply DPST switch.
5. Using the 3- point starter the DC motor is started and it is brought to rated speed by
adjusting the motor field rheostat.
6. Keeping the DPST switch on the load side open, the generated voltage E g and field
current If of generator is noted down by varying the generator field rheostat.
7. The above step is repeated till 125 % of rated voltage is reached.
8. A graph is plotted between Eg and If taking If along x- axis. A tangent to the linear
portion of the curve is drawn from the origin and slope of this line gives Kg.
OBSERVATIONS:
S. No.
Field current, If
(A)
Induced Voltage, Eg
(V)
MODEL GRAPH:
48
CIRCUIT DIAGRAM:
To determine gain constant, Kg:
CALCULATIONS:
49
Load characteristics:
2. The motor field rheostat should be in minimum resistance position and the generator
field rheostat should be in maximum resistance position or minimum potential
position while switching ON and switching OFF the supply side DPST switch.
3. Ensure that the DPST switch on the load side is open.
4. Switch ON the supply DPST switch
5. The generator is brought to its rated voltage by varying the generator field rheostat.
6. The DPST switch on the load side is closed, and the load is varied for convenient
steps of load current up to 120 % of its rated capacity and the voltmeter V L and
ammeter Ia readings are observed. On each loading the speed should be maintained at
rated speed.
7. A graph is plotted between VL and IL taking IL on x- axis. The slope of the graph
gives Kg.
OBSERVATIONS:
S. No.
Terminal Voltage, VL
(V)
Load Current, IL
(A)
MODEL GRAPH:
50
PROCEDURE:
2. To determine field Inductance Lf :
1. Connections are made as per the circuit diagram.
2. Auto transformer is varied in steps for different voltages and corresponding voltmeter
and ammeter readings are noted down.
3. Field impedance Zf is calculated as V/I and the average value of Zf is obtained.
4. Field resistance (Rf) is measured using multimeter.
5. Field inductance (Lf) can be calculated using formula
Lf = (Zf2 Rf2) / 2f
CIRCUIT DIAGRAM:
OBSERVATIONS:
S. No
Field Voltage, V
(V)
Field Current, I
(A)
Field Impedence, Zf
(Ohms)
CALCULATIONS:
51
PROCEDURE:
3. Determination of armature inductance La :
3. Armature impedance Za is calculated as V/I and the average value of Za is obtained.
4. Armature resistance Ra is measured using multimeter.
5. Armature inductance La can be calculated using formula,
La = (Za2 Ra2) / 2f
CIRCUIT DIAGRAM:
OBSERVATIONS:
S. No
Armature
Voltage, V (V)
Armature
Current, I
(A)
Armature Impedence, Za
(Ohms)
CALCULATIONS:
52

CALCULATIONS:
RESULT:
The transfer function of separately excited DC generator is determined as
53
Expt. No:
Date:
DETERMINATION OF TRANSFER FUNCTION OF DC MOTOR
AIM:
To obtain the transfer function of field controlled DC motor.
S. No
Description
Range
Type
Quantity
THEORY:
54

FIELD CONTROLLED MOTOR:
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
Mechanical time constant m = J/B
Moment of inertia J = Pav / [22(N12 N22 )((1/t1)-(1/t2))]
Average power delivered to the load, Pav= (V1I1 + I12 Ra + V2I2 + I22 Ra) / 2
Ra is armature resistance in Ohms
La is armature inductance in Henry
Viscous Co-efficient of friction, B = Pstray / (N1 + N2)2
Stray loss, Pstray = [22(N12 N22 )] J / t1
55

PROCEDURE:
1. To determine motor torque constant, Ktf :
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 value
of If the brake drum is adjusted such that it just fails to rotate. The corresponding
readings of ammeter and spring balances are noted.
4. The value of torque for each value of If is calculated
5. A graph is plotted between torque T and field current IF taking IF along x-axis. The
slope of the graph gives the value of Ktf
OBSERVATIONS:
S. No.
Armature current
Ia
(A)
Field current
If
(A)
Spring balance readings

S1
S2
(kg)
(kg)
Torque
T
(Nm)
MODEL GRAPH:
56
CIRCUIT DIAGRAM:
CALCULATIONS:
PROCEDURE
57
2. To determine field Inductance Lf :

3. Field impedance Zf is calculated as V/I and the average value of Zf is obtained.
4. Field resistance (Rf) is measured using multimeter.
5. Field inductance (Lf) can be calculated using formula
Lf = (Zf2 Rf2) / 2f
CIRCUIT DIAGRAM:
OBSERVATIONS:
S. No.
Field Voltage, V
(V)
Field Current, I
(A)
Field Impedence, Zf
()
CALCULATIONS:
58

PROCEDURE:
3. To determine moment of inertia J and Viscous friction Co-efficient B:
2. The field current of the motor is set to some value by adjusting the field resistance.
3. DPDT switch is thrown to position (1,11) and the motor is made to run at a speed N 1
(1700 rpm) by adjusting the armature rheostat.
4. DPDT switch is opened from position (1,11) and the stop watch is started
simultaneously. The time taken t1 for the speed to drop from N1(1700 rpm) to N2
( 1300 rpm) is noted.
5. Again the DPDT switch is thrown to position (1,1 1) and the motor is made to run at a
speed greater than N1 (1700 rpm) by adjusting the armature rheostat.
6. DPDT switch is thrown to position (2,2 1) and the stop watch is started when the motor
speed reaches N1 (1700 rpm). The time taken t2 for the speed to drop from N1 (1700
rpm) to N2( 1300 rpm) is noted. Simultaneously the readings of the ammeter and
voltmeter corresponding to N1 and N2 are noted.
OBSERVATIONS:
S. No.
N1
(rpm)
t1
(Sec)
V1
(V)
I1
(A)
N2
(rpm)
T2
(Sec)
V2
(V)
I2
(A)
CALCULATIONS:
59

CIRCUIT DIAGRAM:
CALCULATIONS:
60

CALCULATIONS:
RESULT:
The transfer function of field controlled DC motor is determined as
Expt. No:
Date:
61
DC POSITION CONTROL SYSTEM

AIM:
To study the characteristics of a DC position control system.
i)
DC position control kit and Motor unit
ii) Multimeter
THEORY:
A DC position control system is a closed loop control system in which the position of the
mechanical load is controlled with the position of the reference shaft. A pair of
potentiometers acts as error-measuring device. They convert the input and output positions
into proportional electric signals. The desired position is set on the input potentiometer and
the actual position is fed to feedback potentiometer. The difference between the two angular
positions generates an error signal, which is amplified and fed to armature circuit of the DC
motor. The tachogenerator attached to the motor shaft produces a voltage proportional to the
speed which is used for feedback. If an error exists, the motor develops a torque to rotate the
output in such a way as to reduce the error to zero. The rotation of the motor stops when the
error signal is zero, i.e., when the desired position is reached.
PROCEDURE:
1. The input or reference potentiometer is adjusted nearer to zero initially(R).
2. The command switch is kept in continuous mode and some value of forward gain K A
is selected.
3. For various positions of input potentiometer (R) the positions of the response
potentiometer (0) is noted. Simultaneously the reference voltage (VR) measured
between the terminals VR & E and the output voltage (VO) measured between the
terminals VO & E are noted.
4. A graph is plotted with 0 along y-axis and R along x-axis.
62

OBSERVATIONS:
S. No
Reference
Output angular
angular position,
position, O
R
(degrees)
(degrees)
KA =
KA =
KA =
KA =
Reference
Voltage, Vr
(V)
KA =
KA =
Output
VoltageVO
(V)
KA =
KA =
MODEL GRAPH:
63
DC POSITION CONTROL SYSTEM
64
RESULT:
The DC position control system characteristics are studied and corresponding graphs are drawn.
65

Expt. No.
Date:
ANALOG SIMULATION OF TYPE 0 and TYPE 1 SYSTEMS
AIM:
To study the time response of first and second order type 0 and type- 1 systems.
1. Linear system simulator kit
2. CRO
3. Patch cords
FORMULAE USED:
Damping ratio, = (ln MP)2 / (2 +(ln MP)2)
Where MP is peak percent overshoot obtained from the time response graph
Undamped natural frequency, n = / [tp (1 - 2)]
where tp is the peak time obtained from the time response graph
Closed loop transfer function of the type 0 second order system is
C(s)/R(s) = G(s) / [1 + G(s) H(s)]
where
H(s) = 1
G(s) = K K2 K3 / (1+sT1) (1 + sT2)
where K is the gain
K2 is the gain of the time constant 1 block =10
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
66

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.
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.
Block diagram of Type-0 first order system
OBSERVATIONS:
S. No.
1
2
3
Gain, K
Steady state error, ess
67

TRACES FROM CRO:
For Gain, K =
For Gain, K =
For Gain, K=
68
LINEAR SYSTEM SIMULATOR

PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF TYPE 0 FIRST ORDER SYSTEM
69
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
terminal of error detector block. The input is also connected to the X- channel 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 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.
Block diagram of Type- 1 First order system
OBSERVATIONS:
S. No.
1
2
3
Gain, K
Steady state error, ess
70
TRACES FROM CRO:

For Gain, K =
For Gain, K =
For Gain, K =
71

PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF TYPE 1 FIRST ORDER SYSTEM
72

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.
2. The input square wave is set to 2 Vpp in the CRO and this 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 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.
Block diagram to obtain closed loop response of Type-0 second order system
OBSERVATIONS:
S. No.
Gain
K
Peak
percent
Overshoot
%MP
Rise
time
tr
(sec)
Peak
Time
tp
(sec)
Settling
time
ts
(sec)
Damping
ratio
Undamped
Natural
frequency
n
(rad/sec)
1
2
TRACES FROM CRO:

For Gain, K =
For Gain, K =
73

Block diagram to obtain closed loop response of Type-1 second order system
OBSERVATIONS:
S. No.
Gain
K
Peak
percent
Overshoot
%MP
Rise
time
tr
(sec)
Peak
Time
tp
(sec)
Settling
time
ts
(sec)
Damping
ratio
Undamped
Natural
frequency
n
(rad/sec)
1
2
TRACES FROM CRO:

For Gain, K =
For Gain, K =
74

PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF TYPE 0 SECOND ORDER SYSTEM
75

PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF TYPE 1 SECOND ORDER SYSTEM
76

CALCULATIONS:
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.
77

Expt. No.
Date:
DIGITAL SIMULATION OF FIRST ORDER SYSTEMS
AIM:
To digitally simulate the time response characteristics of a linear system without
non- linearities and to verify it manually.
APPARATUS REQUIRED:
A PC with MATLAB package
THEORY:
The time response characteristics of control systems are specified in terms of time
domain specifications.
Systems with energy storage elements cannot respond
instantaneously and will exhibit transient responses, whenever they are subjected to inputs or
disturbances.
The desired performance characteristics of a system of any order may be specified in
terms of transient response to a unit step input signal. The transient response characteristics
of a control system to a unit step input is specified in terms of the following time domain
specifications
Delay time td
Rise time tr
Peak time tp
Maximum peak overshoot Mp
Settling time ts
STUDY OF BASIC MATLAB COMMANDS:
The name MATLAB stands for MATRIX LABORATORY. MATLAB was originally
written to provide easy access to matrix software developed by the LINPACK and EISPACK
projects. Today, MATLAB engines incorporate the LAPACK and BLAS libraries, embedding
the state of the art in software for matrix computation. It has evolved over a period of years
with input from many users. In university environments, it is the standard instructional tool
for introductory and advanced courses in MATHEMATICS, ENGINEERING, AND
SCIENCE. In industry, MATLAB is the tool of choice for high-productivity research,
development, and analysis.
MATLAB is a high-performance language for technical computing. It integrates
computation, visualization, and programming in an easy-to-use environment where problems
and solutions are expressed in familiar mathematical notation. Typical uses include,
Math and computation

Algorithm development
Data acquisition Modeling, simulation, and prototyping
Data analysis, exploration, and visualization
78
Scientific and engineering graphics

Application development, including graphical user interface building
It is an interactive system whose basic data element is an array that does not require
dimensioning. This allows you to solve many technical computing problems, especially those
with matrix and vector formulations, in a fraction of the time it would take to write a program
in a scalar non-interactive language such as C or Fortran. It also features a family of add-on
application-specific solutions called toolboxes. Very important to most users of MATLAB,
toolboxes allow you to learn and apply specialized technology. Toolboxes are comprehensive
collections of MATLAB functions (M-files) that extend the MATLAB environment to solve
particular classes of problems. Areas in which toolboxes are available include SIGNAL
PROCESSING, CONTROL SYSTEMS, NEURAL NETWORKS, FUZZY LOGIC,
WAVELETS, SIMULATION, AND MANY OTHERS.
Some practical examples of first order systems are RL and RC circuits.
PROCEDURE:
1. Derive the transfer function of a RL series circuit.
2. Assume R= 1 Ohms L = 0. 1 H. Find the step response theoretically and plot it on a
graph sheet.
3. To build a SIMULINK model to obtain step response / sine response of a first order
system, the following procedure is followed:
1. In MATLAB software open a new model in SIMULINK library browser.
2. From the continuous block in the library drag the transfer function block.
3. From the source block in the library drag the step input/ sine input.
4. From the sink block in the library drag the scope.
5. From the math operations block in the library drag the summing point.
6. Connect all to form a system and give unity feedback to the system.
7. For changing the parameters of the blocks connected double click the
respective block.
8. Start simulation and observe the results in scope. (Use a mux from the signal
routing block to view more than one graph in the scope)
9. Compare the simulated and theoretical results.
BLOCK DIAGRAM:
Step response of a first order system:
79
Sine response of a first order system:
2. MATLAB (m-file) program to obtain the step response and impulse response
% MATLAB program to find the step response
num=[
];
den=[
];
sys = tf (num,den);
step (sys);
grid
OUTPUT: (Paste the graph obtained from PC)
80
% MATLAB program to find the impulse response

num=[
];
den=[
];
sys = tf (num,den);
impulse (sys);
grid
CALCULATIONS:
Unit step response of the given RL series circuit:
81
Unit Impulse response of the given RLC series circuit:
RESULT:
The time response characteristics of a first order system is simulated digitally and verified
manually.
1. What is MATLAB?
82

2.
3.
4.
5.
6.
7.
8.
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?
Expt. No:
Date:
DIGITAL SIMULATION OF SECOND ORDER SYSTEMS
AIM:
To digitally simulate the time response characteristics of a second order system and verify
manually.
APPARATUS REQUIRED
A PC with MATLAB Software
THEORY
The time characteristics of control systems are specified in terms of time domain
specifications. Systems with energy storage elements cannot respond instantaneously and
will exhibit transient responses, whenever they are subjected to inputs or disturbances. The
desired performance characteristics of a system of any order may be specified in terms of
transient response to a unit step input signal. The transient response characteristics of a
control system to a unit step input is specified in terms of the following time domain
specifications:
Delay time td
Rise time tr
Peak time tp
Maximum overshoot Mp
Settling time ts
PROCEDURE:
1. Derive the transfer function of a RLC series circuit.
2. Assume R= 1 Ohms, L = 0. 1 H and C = 1 micro Farad. Find the step response
theoretically and plot it on a graph sheet.
3. To build a SIMULINK model to obtain step response / sine response of a second
order system, the following procedure is followed:
1. In MATLAB software open a new model in SIMULINK library browser.
2. From the continuous block in the library drag the transfer function block.
3. From the source block in the library drag the step input/ sine input.
83

4. From the sink block in the library drag the scope.
5. From the math operations block in the library drag the summing point.
6. Connect all to form a system and give unity feedback to the system.
7. For changing the parameters of the blocks connected double click the
respective block.
8. Start simulation and observe the results in scope. (Use a mux from the signal
routing block to view more than one graph in the scope)
9. From the step response obtained note down the rise time, peak time, peak
overshoot and settling time.
10. Compare the simulated and theoretical results.
BLOCK DIAGRAM:
Step response of a second order system:
Sine response of a second order system:
2. MATLAB program to obtain the step response and impulse response of second order
system.
% MATLAB program to find the step response
num=[
];
den=[
];
sys = tf (num,den);
step (sys);
84

% MATLAB program to find the impulse response

num=[
];
den=[
];
sys = tf (num,den);
impulse (sys);
CALCULATIONS:
Unit step response of the given RLC series circuit:
85
Unit impulse response of the given RLC series circuit:
86
RESULT:
The time response characteristics of the given second order system is simulated digitally and
verified manually.
1.
2.
3.
4.
5.
6.
7.
What is MATLAB?
What is the use of MATLAB Package?
What are the toolboxes available in MATLAB?
What is the use of a simulation?
Differentiate real time systems and simulated systems.
Give two examples for second order system.
Name the standard test signals used in control system.
87

8. What is time response?
88

Expt. No:
Date:
STABILITY ANALYSIS OF LINEAR SYSTEMS
a. USING BODE PLOT

AIM:
To obtain the bode plot and check for stability of the system with open loop transfer function,
G(S) =
APPARATUS REQUIRED:
THEORY:
A Linear Time-Invariant Systems is stable if the following two notions of system stability are
satisfied
When the system is excited by Bounded input, the output is also a Bounded
output.
In the absence of the input, the output tends towards zero, irrespective of the
initial conditions.
The following observations are general considerations regarding system stability,
If all the roots of the characteristic equation have negative real parts, then the
impulse response is bounded and eventually decreases to zero, then system is
stable.
If any root of the characteristic equation has a positive real part, then system is
unstable.
If the characteristic equation has repeated roots on the j-axis, then system is
unstable.
If one are more non-repeated roots of the characteristic equation on the jaxis, then system is unstable.
BODE PLOT :
Consider a Single-Input Single-Output system with transfer function
b0 sm + b1 sm-1 + + bm
C(s)
=
R(s)
Where m < n.
a0 sn + a1sn-1 + +an
Rule 1 A system is stable if the phase lag is less than 180 at the frequency
for which the gain is unity (one).
89

Rule 2 A system is stable if the gain is less than one (unity) at the frequency
for which the phase lag is 180.
The application of these rules to an actual process requires evaluation of the gain and phase
shift of the system for all frequencies to see if rules 1 and 2 are satisfied. This is obtained by
plotting the gain and phase versus frequency. This plot is called BODE PLOT. The gain
obtained here is open loop gain. The exact terminology is in terms of a Gain Margin and
Phase Margin from the limiting values quoted.
If the phase lag is less than 140 at the unity gain frequency, the system is
stable. This then, is a 40 Phase Margin from the limiting values of 180.
If the gain is 5dB below unity (or a gain of about 0.56) when the phase lag is
180, the system is stable. This is 5dB Gain Margin.
PROCEDURE:
Step 1: Write a program to obtain the Bode plot for the given system.
Step 2: Assess the stability of given system using the plot obtained.
PROGRAM
%BODE PLOT OF THE SYSTEM
%Enter the numerator and denominator of the transfer function
num=[
];
den=[
];
sys=tf(num,den)
%Specify the frequency range and enter the command
w=logspace(-2,4,1000);
bode(sys,w)
xlabel('Frequency')
ylabel( ' Phase angle in degrees Magnitude of G(s) in decibels')
title('Bode Plot of the system
')
%To determine the Gain Margin, Phase Margin, Gain crossover frequency and
%Phase cross over frequency
margin(sys)
[ Gm, Pm, Wpc, Wgc ]= margin (sys)
90
MANUAL CALCULATIONS:
91
92
OUTPUT (from manual calculation):
OUTPUT (from program):
RESULT:
The Bode plot is drawn for the given transfer function using MATLAB and verified
manually. From the plot obtained, the system is found to be ______________.
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.
93

b. Using Root Locus
AIM:
To obtain the Root locus plot and to verify the stability of the system with transfer function,
G(s) =
APPARATUS REQUIRED:
THEORY:
ROOT LOCUS PLOT:
The characteristic of the transient response of a closed-loop system is related to the location
of the closed loop poles. If the system has a variable loop gain, then the location of the
closed-loop poles depend on the value of the loop gain chosen. A simple technique known as
Root Locus Technique used for studying linear control systems in the investigation of the
trajectories of the roots of the characteristic equation.
This technique provides a graphical method of plotting the locus of the roots in the s-plane as
a given system parameter is varied over the complete range of values (may be from zero to
infinity). The roots corresponding to a particular value of the system parameter can then be
located on the locus or the value of the parameter for a desired root location can be
determined form the locus. The root locus is a powerful technique as it brings into focus the
complete dynamic response of the system. The root locus also provides a measure of
sensitivity of roots to the variation in the parameter being considered. This technique is
applicable to both single as well as multiple-loop systems.
PROCEDURE:
1. Write a program to obtain the root locus plot for the given system.
2. Assess the stability of given system using the plot obtained.
PROGRAM:
%ROOT LOCUS OF THE SYSTEM%
num=[
den=[
sys=tf(num,den)
rlocus(sys)
v=[-10,10,-8,8];
axis(v)
94

xlabel('Real Axis')
ylabel('Imaginary Axis')
title('Root Locus of the system')
title('Root Locus Plot of the system
')
95
96

OUTPUT (from manual calculation)
OUTPUT (from program):
RESULT:
The Root locus plot is drawn for the given transfer function, G(s)= ___________________
using MATLAB and the range of gain K for stability is______________.
1. Define root locus technique.
2. What are the conditions of stability in root locus criteria?
3. What is the advantage of root locus technique?
4. Which method of stability analysis is more advantageous?
5. How the stability of unstable is improved?
6. What are the methods to improve the stability?
7. What is the use of compensators?
8. What do you mean by Root-Loci?
9. What is complementary Root Loci?
10. What are contours?
11. State the basic properties of Root Locus.
12. How would you find the number of branches of Root Loci?
13. How are the break away points of the root locus determined?
14. How is the point of intersection of the asymptotes with real axis found out.
97

c. USING NYQUIST PLOT
AIM:
To obtain the Nyquist plot and check the stability of the system using Nyquist Stability
Criterion for the given unity feedback system with transfer function
G(s)H(s) =
APPARATUS REQUIRED
THEORY:
NYQUIST STABILITY CRITERION:
POLAR PLOTS / NYQUIST PLOTS:

The sinusoidal transfer function G(j) is a complex function is given by
G(j) = Re[ G(j)] + j Im[G(j)]
or
G(j) = G(j) G(j) = M -----------(1)
From equation (1), it is seen that G(j) may be represented as a phasor of magnitude M and
phase angle . As the input frequency varies from 0 to , the magnitude M and phase angle
changes and hence the tip of the phasor G(j) traces a locus in the complex plane. The
locus thus obtained is known as POLAR PLOT. The major advantage of the polar plot lies
in stability study of systems. Nyquist related the stability of a system to the form of these
plots. Polar plots are referred as NYQUIST PLOTS.
PROCEDURE:
1. Write a program to obtain the Nyquist plot for the given system.
2. Assess the stability of given system using the plot obtained.
98

PROGRAM
%NYQUIST PLOT
%Enter the numerator and denominator of the transfer function
num=[
]
den=[
]
sys=tf(num,den)
%Specify the frequency range and enter the command
nyquist(sys)
v=[
]
axis(v)
xlabel('Real Axis');
ylabel('Imaginary Axis');
title('Nyquist Plot of the system
99
OUTPUT ( from Manual calculation)
OUTPUT (from program)
100

RESULT:
The Nyquist plot is drawn for the given transfer function, G(s) = ______________________
using MATLAB and the system is found to be ______________________.
1.
2.
3.
4.
5.
What is polar plot?

What is Nyquist plot?
Define the conditions of stability in polar plot.
What is the use and advantage of polar plot?
State Nyquist stability criterion.
101

Expt. No:
Date:
STEPPER MOTOR CONTROL SYSTEM
102
103
104

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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

: IV (DEC 2010 MAY 2011)

STAFF IN-CHARGE : P.S.MAYURAPPRIYAN

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

RAJALAKSHMI ENGINEERING COLLEGE

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

EE2257 CONTROL SYSTEMS LABORATORY MANUAL

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

1. Determination of transfer function of DC Servomotor

Determination of Transfer Function Parameters of a DC Servo Motor

: field separately excited loading facility variable voltage

Determination of Transfer Function Parameters of AC Servo Motor

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Analog Simulation of Type-0 And Type-1 System

Determination of Transfer function of DC Generator

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Determination of Transfer function of DC Motor

Stability Analysis of Linear Systems

DC and AC position Control Systems

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Stepper Motor Control System

Digital Simulation of First Order System

Digital Simulation of Second Order Systems

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

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

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Armature Voltage, Va1

Armature Current, Ia1

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Armature Voltage, Va2

Armature Current, Ia2

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai

EE2257 Control Systems Laboratory Manual / II EEE A, V SEM

Department of EEE, Rajalakshmi Engineering College, Chennai