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CONTROL SYSTEMS
LAB
II YEAR I SEM
CERTIFICATE
This is to certify that it is a bonafide record of practical work done in
the Control systems Laboratory in I sem of II year during the year
2011-2012
Name:
Roll No:
Branch:
AIM:
To obtain a transfer function from given poles and zeroes using matlab
PROCEDURE:
Now find the output theoretically for the given transfer function and compare it with the output
obtained practically
MATLAB PROGRAM:
z=input(enter zeroes)
p=input(enter poles)
k=input(enter gain)
[num,den]=zp2tf(z,p,k)
tf(num,den)
EXAMPLE:
Given poles are -3.2+j7.8,-3.2-j7.8,-4.1+j5.9,-4.1-j5.9,-8 and the zeroes are -0.8+j0.43,-0.8j0.43,-0.6 with a gain of 0.5
PRACTICAL CALCULATIONS:
Enter zeros
num =
Z=
den =
Enter poles
P=
Enter gain
Transfer function=
K=
RESULT:
Theoretical value =
Practical value
Viva Questions:
1. what is meant by transfer function?
2. what is s-domain. What is the significance of real axis and imaginary axis in s-domain?
3. what happen to the transfer function at zero of the transfer function?
4. what happens to the transfer function at pole of the transfer function?
AIM:
To obtain zeros and poles from a given transfer function using MATLAB.
PROCEDURE:
MATLAB PROGRAM:
num = input(enter the numerator of the transfer function)
den = input(enter the denominator of the transfer function)
[z,p,k] = tf2zp(num,den)
PRACTICAL RESULT:
enter the numerator of the transfer function
num =
den =
z=
p=
RESULT:
1.The
zeros, poles and gain are found from the transfer function theoretically
and by using MATLAB.
2. Theoretically, Zeros are
Poles are
Gain
Practically, Zeros are
Poles are
Gain is
3. The zeros, poles and gain are found to be equal both theoretically and practically.
Viva Questions:
1. what is the significance of s in the transfer function.
2. if s=+j, what do and signify.
3. what do you meant by time-domain?
4. what do you mean by frequency-domain.
CIRCUIT DIAGRAM
PROCEDURE:
STUDY OF SYNCHRO TRANSMITTER
1. Switch on the supply to the synchro transmitter.
2. Note the line voltages of stator terminals by using the multimeter for different angular
positions of rotor of transmitter.
3. Tabulate the line voltages Vs1s2,Vs2s3,Vs3s1 across different angular positions of rotor.
4. Plot the graph of line voltages Vs angular position.
30
60
90
120
150
180
210
240
10
270
11
300
12
330
Vs2s3
Vs3s1
50
100
150
200
-40
-60
-80
250
300
350
30
28
60
60
90
90
120
118
150
149
180
178
210
206
240
240
10
270
268
11
300
299
12
330
330
C HA R A C T E R IS T IC S OF S Y NC HR O
T R A NS MIT T E R A ND R E C E IVE R
400
300
200
Y -V alues
100
0
0
50
100
150
200
250
300
RESULT:
1. Characteristics of synchro transmitter were plotted.
2. Characteristics of synchro transmitter and receiver pair were plotted.
Viva Questions:
1. What are the applications of synchro.
2. Explain working principle of synchro.
10
350
PROCEDURE:-
1.
2.
3.
4.
5.
R=330ohms
V=5volts
Tr=0.3Usec
L=0.1mh
Tp=0.5Usec
C=0.01uf
Ts=0.8Usec
RESULT:Hence the series RLC circuit risetime,Falltime total time obtained.
Viva Questions:
1. what do you meant by damping?
2. what is resonance?
3. what are time domain specifications? elaborate.
11
PROCEDURE:
PRACTICAL RESULT:
enter numerator of transfer function[
num =
den =
a=
12
B=
C=
;D =
2. Both the state models are verified.
Viva questions:
1. What is a state model?
13
MATLAB PROGRAM:
z=input('enter zeros')
p=input('enter poles')
k=input('enter gain')
[A,B,C,D]=zp2ss(z,p,k)
EXAMPLE:
zeros are:
poles are:
gain=
THEORETICAL CALCULATIONS:
Given,zeros =
Given, poles=
X(s)=
14
;
=
Y(s)=
Y(t)=
Therefore,
A=
B=
C=
D=
PRACTICAL RESULT:
enter zeros
z=
enter poles
p=
enter gain
k=
A=
B=
C=
D=
Result:
State model for the given poles, zeros and gain is obtained both theoretically and practically. It
is found that both the theoretical result and practical result are different. The result obtained are
as follows.
Theoretical Result:
Practical Result:
15
B=
C=
D=
PROCEDURE:
RESULT:
Zeros, poles and gain for the given state model is obtained both theoretically and practically. It is
found that both the theoretical result and practical result are equal. The result obtained are as
follows.
Practical Result:
Theoretical Result:
16
the
step
response
of
the
transfer
function
given
below:
PROCEDURE:
Type the program in MATLAB editor that is in M-file.
Save and run the program.
Give the required inputs in the command window of MATLAB in matrix format.
step calculates the unit step response of a linear system.
Zero initial state is assumed in state-space case.
When invoked with no output arguments, this function plots the step response on the
screen.
step (sys) plots the response of an arbitrary LTI system.
This model can be continuous or discrete, and SISO or MIMO.
The step response of multi-input systems is the collection of step responses for each input
channel.
The duration of simulation is determined automatically based on the system poles and
zeroes.
Note down the response of the transfer function obtained in MATLAB.
The response of the transfer function is also obtained theoretically.
Both the responses are compared.
17
TABULAR FORM
C(T)
0
1
2
3
4
5
6
Y -Values
0.045
0.04
0.035
0.03
0.025
0.02
0.015
0.01
0.005
0
-0.005 0
YValues
10
18
12
19
20
T
0
1
2
3
C(t)
21
4
5
THEORETICAL RESULT:
22
RESULT:
The impulse response of a transfer function for a given system is obtained both theoretically and
by using MATLAB.
Viva Questions:
1. What do you meant by impulse response of a control system?
23
24
PROCEDURE:
Type the program in the MATLAB editor that is in M-file.
Save and run the program.
Give the required inputs in the command window of MATLAB in matrix format.
lsim simulates the (time) response of continuous or discrete linear systems to arbitrary
inputs.
When invoked without left-hand arguments, lsim plots the response on the screen.
lsim(sys,u,t) produces a plot of the time response of the LTI model sys to the input time
history t,u.
The vector t specifies the time samples for the simulation and consists of regularly spaced
time samples.
t = 0:dt:Tfinal
The matrix u must have as many rows as time samples (length(t)) and as many columns
as system inputs.
Each row u(i,:) specifies the input value(s) at the time sample t(i).
Note down the response of the transfer function obtained in MATLAB.
The response of the transfer function is also obtained theoretically.
Both the responses are compared.
25
Y-Values
0.03
0.025
0.02
0.015
Y-Values
0.01
0.005
0
0
0.1
0.2
0.3
0.4
0.5
0.6
RESULT:
PRACTICAL RESULT:
26
27
EXAMPLE:
Obtain the step response of the state model for the given system.
T.F.=
PROCEDURE:
1. Step calculates the unit step response of a linear system. Zero initial state is assumed in
the state-space case.
2. When invoked with no output arguments, this function plots the step response on the
screen.
3. Step(sys) plots the step response of an arbitrary LTI model sys. This model can be
continuous or discrete, and SISO or MIMO.
4. The duration of simulation is determined automatically based on the system poles and
zeros.
5. You can specify either a final time t = Tfinal (in seconds), or a vector of evenly spaced
time samples of the form
t = 0:dt:Tfinal
6. For discrete systems, the spacing dt should match the sample period. For continuous
systems, dt becomes the sample time of the discretized simulation model (see
"Algorithm"), so make sure to choose dt small enough to capture transient phenomena.
7. To plot the step responses of several LTI models sys1,..., sysN on a single figure, use
step(sys1,sys2,...,sysN)
28
PRACTICAL RESULT:
PRACTICAL RESULT:
29
30
31
32
Y-Values
0.04
0.02
Y-Values
0
0
0.5
1.5
2.5
-0.02
PRACTICAL GRAPH:
0.03
0.025
0.02
0.015
0.01
0.005
-0.005
-0.01
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
RESULT:
The impulse response of a state model for a given system is obtained both theoritically and
practically and verified graphically.
Viva questions:
1. Define impulse signal.
33
34
EXAMPLE:
Transfer function.=
35
Y-Values
0.08
0.06
0.04
0.02
0
-0.02 0
Y-Values
0.2
0.4
0.6
PRACTICAL GRAPH
10
9
8
7
6
5
4
3
2
1
0
10
RESULT:
The ramp response of a state model for a given system is obtained both theoritically and
practically and verified graphically.
36
Generator
2.2KW
220V
10A
220V
.64A
1500rpm
Shunt
Motor
2.2KW
220V
11.6A
220V
.6A
1500rpm
Shunt
PROCEDURE:
Make the connections as per circuit diagram. Keep variable AC in minimum position by
gradually increasing the output . Start the motor and bring the speed upto rated rpm i.e.
1500 rpm.
To find ,magnetization characteristics If vs Vg has to be found. Vsc the straight line in
position to find Kg =
Find resistance Rf found using the circuit. Measure the voltage across Z while current I is
also noted.
To find If of the generator first the Is is denoted by V-I. Then Xf and Lf can be found.
Then the transfer function can be obtained from relation T.F =
OBSERVATIONS:
s.no
Eg (V)
14
30
If (A)
37
60
90
120
150
180
200
210
10
220
RESULT:
The transfer function of a dc generator is hence determined. It is found to be
38
39
PROCEDURE:
Switch ON S1 and S2 and keep S3 OFF.
Start the motor and gradually rise the speed upto the rated value i.e. 1500 rpm.
Switch OFF S1 and press stop watch simultaneously . Note down the time taken by motor
speed to fall to 900 rpm. i.e. N = 600rpm.
Stop the motor
Switch ON S1 and S2 and keep S3 OFF.
Start the motor again and raise the speed up to 1500 rpm.
Switch off S2 and press stop watch. Note T corresponding to N = 600rpm.
Stop the motor.
Switch ON S1 and S2 and keep S3 OFF.
Start the motor again and raise the speed up to 1500 rpm.
Note down Vs and Is.
Switch OFF S2 and ON S3 and press stop watch simultaneously.
Note the values until the speed falls to 900 rpm.
At 900 rpm also note the values of Va and Ia.
40
OBSERVATIONS :
Case 1 : When S1 , S2 are ON and S3 is OFF
N1 = 600rpm T1 =
sec
sec
sec.
Speed (rpm)
Time (sec)
1500
1455
897
347
139
60
35
17
THEORETICAL CALCULATIONS:
Wmech + Wiron = J.N.
Wmech = J.N.
watts =
watts =
41
V1 =
V, V2 =
V. I1 =
A , I2 =
V ; Iavg =
Hence, Vavg =
A.
Retardation Power =
63 % of 1500 rpm =
rpm
Kt = Kb =
( where w =
Transfer Function =
.)
RESULT:
Hence the transfer function of a dc motor is found using Retardation Process. The
transfer function is found to be
42
43
MATLAB PROGRAM:
wn=input('enter value of undamped natural frequency')
z=input('enter value of damping ratio')
n=[wn*wn]
p=sqrt(1-z^2)
wd=wn*p
h=[p/z]
k=atan(h)
m=pi-k;
tr=[m/wd]
tp=[pi/wd]
q=z*wn
ts=[h/q]
r=z*pi
f=[r/p]
mp=exp(-f)
num=[0 0 n]
den=[1 2*z*wn n]
s=tf(num,den)
hold on
step(s)
impulse(s)
44
45
GRAPH:
RESULT:
The time response of a second order system for step and impulse inputs is found both
theoretically and practically by using MATLAB and both are found to be equal
VIVA Questions:
1. what is time response?
2. the closed transfer function of a second order system is given by (200)/(s+20s+200).
Determine the damping ratio and natural frequency of oscillation.
3. what will be the nature of response of a second order system with different types of
damping?
46
47
PROCEDURE:
rlocus(sys) calculates and plots the root locus of the open loop SISO model sys.
Now we have to solve it theoretically.
Now we have to compare the practical and theoretical ouputs to verify each other
correctly.
EXAMPLE:
Transfer function =
PRACTICAL:
enter the numerator of the transfer function
num=
den=
48
V IVA Questions:
1. What is root locus?
2. What is the necessary condition for stability?
3. How the roots of characteristic equation related to stability?
49
50
EXAMPLE:
Transfer function=
PRACTICAL CALCULATIONS:
enter the numerator of the transfer function
num =
enter the denominator of the transfer function
den =
Transfer function:
gm =
pm =
wcp =
wcg =
51
Viva Questions:
1. What is bode plot?
2. what are the advantages of bode plot?
3. what is frequency response?
52
53
54
(1 decade
0.01
0.1
1
5
7
10
100
Phase plot:
= -90 -
(w
0.01
0.1
1
5
7
10
100
55
Phase Plot:
56
W
0.01
0.1
1
5
7
10
50
100
200
500
1000
PRACTICAL CALULATIONS:
enter the numerator of the transfer function[ ]
num =
den =
Transfer function:
gm =
pm =
wcp =
wcg =
km =
wm =
kp =
ki =
57
Bode Diagram
100
Magnitude (dB)
50
0
-50
-100
-150
-200
0
Phase (deg)
-90
-180
-270
-360
-2
10
-1
10
10
10
10
10
Frequency (rad/sec)
RESULT:
The closed loop system of a given transfer function is controlled using matlab and is verified
theoretically.
VIVAB QUESTIONS:
1. what is PID controller?
2. sketch the ramp response of PID controller.
58
59
60
EXAMPLE:
Given open loop transfer function G(s)=
that static velocity error constant kv= 5 sec-1. The phase margin is at least 40 and gain margin is
10 db
Practical graph:
61
Magnitude (dB)
50
0
-50
-100
-150
-90
Phase (deg)
-135
-180
-225
-270
-2
10
10
-1
10
10
10
Frequency (rad/sec)
RESULT:
Hence, the lag compensation of the system is obtained and is verified theoretically
62
63
MATLAB PROGRAM:
z
bm=theta-180;
wcm=input('enter wcm corresponding to bm')
w1=wcm*sqrt(alpha)
w2=wcm/sqrt(alpha)
g1=tf([1/w1 1],[1/w2 1])
g2=g1*g
[mag3, phase3, w3]=bode(g2)
bode(g2)
hold
bode(g)
PROCEDURE:
EXAMPLE:
is designed to compensate for the system so that the static velocity error constant
is 20 sec-1 and phase margin is 50 and gain margin is atleast 10 db
THEORITICAL CALCULATIONS:
Given that
64
0.01
0.1
1
10
100
-90.2
-92.86
-116.56
-168.69
-178.85
The compensated system will have the open loop transfer function as
Given that kv= 20 sec-1
Therefore
Value of
65
Practical graph:
Bode Diagram
50
Magnitude (dB)
-50
-100
Phase (deg)
-150
-45
-90
-135
-180
-1
10
10
1
Frequency10(rad/sec)
10
10
RESULT:
Hence the lead compensation for a given system is obtained and is compared theoretically
66
67
68
PROCEDURE:
Numerator of the given transfer function is assigned to num
Denominator of the transfer function is assigned to den
The value of the static velocity constant is assigned to the kv
Margin of the safty is assigned to e
Plot is obtained by in-build function bode()
Wcm values assigned to wcm which is obtained from above bode plot
The gain corresponding to wcm is assigned to a
If wcg1>wcg orr wcp1>wcp, the network is compensated otherwise it is not
compensated.
THEORITICAL CALCULATIONS:
Transfer function=
=
For complex w,
Gain =-40db
MAGNITUDE PLOT:
Factor
Corner frequency
W=1/J
None
Log magnitude in db
=-20log(factor)
0
W=1/(1+J)
-20
W=1/(1+2J)
-60
69
0.1
0.2
-98.57
-107.02
-161.56
10
-198.43
20
-261.43
20log5=139.8
New phase margin required is=-40+3=-37
Frequency corresponding to -37 is 1.4=wcg
RESULT:
Hence given network is lag-lead compensated.
VIVA QUESTIONS:
1. What is phase margin?
70
71
72
73
PROCEDURE:
The hardware connections are made.
The LABVIEW program for speed control of DC motor is written using LABVIEW
software.
The hardware and software are interfaced using DAQ.
Then the motor is made to run at different frequencies by clicking the start button in the
labview program.
The values of actual and set speed are obtained and graphs for Time vs amplitude for
both input and output speed at different frequencies are drawn in the Excel sheet.
The magnitude and phase plots are drawn using these values.
Then the Bode plot is obtained.
Finally the transfer function of the DC motor is obtained.
OUTPUT:
Bode plot for the speed control system:
Magnitude plot
74
Phase plot
Transfer function of the speed control system is:
86.76 x 10^9
___________________________
s(s+1000)(s+400)(s+20)(s+10)
RESULT:
Hence the transfer function of the complete speed control system is obtained.
75
76
Aim: To control speed and armature current of a dc motor with in two specific limits
using LabVIEW.
Theory:
Hysteretic current control is a method of controlling a power electronic converter so that an
output current is generated which follows a reference current waveform. A Hysteretic current
controller is implemented with a closed loop control. The difference between the desired current,
and the current being injected is used to control the switching of the thyristor circuit. When the
current crosses an upper limit namely upper hysteretic limit, a pulse is produced to decrease the
current. On the other hand when the current crosses the lower hysteretic limit, a pulse is
produced to increase the current. The minimum and maximum values of the current signal are
[i.min] and [i.max]. The range of the current signal, [i.max]-[i.min], directly controls the amount
of ripple in the output current and is called the hysteretic current. Thus the armature current is
forced to stay within the hysteretic current determined by the upper and lower hysteretic limits.
A sensor (proximity sensor) is used to detect the speed pulses of the motor in order to maintain
speed within the limits.
In the speed control of a DC shunt motor, the desired operating state may be a particular speed. If
it is different, an error signal, correspond to the difference between the reference and the actual
speeds, is fed to a voltage controller to change the motor speed so as to reduce the error signal.
When the motor is operating at the desired speed the error signal will be zero and the motor will
maintain that speed. For controlling armature current within the limits the procedure is same.
Programming is done using advanced version of LabVIEW software wherein the entire operation
can be clearly produced and this is done in a computer which is interfaced with the DAQ USB6009 (advanced version of DAQ) using an USB driver. Once the interfacing is done and the
program is sent to DAQ, the speed of the dc motor can be controlled with desired speed and also
the armature current will stay with in the limits.
77
Block Diagram:
LabVIEW Program:
78
Procedure:
A proximity sensor is connected to the shaft of DC motor. From the sensor the signals are
given to the input DAQ.
From the data pin of input DAQ the pulses are split into two. One sent to frequency pin
of tone measurement. That is used for speed control and another one is used for current control
with in limits.
The output of tone measurement is rps but we need rpm so the frequency signal is
multiplied with 60.
The rpm is compared with some set high value by using comparison greater than or equal
to and the output is given to selector. The selector takes true condition if rpm is greater than or
equal to the set high value and passes numeric constant 0 else it passes the same signal. The
output of selector gives the actual speed signal. This is done for noise elimination.
The reference voltage should be set by using numeric constant and a closed while loop is
used.
A slider is used to adjust the set speed. The slider output is connected to a multiplier
whose another input is a number constant 1.1 and the output gives the upper limit of speed.
The slider output is also connected to another multiplier whose second input is a number
constant 0.9 and the output gives the lower limit of speed.
A comparison greater than or equal to is taken whose inputs are actual speed and upper
limit of speed and output is connected to a selector. It compares where the actual speed is greater
than or equal to the upper limit of speed. If it is greater than or equal to the selector takes the true
condition and the numeric constant representing dv is selected else it selects 0 and the same
signal is passed.
A comparison lesser than or equal to is taken whose inputs are actual speed and lower
limit of speed and output is connected to a selector. It compares where the actual speed is less
than or equal to the lower limit of speed. If it is less than or equal to the selector takes the true
condition and the numeric constant representing dv is selected else it selects 0 and the same
signal is passed.
The outputs of both the selectors are given as inputs to an adder. The output of this adder
is given as input to another adder whose second input is reference voltage.
The current is compared with some set high value by using comparison greater than or
equal to and the output is given to selector. This is the upper limit .The selector takes true
condition if current is greater than or equal to the set high value and passes numeric constant 0
else it passes the same signal. The output of selector gives the actual current signal.
The current is compared with some set value by using comparison lesser than or equal to
and the output is given to selector. This is the lower limit. The selector takes true condition if
79
The output of these two selectors given as input to the adder .the output of this adder to
given as input to another adder whose second input is reference voltage.
The output of this adder and output of speed signal adder to given as input to the other
adder. The output of this given to the output DAQ.
After completing connections in LabVIEW program is connect to DAQ using connector. Now
initialize input and output DAQs of LabVIEW and run the program.
Result:
Hence, the speed control and armature current controls of a DC shunt motor within two specified
limits is obtained by using LabVIEW.
80
81
CIRCUIT DIAGRAM:
82
PROCEDURE:
83
From the data pin of input DAQ the pulses are sent to frequency pin of
tone measurement.
The output of tone measurement is rps but we need rpm so the frequency
signal is multiplied with 60.
The rpm is compared with some set high value by using comparison greater
than or equal to and the output is given to selector. The selector takes true
condition if rpm is greater than or equal to the set high value and passes
numeric constant 0 else it passes the same signal through dynamic data array.
The output of selector gives the actual speed signal. T his comparison helps in
noise elimination.
The reference voltage should be set by using numeric constant and a closed
while loop is used.
A slider is used to adjust the set speed. The slider output is connected to a
multiplier whose another input is a number constant 1.1 and the output gives
the upper limit of speed.
The slider output is also connected to another multiplier whose second input is
a number constant 0.9 and the output gives the lower limit of speed.
A comparison greater than or equal to is taken whose inputs are actual speed
and upper limit of speed and output is connected to a selector. It compares
where the actual speed is greater than or equal to the upper limit of speed. If it
is greater than or equal to the selector takes the true condition and the numeric
constant representing dv is selected else it selects 0 and the same signal is
passed.
A comparison lesser than or equal to is taken whose inputs are actual speed and
lower limit of speed and output is connected to a selector. It compares where
the actual speed is less than or equal to the lower limit of speed. If it is less
than or equal to the selector takes the true condition and the numeric constant
representing dv is selected else it selects 0 and the same signal is passed.
The outputs of both the selectors are given as inputs to an adder . The output of
this adder is given as input to another adder whose second input is reference
voltage. The output of this adder is connected to shift register of while loop and
also output DAQ.
84
The output of final adder and a constant 5 are given to a greater than or equal
to comparator whose output is given as condition to selector.This selector takes
constant 5 when the condition is true and the output of adder when condition is
false. The output of this selector is given to data signal of output DAQ. This
helps us to control the value of DAQ less than or equal to 5.
85
86
LabVIEW
Components Required:
DC Motor
Thyristor Drive
1:1 DC to DC converter
Data Acquisition(DAQ)
Tacho Sensor
5 volts DC Supply
PROCEDURE:
The speed of the DC motor is sensed by a tachosensor which gives the square
wave signal whose frequency is proportional to the speed. This square
wavevoltage signal is given as DAQ input. The tone measurement block in the
labVIEW software finds the frequency which is then multiplied by 60 to get
RPM.The error in speed is fed to PID block whose output is sent as output signal
of DAQ card.
The obtained output voltage signal is given to thyristor drive as reference using
dc/dc isolator. Isolator used is a 1:1 DC-DC converter which is placed to avoid
faults.
LABVIEW PROGRAM:
The DAQ input signal is converted into frequency signal using tone measurement which
is in R.P.S. It is multiplied by 60 to get speed in R.P.M. A selector is use to select the original
value if the speed is lesser than 1000(some higher value) and selects zero if it is greater than
1000. This is done to eliminate the noise. This obtained value and some reference sinusoidal
signal are merged and is given to a lvm writer which records the input an output values. Now, the
error is calculated which is the difference between the obtained value and the reference
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where
Pout, Iout,
and Dout
are the
contributions to the output from the PID controller from each of the three terms, as
defined below.
Proportional term:
The proportional term (sometimes called gain) makes a change to the output that is
proportional to the current error value. The proportional response can be adjusted by multiplying
the error by a constant Kp, called the proportional gain.
The proportional term is given by:
where
Pout: Proportional term of output
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where
Iout: Integral term of output
Ki: Integral gain, a tuning parameter
e: Error = SP PV
t: Time or instantaneous time (the present)
: a dummy integration variable
Derivative term:
The rate of change of the process error is calculated by determining the slope of the error
over time (i.e., its first derivative with respect to time) and multiplying this rate of change by the
derivative gain Kd. The magnitude of the contribution of the derivative term (sometimes called
rate) to the overall control action is termed the derivative gain, Kd.
The derivative term is given by:
where
Dout: Derivative term of output
Kd: Derivative gain, a tuning parameter
e: Error = SP PV
t: Time or instantaneous time (the present)
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This is the block diagram of a PID controller. The DAQ input signal is converted into
frequency signal using tone measurement which is in R.P.S. It is multiplied by 60 to get speed in
R.P.M. A Selector is use to select the original value if the speed is lesser than 1000(some higher
value) and selects zero if it is greater than 1000. This is done to eliminate the noise. This
obtained value and some reference sinusoidal signal are merged and is given to a lvm writer
which records the input an output values. Now, the error is calculated which is the difference
between the obtained value and the reference sinusoidal signal and is modulated to get the
positive error. This error is individually multiplied with kp(Proportional constant), ki(integral
constant) and kd(Differential constant) and are proportionated, integrated and differentiated. The
obtained proportional, Integral and differential values are summated which gives the differential
voltage voltage (dv). Another selector is used which selects the positive value of dv if the actual
speed is less than the reference sinusoidal signal and selects the negative dv if it is greater than
reference sinusoidal signal. The obtained value is added with some initial voltage (say 0.5v) and
is given to shift register and DAQ output. Shift register replaces the initial voltage with th
obtained voltage and hence it is closed loop operation.
Hence, speed of the DC motor is controlled using PID controller in a labview software.
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WAVEFORMS:
INPUT WAVEFORMS
OUTPUT WAVEFORMS
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INPUT AND
OUTPUT WAVEFORMS
Series2 Input
Series4 - output
RESULT:
Speed of the DC motor was controlled using a PID controller and respective input and output
waveforms were drawn.
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Front panel
THEORITICAL CALCULATIONS:
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Corner Frequency
Magnitude
Phase
0.001 HZ
1.1058
36
0.01HZ
1.0960
108
0.1HZ
1.0723
144
0.125 HZ
1.043
216
0.25HZ
0.998
540
PRACTICAL WAVEFORM:
THE OBTAINED BODE PLOT ARE:
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0.01HZ
0.1Hz
0.125HZ
0.25HZ
Magnitude plot
P has e P lot
600
500
400
300
200
100
0
0.001Hz
0.01HZ
0.1Hz
0.125HZ
Phase plot
From the bode plot the transfer function can be obtained
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0.25HZ
318.4*1000
(S+1000)(S+100)(S+10)(S+8)(S+4)
Thus from the transfer function all the poles lie on the left hand side of s-plane .The system is
stable.
RESULT OBTAINED:
The speed control of DC Motor is achieved through LABVIEW at a desired speed.
The Bode plot of the system is obtained.
The transfer function is obtained from the Bode Plot.
System stability of the obtained transfer function is obtained and verified.
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RESULT:
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VIVA QUESTIONS:
1. What is nyquist plot?
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105
29.
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112
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1. When start PB is pressed, the output energies. When PB is released, the output still ON
till stop button is pressed.
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4. When we press start button, motor 1 should on after 5s, then motor2 should on after
5sec; then motor 3 should on for 5sec.And when we press stop button all motors
(motor1, motor2, motor 3) should stop at a time.
5. When all the lights are turned OFF in buildings. An exit door light is to remain ON for an
additional 10 secs. The parking spot light turns ON and continues to remain for
additional 3 min, after the exit door light goes OFF.
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6. when start is pressed, master motor should on and coolant motor should on for 5sec
and off for 5sec.when coolant motor on for 5 times then coolant motor stop & lubricant
motor should on for 10sec. when lubricant motor off after 10sec then again coolant
motor should on and continuous cycle until we press the stop button.
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7. When we press start button output1 should on for 5sec; when output1 goes off then
output2 should on for 5sec; when output2 goes off then output3 should on for 5sec;
and when output3 goes off output4 should on for 5sec.When output4 goes off then
again output1 should on and continuous process; till we press the stop button.
8. TRAFFIC SIGNALS:
9. Condition1:
i. Lane1
ii. Orange
iii. Green
Lane2
Red
Red
Lane3
Red
Red
Lane4
Red
Red
Lane2
Orange
Lane3
Red
Lane4
Red
10. Condition2:
i. Lane1
ii. Red
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Green
Red
Red
Lane2
Red
Red
Lane3
Orange
Green
Lane4
Red
Red
Lane2
Red
Red
Lane3
Red
Red
Lane4
Orange
Green
11. Condition3:
i. Lane1
ii. Red
iii. Red
12. Condition4:
i. Lane1
ii. Red
iii. Red
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