Digital Controlled System Lab Manual PDF

LABORATORY MANUAL
For
DEPARTMENT OF ELECTRICAL ENGINEERING
Subject Name:- DIGITAL CONTROL SYSTEMS Subject code:-MT-109-E Semester:- 1st Course:- Master of Technology
OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT

V.P.O. : Juglan,12 KM stone, Hisar-Chandigarh Road, National Highway - 65 District. : Hisar Haryana
INDEX
S.No. Experiments 1. To implement PI, PD & PID controllers for temperature control on a simulation. 2. To observe the effects of nonlinearities on the performance of PI, PD & PID controllers used for a first order system 3. To observe the effects of nonlinearities on the performance of PI, PD & PID controllers used for second order system 4. To observe the effects of load disturbances on the performance of PI, PD, PID & Fuzzy controllers. 5. To control speed of a dc motor using choppers. Page No. 3-7
8-11
12-14
15-17
18-20
6.
Implementation of speed control of a stepper motor 7. To study vector control of induction motor 8. Matlab Programming for electrical systems 9. To control the pressure of Pneumatic System. 10. To control the pressure of Hydraulic System VIVA VOCE SAMPLE QUESTIONS
21-23 24-29 30-32 33-35 36-39 40
NOTE: At least 10 experiments be performed in the semester. At least seven experiments should be performed from above list.
Remaining 3 experiments may either be performed from the above list or designed & set by concerned institution as per scope of syllabus.
OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

Name of Subject:- Advanced Control System Lab
Page No. 1/5
Subject Code:- MTEE-109-E
EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit. Semester I Exp.No.MTEE -EX.01 Master of Technology Apparatus Required (a)Matlab 7.0 software.
(b)Simulink Toolboxes.
Theory I.Brief Description about the temperature control process. The process involves two influent flows, the hot and the cold water flow. The flowrate of the cold water is constant and depends on the value you set it to. While that for the hot water is adjusted to be able to come up with an effluent flow of the desired temperature.
II.Running the Simulation The simulation can be run by supplying first the needed parameters in the process block and the values for the P, I and D modes of the PID controller. Circuit Diagram (A) PI Controller
Proportional Integral controller will eliminate forced oscillations and steady state error resulting in operation of on-off controller and P controller respectively. However, introducing integral mode has a negative effect on speed of the response and overall stability of the system. Thus, PI controller will not increase the speed of response. It can be expected since PI controller does not have means to predict what will happen with the error in near future. This problem can be solved by introducing derivative mode which has ability to predict what will happen with the error in near future and thus to decrease a reaction time of the controller.

Name of Subject:- Advanced Control System Lab Subject Code:- MTEE-109-E
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EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit. Semester I Exp.No.MTEE -EX.01 Master of Technology
Observation Table S. No 1 2 Simul ation time 0.7 1.7 Temp set point 350 450 Temp Hot Water 473 573 Temp Cold Water 283 183
Flow rate of Cold water Volume of tank Propor tional
Intergral
4 4
6 6
1 1
1 1
1st set of values for:a) Scope of error. b) Scope of Temp control Tm
2nd Set of Values for:a) Scope of error. b) Scope of Temp control Tm

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EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit. Semester I Exp.No.MTEE -EX.01 Master of Technology
P-D Controller:
The aim of using P-D controller is to increase the stability of the system by improving control since it has an ability to predict the future error of the system response. Therefore, D mode is designed to be proportional to the change of the output variable to prevent the sudden changes occurring in the control output resulting from sudden changes in the error signal. In addition D directly amplifies process noise therefore D-only control is not used.
Observation Table S. No 1 2 Simul ation time 0.7 1.7 Temp set point 350 450 Temp Hot Water 473 573 Temp Cold Water 283 183
Intergral
4 4
6 6
1 1
1 1
1st set of values for:a) Scope of error. b) Scope of Temp control Tm
2nd Set of Values for:a) Scope of error. b) Scope of Temp control Tm 5

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EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit. Semester I Exp.No.MTEE -EX.01 Master of Technology (C)PID Controller
P-I-D controller has the optimum control dynamics including zero steady state error, fast response (short rise time), no oscillations and higher stability. The necessity of using a derivative gain component in addition to the PI controller is to eliminate the overshoot and the oscillations occurring in the output response of the system. One of the main advantages of the P-I-D controller is that it can be used with higher order processes including more than single energy storage. In order to observe the basic impacts, described above, of the proportional, integrative and derivative gain to the system response, see the simulations below prepared on MATLAB in continuous time with a transfer function and unit step input. The results will lead to tuning methods. The following are the conditions:1) For the Temp. set point block, the Temperature set point or the desired temperature 2) For the PID controller block, the value of Kp, Ki and Kd 3) For the process block, the Temperature of the incoming flows, the flow rate of the cold water and the volume of the tank.

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EXPERIMENT: To implement PI, PD & PID controllers for temperature control on a simulation kit. Semester I Exp.No.MTEE -EX.01 Master of Technology Observation Table S. No 1 2 Simul ation time 0.7 1.7 Temp set point 350 450 Temp Hot Water 473 573 Temp Cold Water 283 183
Intergral
4 4
6 6
1 1
1 1
1st set of values for:a) Scope of error. b) Scope of Temp control Tm 2nd Set of Values for:a) Scope of error. b) Scope of Temp control Tm Result:The results of the simulation could be examined by double-clicking the scope block. There are two scope blocks in the model, the scope for the (1) measured temperature and for the (2) error. Tune the PID controller until the error shown is already zero or if the value of the measured temperature is equal to your temperature set point. Notes: (1) The initial temperature in the tank is the temperature of the cold water coming in. (2) The temperature values you supply should be in absolute ( oK or oR).

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EXPERIMENT: To observe the effects of nonlinearities on the performance of PI, PD & PID
controllers used for a first order system.
Master of Technology Apparatus Required (a)Matlab 7.0 software.
Semester I
Exp.No.MTEE-EX.02
(b)Simulink Toolboxes
Theory For the first order effects of non-linearities with the performance of PI,PD and PID we use the transfer function of first order systems With following effects:1) Backlash as a non-linearity 2) PI,PD,PID controllers are added into the same signal loop. 3) Transfer function of First order is added just after controllers to check the nonlinearity of the system. 4) Integrators are used to integrate all the signals at a time. 5) Step input response is given for signals to flow in step wise input to all the signals connected in parallel. 6) Different blocksets are used for tracking the signals into all the blocks parallel. (a) Commonly Used Blocks

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Master of Technology
Semester I
Exp.No.MTEE-EX.02
Math Operations
Math Operations used gain and step ramp input with summation block used in the matlab simulink.
Sources

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Master of Technology Circuit Diagram
Semester I
Exp.No.MTEE-EX.02
Observation Table
Step Simulation time Gain Gain 1 Backlash PI Control 1storder T.F Integer Gain 3 Gain2
5 10 20 5 10 20 5 10 20
20.0 30.0
40.0
1 1 1
Gain
4 4 4
Gain 1
[1.0,-1.0] [4.0,-4.0]
[7.0,-7.0]
[1 1] [2 2]
[3 3]
[1],[1 1] [1] ,[1 1] [1] ,[1 1]

1storder T.F
1 1 1
Integer
8 8 8
Gain 3
12 12 12
Gain2
Simulation time
Backlash
PD Control
20.0 30.0
40.0
2 2 2
Gain
6 6 6
Gain 1
[2.0,-2.0] [5.0,-5.0]
[8.0,-8.0]
[1 0] [2 0]
[3 0]
[1],[1 1] [1] ,[1 1] [1] ,[1 1]

1storder T.F
1 1 1
Integer
10 10 10
Gain 3
14 14 14
Gain2
Simulation time
Backlash
PID Control
20.0 30.0 40.0
3 3 3
7 7 7
[3.0,-3.0] [6.0,-6.0]
[9.0,-9.0]
[1 1 0] [2 2 0] [3 3 0]
[1],[1 1] [1] ,[1 1] [1] ,[1 1]
1 1 1
11 11 11
15 15 15
10

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Semester I
Exp.No.MTEE-EX.02
1st Set of values for the non-linearities in backlash and integrator.
2nd Set of values for the non-linearities in backlash and integrator
3rd Set of Values for the non-linearities in backlash and integrator
Result:- 1) The Non-linearity due to backlash put an impact on PI,PD and PID controllers with first order transfer function. 2) PID controller takes a maximum dip which means the proportional integral and derivitaive has a maximum effect on non-linearity which generated due to backlash. 3) PI and PD controllers graphs dip upto the maximum value due to effect of non-linearity of the system. 11

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controllers used for a second order system.
Semester I
Exp.No.MTEE-EX.03
Theory For the second order non linearity with the use of PI,PD and PID controller we use these many functions as:1) PI,PD and PID controllers are used for measurement of 2 nd order systems. 2) 2nd Order Transfer function used just before the PI,PD and PID Controllers. 3) Readings of all the blocks will be same. Continuous Block Parameters Discrete Block parameters
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Semester I
Exp.No.MTEE-EX.03
Observation Table
Step Simulation time Gain Gain 1 Backlash PI Control Integer Gain 3 Gain2
5 10 20 5 10 20 5 10 20
20.0 30.0
40.0 Simulation time
1 1 1
Gain
4 4 4
Gain 1
[1.0,-1.0] [4.0,-4.0]
[7.0,-7.0] Backlash
[1 1] [2 2]
[3 3] PD Control
1 1 1
Integer
8 8 8
Gain 3
12 12 12
Gain2
20.0 30.0
40.0 Simulation time
2 2 2
Gain
6 6 6
Gain 1
[2.0,-2.0] [5.0,-5.0]
[8.0,-8.0] Backlash
[1 0] [2 0]
[3 0] PID Control
1 1 1
Integer
10 10 10
Gain 3
14 14 14
Gain2
20.0 30.0 40.0
3 3 3
7 7 7
[3.0,-3.0] [6.0,-6.0]
[9.0,-9.0]
[1 1 0] [2 2 0] [3 3 0]
1 1 1
11 11 11
15 15 15
The Observation table has the same values that were used in first order systems but, instead of first order transfer function. The block has been replaced by second order transfer function for PI,PD and PID controllers.
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Master of Technology Graphs:-
Semester I
Exp.No.MTEE-EX.03
1st Set of values for PI,PD and PID Controllers for 2nd order system for non linearity using backlash.
2nd Set of values for PI,PD and PID Controllers for 2nd order system for non linearity using backlash.
3rd Set of values for PI,PD and PID Controllers for 2nd order system for non linearity using backlash.
Result:- 1) 3rd set of values makes the graph linear for the PI,PD and PID controllers on 2 nd order transfer function. 2) 3 set of graphs for 3 different values are drawn for the PI,PD and PID controllers for 2 nd order transfer function. 14

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EXPERIMENT: To observe the effects of load disturbances on the performance of PI, PD, PID &
Fuzzy controllers.
Semester I
Exp.No.MTEE-EX.04
Theory Proportional integral, derivative and fuzzy controllers when simulated together with gain , backlash and saturation as load disturbance elements then with a single step input we can be able to control the different output under one graph. The following were the effects:1) The Backlash and saturation effect the dead zone to take the parameters into deadzone beat of the PI,PD and PID controllers. 2) Tuning of the Fuzzy controllers is needed to work well with the PID controllers as a smooth curve follows the example. 3) The dead zone helps to suppress the signal which is been given by the step input pulse. 4) The gain bandwidth increases the signal flow with forward direction or connection with the circuit. 5) The gain bandwidth decreases the signal flow with suppress condition with backward flow with the circuit. 6) The feedback loop is given so as to check for any error present in the circuit diagram. 7) To get all the signals together with the blocks muxes are used for the scope.
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Fuzzy controllers.
Semester I
Exp.No.MTEE-EX.04
Observation table
Step 5 Simulation time 100 Dead zone -0.5 to 0.5 -0.6 to 0.6 -0.7 to 0.7 -0.8 to 0.8 -0.9 to 0.9 -1.0 to 1.0 -1.1 to 1.1 -1.2 to 1.2 -1.3 to 1.3 -1.4 to 1.4 16 Backlash [1 0] [1 0] [1 0] [1 0] [1 0]
[1 1} [1 1} [1 1} [1 1} [1 1}
Saturation -0.5 to 0.5 -0.6 to 0.6 -0.7 to 0.7 -0.8 to 0.8 -0.9 to 0.9 -1.0 to 1.0 -1.1 to 1.1 -1.2 to 1.2 -1.3 to 1.3 -1.4 to 1.4
Fuzzy Controller [2 3 4 5]
10
150
[2 3 4 5]

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Fuzzy controllers.
Master of Technology Graph
Semester I
Exp.No.MTEE-EX.04
Result:1)The PID Controller overshoots the signal for load disturbances with increase in values but then suppresses once it dominates. 2) Fuzzy controller and Proportional Derivative controllers suppress the signal. 3)P controller used for PI,PD and PID for measuring different signals used for the derivatives,integrals and proportional derivative integrals.
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EXPERIMENT: To control speed of a dc motor using choppers.
Semester I
Exp.No.MTEE-EX.05
Apparatus Required (a)Matlab 7.0 software.
Theory The DC motor is fed by the DC source through a chopper which consists of GTO thyristor and freewheeling diode D1. The motor drives a mechanical load characterized by inertia J, friction coeficient B, and load torque TL.The hysteresis current controller compares the sensed current with the reference and generates the trigger signal for the GTO thyristor to force the motor current to follow the reference. The speed control loop uses a proportional-integral controller which produces the reference for the current loop. Current and Voltage Measurement blocks provide signals for visualization purpose. Motor starting Start the simulation. Observe the motor current, voltage, and speed during the starting on the scope. At the end of the simulation time (1.5 s), the system has reached its steady-state. Response to a change in reference speed and load torque For response to a change in reference speed and load torque following conditions are used:1) The initial conditions state vector 'xinitial' to start with wm = 120 rad/s and TL = 5 2) Check the Simulation/Configuration Parameters menu , then select "Data Import/Export" and check "Initial state. 3) Now, double click the two Manual Switch blocks to switch from the constant "Ref. Speed (rad/s) " and "Torque (N.m)" blocks to the Step blocks. (Reference speed w.e.f changed from 120 to 160 rad/s at t = 0.4 s and load torque changed from 5 to 25 N.m at t= 1.2s). 4) Restart the simulation and observe the drive response to successive changes in speed reference and load torque.
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Semester I
Exp.No.MTEE-EX.05
Observation Table Simultation Time:- 1) 2.5 2) 5 3) 20 (A) DC Machine S.n Ra & L Rf & Lf Laf J Bm Field-arm Momen Friction Armature Field mutual t of Resistance & Rehostat coinductance Intertia Inductance and Field efficient Inductance 1 [0.5 0.01] [240 120] 1.23 0.05 0.02 2 [1.0 0.1] [300 180] 1.5 1.0 0.08
Tf Torque
N Speed
0 0
0.1 0.1
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Master of Technology (B) GTO S.n Ron Resistance 1 2 Graphs 0.05 1.0
Semester I
Exp.No.MTEE-EX.05
Lon Vf Inductanc Fwd volt 0 0 1 1
Tf
Fall time
1e-6 1e-8
Tt Current tail time 1e-6 1e-8
Rs
Snubber resistance
Cs
Snubber capacitance
1e4 1e2
infinity infinity
1st Set of values for simulation time 2.5 sec with 1st set of values
2nd Set of values for simulation time 5 sec with 2nd set of values
2nd set of values for simulation time 20sec with 2nd set of values
Result:- The armature voltage gets smooth curve for lower simulation time with least values. But, with higher values with increment in simulation time it takes more time to generate the pulse which shows the GTO controls the speed of DC machine with increase of armature voltage . 20

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EXPERIMENT: Implementation of speed control of a stepper motor
Semester I
Exp.No.MTEE-EX.06
Theory The current-controlled 60-kW Steeper Motor drive using the Steeper Motor specific model based on measured magnetization curves. The Steeper Motor is fed by a three-phase asymmetrical power converter having three legs, each of which consists of two IGBTs and two free-wheeling diodes. During conduction periods, the active IGBTs apply positive source voltage to the stator windings to drive positive currents into the phase windings. During free-wheeling periods, negative voltage is applied to the windings and the stored energy is returned to the power DC source through the diodes. The fall time of the currents in motor windings can be thus reduced. By using a position sensor attached to the rotor, the turn-on and turn-off angles of the motor phases can be accurately imposed. These switching angle can be used to control the developed torque waveforms. The phase currents are independently controlled by three hysteresis controllers which generate the IGBTs drive signals by comparing the measured currents with the references. The IGBTs switching frequency is mainly determined by the hysteresis band.
Simulation of the SRM Drive
A DC supply voltage of 240 V is used. Following are the references that were used:1)The converter turn-on and turn-off angles are kept constant at 45 deg and 75 deg, respectively, over the speed range. 2) The reference current is 200 A and the hysteresis band is chosen as +-10 A. 3) The Steeper Motor is started by applying the step reference to the regulator input. 4) The acceleration rate depends on the load characteristics. 5) To shorten the starting time, a very light load was chosen. Since only the currents are controlled, the motor speed will increase according to the mechanical dynamics of the system. 6) The Steeper Motor drive waveforms (phase voltages, magnetic flux, windings currents, motor torque, motor speed) are displayed on the scope. Current-controlled mode From stand still up to about 3000 rpm, the motor's emf is low and the current can be regulated to the reference value. In this operation mode, the average value of the developed torque is approximately proportional to the current reference. 21

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Semester I
Exp.No.MTEE-EX.06
22

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Semester I
Exp.No.MTEE-EX.06
Observation Table (A) Stepper Motor Parameters

S.No Sim
time Stator Resistanc (ohm) Intertia (kg.m) Friction (N.m.s) Speed and Position Rotor angle Stator current vector Sample time
1 2
3.5s 5s
0.05 0.7
0.05 0.7
0.02 0.02
[0,0] [0,0]
[0 10 20 30 40 45] [0 10 20 30 40 45]
0:25:450 0:25:450
-1 -5
Graphs
1st Set of values for the Fluxes, Current,Electromagnetic torque and speed
2nd Set of values for the Fluxes, Current,Electromagnetic torque and speed
Result:- For speed upto 3000 rpm, the motor's emf is low and the current can be regulated to the reference value. In this operation mode, the average value of the developed torque is approximately proportional to the current reference. In addition to the torque ripple due to phase transitions, the torque ripple created by the switching of the hysteresis regulator. 23

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EXPERIMENT: To study vector control of induction motor Master of Technology Apparatus Required (a)Matlab 7.0 software. Semester I
Exp.No.MTEE-EX.07
Theory Circuit Description The induction motor is fed by a current-controlled PWM inverter which is built using a Universal Bridge block. The motor drives a mechanical load characterized by inertia J, friction coeficient B, and load torque TL . The speed control loop uses a proportionalintegral controller to produce the quadrature-axis current reference iq* which controls the motor torque. The motor flux is controlled by the direct-axis current reference id*. Current and Voltage Measurement blocks provide signals for visualization purpose. Motor current, speed, and torque signals are available at the output of the 'Asynchronous Machine' block. Vector control to change in reference speed and load torque The initial conditions state vector "xInitial" to start with wm = 120 rad/s and TL = 0 N.m is automatically loaded in your workspace when you start the simulation (see Model Properties). In order to use these initial conditions you have to enable them. Check the Simulation/Configuration Parameters menu, then select "Data Import/Export" and check "Initial state". The two Manual Switch blocks to switch from the "Constant speed " and "Constant torque" blocks to the Step blocks. (Reference speed wref changed from 120 to 160 rad/s at t = 0.2 s and load torque changed from 0 to 200 N.m at t= 1.8s). Restart the simulation and observe the drive response to successive changes in speed reference and load torque. Asynchronous Machine Implements a three-phase asynchronous machine (wound rotor or squirrel cage) modeled in a selectable dq reference frame (rotor, stator, or synchronous). Stator and rotor windings are connected in wye to an internal neutral point.The present model is divided into two parts:1) 4KW 400V 50Hz 1430RPM, with squirrel cage rotor and reference frame is stationary. 2)15KW, 400V, 50Hz 1460RPM with squirrel cage rotor and reference fram is station.
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EXPERIMENT: To study vector control of induction motor Master of Technology Circuit Diagram Semester I
Exp.No.MTEE-EX.07
How To Regenerate Initial Conditions In the Simulation/Configuration Parameters menu, uncheck the "Initial state" parameter. The "Torque constant" manual switch block in order to select the 0 N.m constant torque. The " Constant Speed" manual switch block in order to select the 120 rad/s constant speed.
25
OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT Page JUGLAN,HISAR No. PRACTICAL MANUAL INSTRUCTION SHEET 3/6
EXPERIMENT: To study vector control of induction motor Master of Technology Semester I

Exp.No.MTEE-EX.07
Observation table (A)Preset Model:- 5.4KW 400V 50Hz 1430RPM, Reference frame stationary, Squirrel cage rotor Induction Motor Specifications S.No Sim time Power VL- VL Freq(Hz Stat Mutual Vector ) Resis(ohm) Ind(H) Intial cond 1 3s 4000 400 50 1.405 0.1722 [1,0,0,0,0,0, 0,0] 2 6s 1.5e+004 400 50 0.2147 0.00091 [1,1,1,1,0,0, 0,0] IGBT Inverter Specifications S.N0 Simulation Snubber time Resistance 1 3s 1000 2 6s 2000
Snubber Capacitanc Inf Inf
Device fwd voltage 0.8 0.8
Diode fwd voltage 0.8 0.8
Ron(O hms) 1e-3 1e-3
1st Set of values for the Line Voltagem Frequency Power and Snubber capacitances effect upon the output voltage fed through controller
2nd Set of values for the Line Voltagem Frequency Power and Snubber capacitances effect upon the output voltage fed through controller
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Exp.No.MTEE-EX.07
(A)Preset Model:- 15KW, 400 V,50Hz,1460 RPM Reference frame stationary, Squirrel cage rotor Induction Motor Specifications S.No Sim time Power VL- VL Frequen Stator Mutual Vector cy(Hz) Resistan Inductanc Intial ce(ohm) (H) conditions [ 1, 0 , 0 , 0 , 1 3s 4000 400V 50 0.2147 0.00091
0,0,0,0]
6s
1.5e+004
400V
50
0.2205
0.00091
[1,1,1,1,0, 0,0,0]
IGBT Inverter Specifications S.N0 Simulation Snubber time Resistance 1 3s 1000 2 6s 2000
Snubber Capacitanc Inf Inf
Device fwd voltage 0.8 0.8
Diode fwd voltage 0.8 0.8
Ron(O hms) 1e-3 1e-3
1st Set of values for the Line Voltagem Frequency Power and Snubber capacitances effect upon the output voltage fed through controller
2nd Set of values for the Line Voltagem Frequency Power and Snubber capacitances effect upon the output voltage fed through controller
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Exp.No.MTEE-EX.07
Vector control for inductor motor where the switch is flip for the torque slip and speed slip the parameters are fixed and the preset model parameters contains exact value as due to vector control are now been control by the torque slip and speed slip.
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Exp.No.MTEE-EX.07
Observation table (B )Preset Model:- Automatic Selected Model with Squirrel Cage Rotor and Stationary arm. Induction Motor Specifications S.No Sim time Power VL- VL Freq(Hz Stat Mutual Vector ) Resis(ohm) Ind(H) Intial cond [ 1, 0 , 0 , 0 , 0 , 1 3s 50*746 460 50 0.087 0.8e-3
0,0,0]
IGBT Inverter Specifications S.N0 Simulation Snubber time Resistance 1 3s 1000
Snubber Capacitanc inf
Device fwd voltage 0.87
Diode fwd voltage 0.8
Ron(O hms) 1e-3
Result Several readings were noted for the motor current, voltage, and speed during the starting on the scope. At the end of the simulation time (3 s), the system has reached its steady-state. 29

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EXPERIMENT: Matlab Programming for electrical systems Master of Technology Semester I

Exp.No.MTEE-EX.08
Theory The basic building blocks of electrical systems are the resistor, the inductor, and the capacitor.The input to an electrical systems may be the voltage V and current i. The relationship between the voltage acrosss a resistor and the current through it is given by Ohms law :Vr=R * i-----------------------(1) where R is the resistor For an inductor, the potential difference across the inductor depends on the rate of change of current through the inductor, and is given by VL= L di/dt--------------------(2) where L is the inductance. Equation 2 can be written as I=I/L VL dt-------------------(3) The energy stored in an inductor is given by E=1/2Li2----------------------(4) The potential difference across a capacitor depends on the charge the plates hold, an d is given by ic=Cdvc/dt---------------(5) Vc=1/Cic dt------------------(6) The energy stored in a capacitor depends on the capacitance and the voltage acorss the capacitor and is given by E=1/2 Cvc2-------------------(7) IL(t) d/dt= Vc(t) = 1/C 0 Vc(t + 0 e(t) -R/L -1/L IL(t) 1/L
Ec(t)=
0 1
IL(t) Vc(t)
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EXPERIMENT: Matlab Programming for electrical systems Master of Technology Program Codes Semester I
Exp.No.MTEE-EX.08
% simulation program for state space model clear all t=0;%simulation starting time dt=0.01;%step size tsim=10.0;%finish time n=round((tsim-t)/dt);%no. of iterations %system parameters R=10; L=15; C=0.05; A=[-R/L-1/L;1/C 0]; B=[1/L;0]; C=[0 1]; D=[0 0]; X=[0 0]'; for i=1:n; u=5*exp(-t);%exponential input % u=4*sin(t);%sinusoidal input % u=4;%fixed input dx=A*X+B*u; X=X+dx*dt; Y=C*X; Y1(i,:)=[t,Y]; X1(i,:)=[t,X']; t=t+dt; end subplot(2,1,1) plot(X1(:,1),X1(:,2:3) ) axis([0 10 -10 10]) xlabel('time') ylabel('state variables') title('Response of state variables') subplot(2,1,2) plot(Y1(:,1),Y1(:,2) ) axis([0 10 -10 10]) xlabel('time') ylabel('state variables') title('Response of state variables') 31

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EXPERIMENT: Matlab Programming for electrical systems Master of Technology Graphs Semester I
Exp.No.MTEE-EX.08
Result The electrical systems for the state variables and response of state variables for electrical systems are shown for resistor, capacitor and inductor.
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EXPERIMENT: To control the pressure of Pneumatic System. Master of Technology Apparatus Required (a)Matlab 7.0 software. Semester I
Exp.No.MTEE-EX.09
Theory The directional valve is initially moved to its maximum positive displacement, and the motor spins up in a positive direction against the friction load. The valve is then centered causing the motor to brake back to zero rpm. The valve then moves to its maximum negative displacement and the motor direction is reversed. This model can be used to get an idea of how the valve size affects available motor power and maximum speed. It can also be used to support closed-loop controller design.
Pneumatic Motor drive and pneumatic measurements blocks helps for the system to configure and stabilize the pneumatic pressure for the given sets of values. The temperature and pressure sensor helps to configure the absolute reference voltage as well as gain bandwidth of the system. 33

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EXPERIMENT: To control the pressure of Pneumatic System. Master of Technology Semester I

Exp.No.MTEE-EX.09
Circuit Diagram
Observation Table (A) Pneumatic Vane Motor S.No Simulati Nominal Nomi Mech on Time Power(W) nal Speed 1 2 10.0 30.0 2600 4200 3500 7000
Nominal differenti al pressure 5 10
Noload speed(r pm) 7000 14000
Nominal flow rate
Rotor Intertia
Initial RPM
3.6 7.2
0.01 0.01
0.01 0.01
(B)Pipeline for the pressure and temperature for pneumatic systems S.No Simulation Time Pipe A Pipe B
Intial Pressure Intial Temperature Length Intial Pressure Intial Temperature
1 2
10.0 30.0
101325 202650
293.15 293.15
1 1
101325 202650
293.15 293.15
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EXPERIMENT: To control the pressure of Pneumatic System. Master of Technology Graphs Semester I
Exp.No.MTEE-EX.09
1set of Values for volume,pressure and power. 35
2nd set of values for volume,pressure and power.
Result:-Pneumatic pressure for different sets of values are plotted for pressure shown

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EXPERIMENT: To control the pressure of Hydraulic System.. Master of Technology Semester I

Exp.No.MTEE-EX.10
Theory
The hydraulic system controls mechanical load position in response to a voltage reference demand. If the reference demand is zero, then the hydraulic actuator (and load) displacement is zero, and if the reference is +5 volts, then the displacement is the 100mm maximum. The model illustrates how the Foundation library can be used to model systems that span electrical, mechanical, and hydraulic domains. There are a few implementation were used. The proportional plus integral controller is implemented using op-amps, the final stage of which is set up as a current source. This then drives a torque motor with resistance and inductance terms modeled. The torque motor directly actuates the spool valve, which in turn controls the main hydraulic circuit supplying the hydraulic ram. Finally, the ram drives a general mechanical load. A model with this high level of fidelity is ideal to support the servo-valve controller design and testing. It includes the electromechanical high frequency modes that affect stability margins, as well as nonlinear flow rate effects when large demands are made from the hydraulics.
36

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Exp.No.MTEE-EX.10
Circuit Diagram
37

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Exp.No.MTEE-EX.10
Observation Table (A) Spool valve for the Hydraulic Pressure S.No Simulatio Flow Spool Total n time Coef. Displac Inertia ement for motor 1 1s 0.5 0.5 1e-4 2 10s 1.0 1.0 1e-4 (B) Double acting hydraulic actuator S.No Simulation Piston Chamber Time Area dead volume 1 1s 5e-4 10e-6 2 10s 5e-4 10e-6 (C) Custom Hydraulic Fluid S.No Simulation Time 1 2 1s 10s
Motor winding resistanc 10 20
Motor Torque winding motor inductanc constant e 2.5 0.04 5 0.4
Chamber A Chamber B intial pressure intial pressure 100 200 100 200
Fluid Density
Kinematic Viscosity 1.8e-0.5 1.8e-0.5
850 1000
Relative amount of tapped air 0.005 0.005
38

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EXPERIMENT: To control the pressure of Hydraulic System.. Master of Technology Graphs Semester I
Exp.No.MTEE-EX.10
1st Set of values for Pressure,Load Displacement and Current in the model block diagram
2nd Set of values for the Pressure, Load Displacement and current in the model block diagram
Result The Pressure, Load displacement for differne sets of values for Hydraulic System is shown and analytically solved. 39

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Semester I
VIVA-VOCE QUESTIONS
1. Defi ne a system model. 2. What is the need of a system model? 3. How do system models expedite the design and development of systems. 4. What are model validation and model verifi cation? 5. How do we validate and verify a given model? 6. How can we classify models? What are the steps involved in model development? 8. State the fundamental axiom of the system discipline. 9. What do you understand by physical systems? 10. Give examples of complementary terminal variablesthrough and across variables in the context of typical physical systems (electrical, magnetic, mechanical (transnational/rotational), pneumatic, and thermal systems). 11. Are derivatives and integrals of through and across variables respectively through and across variables or otherwise? Give suitable examples in support of your assertion. 12. State the component postulate of physical system theory. 13.Mention the fundamental variables for electrical, mechanical, hydraulic, and economic systems. 14.State the component postulate of physical system theory. 15. State the interconnection postulates in the form of cutset and circuit postulates. 16.Write fundamental cutset and fundamental circuit equations in the matrix form with the branch chord partitioning as implied by the selected formulation tree of the system graph. 17.What is a maximally selected formulation tree? 18.Differentiate between analog and digital simulations. 19.Discuss three major simulation characteristics for digital simulation. 20.Explain the errors in this simulation. 21.Describe the essential features of PC-based simulation packages for analog and discrete simulations.
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LABORATORY MANUAL

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT

21-23 24-29 30-32 33-35 36-39 40

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Subject Code:- MTEE-109-E

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1st set of values for:a) Scope of error. b) Scope of Temp control Tm

2nd Set of Values for:a) Scope of error. b) Scope of Temp control Tm

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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1st set of values for:a) Scope of error. b) Scope of Temp control Tm

2nd Set of Values for:a) Scope of error. b) Scope of Temp control Tm 5

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Apparatus Required (a)Matlab 7.0 software.

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OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Circuit Diagram

[1],[1 1] [1] ,[1 1] [1] ,[1 1]

[1],[1 1] [1] ,[1 1] [1] ,[1 1]

20.0 30.0 40.0

[1],[1 1] [1] ,[1 1] [1] ,[1 1]

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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1st Set of values for the non-linearities in backlash and integrator.

2nd Set of values for the non-linearities in backlash and integrator

3rd Set of Values for the non-linearities in backlash and integrator

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Apparatus Required (a)Matlab 7.0 software.

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Circuit Diagram

20.0 30.0 40.0

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Graphs:-

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

Page No. 1/3

Master of Technology Apparatus Required (a)Matlab 7.0 software.

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Circuit Diagram

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

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Master of Technology Graph

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

Page No. 1/3

EXPERIMENT: To control speed of a dc motor using choppers.

Apparatus Required (a)Matlab 7.0 software.

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET

Page No. 2/3

EXPERIMENT: To control speed of a dc motor using choppers.

Master of Technology Circuit Diagram

OM INSTITUTE OF TECHNOLOGY AND MANAGEMENT JUGLAN,HISAR PRACTICAL MANUAL INSTRUCTION SHEET