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LABORATORY MANUAL
CLASS SEMESTER S!"JECT CODE S!"JECT : II YEAR EEE - A : IV (DEC 2010 MAY 2011 : EE225# : CONTROL SYSTEMS LA"ORATORY
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REGISTER N!M"ER :
INDE1
S$ N&$ D)*+ T(*2+ &- E3.+,(/+0* P)4+ N&$ M),5% S(40)*6,+
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E3+,'(%+ 1. Derive t+e transfer function of t+e AC Servo #otor from %asic )rinciples. 2. 1%tain t+e D.C gain %y operating at rated speed. 3. Determine t+e time constant 2mec+anical3 . )lot t+e fre-uency response E96(./+0* 1. AC Servo #otor . #inimum of 1000 necessary sources for main 0inding and control 0inding 1 /o 2. Tac+ometer . 1 /o 3. Stop0atc+ . 1 /o . 4oltmeter . 1 /o
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LIST OF E1PERIMENTS
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. . Determination of transfer function of separately e,cited DC generator. ". Determination of transfer function of DC motor. $. DC position control system. SECOND CYCLE: &. Analog simulation of Type-0 and Type-1 systems. '. Digital simulation of first order systems. (. Digital simulation of second order systems 10. Sta%ility analysis of linear systems. 11. Stepper motor control system. 12. AC position control system.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+: DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of armature controlled DC servo motor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". $. &. D+%',(.*(&0 DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R)04+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T:.+ A6)0*(*: 1 1 1 1 1 1 1 1 As re-uired
#C #5 #C #5
THEORY: 5n servo applications a DC motor is re-uired to produce rapid accelerations from standstill. T+erefore t+e p+ysical re-uirements of suc+ a motor are lo0 inertia and +ig+ starting tor-ue. ;o0 inertia is attained 0it+ reduced armature diameter 0it+ a conse-uent increase in t+e armature lengt+ suc+ t+at t+e desired po0er output is ac+ieved. T+us6 e,cept for minor differences in constructional features a DC servomotor is essentially an ordinary DC motor. A DC servomotor is a tor-ue transducer 0+ic+ converts electrical energy into mec+anical energy. 5t is %asically a separately e,cited type DC motor. T+e tor-ue developed on t+e motor s+aft is directly proportional to t+e field flu, and armature current6 T m * ?m @ 5a. T+e %ac= emf developed %y t+e motor is A% * ?% @ Bm.. 5n an armature controlled DC Servo motor6 t+e field 0inding is supplied 0it+ constant current +ence t+e flu, remains constant. T+erefore t+ese motors are also called as constant magnetic flu, motors. Armature control sc+eme is suita%le for large siCe motors. ARMAT!RE CONTROLLED DC SERVOMOTOR:
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM FORM!LAE !SED: Transfer function of t+e armature controlled DC servomotor is given as
10
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 1$ T& ;+*+,/(0+ *B+ /&*&, *&,96+ '&0%*)0* K* )0; ")'5 +/- '&0%*)0* K=: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t and 8ac= emf constant ?% using t+e a%ove values. N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+,V) (V A,/)*6,+ C6,,+0*,I) (A S.++;,N (,./
S$ N&$
CALC!LATIONS:
11
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TORA!E CONSTANT K* AND "ACK EMF CONSTANT K=
12
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ ),/)*6,+ ,+%(%*)0'+ R): C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 220 4 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+, V)1 (V A,/)*6,+ C6,,+0*, I)1 (A A,/)*6,+ ,+%(%*)0'+, R ) (
S$ N&$
CALC!LATIONS:
13
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE RESISTANCE R)
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 7$ T& -(0; ),/)*6,+ (0;6'*)0'+, L) C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature inductance ;a.using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: S$ N&$ A,/)*6,+ V&2*)4+, V)2 (V A,/)*6,+ C6,,+0*, I)2 (/A A,/)*6,+ (/.+;)0'+ C ) (
CALC!LATIONS:
1"
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE IND!CTANCE, L)
1$
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: <$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; -,('*(&0)2 '&-+--('(+0* ": C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values
O"SERVATIONS: S$ N&$ A,/)*6,+ V&2*)4+, V) (V A,/)*6,+ C6,,+0*, I) (A F(+2; C6,,+0*, I(A S.++;, N (,./
*1 (%+'% *2 (%+'%
CALC!LATIONS:
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1'
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *1 N& 2&);
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *2 2&);
20
VIVA-VOCE A!ESTIONS: 1. 2. 3. . ". Define transfer function. :+at is DC servo motorR State t+e main parts. :+at is servo mec+anismR 5s t+is a closed loop or open loop system .A,plain. :+at is %ac= A#NR
21
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+:
DETERMINATION OF TRANSFER F!NCTION PARAMETERS OF FIELD CONTROLLED DC SERVO MOTOR AIM: To determine t+e transfer function of field controlled DC servo motor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". $. &. D+%',(.*(&0 DC servo motor trainer =it DC servo motor 7+eostat Ammeter 4oltmeter Stop0atc+ )atc+ cords R)04+ "00>91A 20-13A 20-1003 mA 203003 4 20&"3 4 T:.+ A6)0*(*: 1 1 1 1 1 1 1 1 As re-uired
#C #5 #C #5
THEORY: 5n a field controlled DC Servo motor6 t+e electrical signal is e,ternally applied to t+e field 0inding. T+e armature current is =ept constant. 5n a control system6 a controller generates t+e error signal %y comparing t+e actual o9p 0it+ t+e reference i9p. Suc+ an error signal is no enoug+ to drive t+e DC motor. <ence it is amplified %y t+e servo amplifier and applied to t+e field 0inding. :it+ t+e +elp of constant current source6 t+e armature current is maintained constant. :+en t+ere is c+ange in voltage applied to t+e field 0inding6 t+e current t+roug+ t+e field 0inding c+anges. T+is c+anges t+e flu, produced %y field 0inding. T+is motor +as large ;f 9 7f ratio6 so time constant of t+is motor is +ig+ and it canMt give rapid responses to t+e -uic= c+anging control signals. FIELD CONTROLLED MOTOR:
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Transfer function of field controlled DC servo motor is given as6 2s3 9 4f 2s3 * ?m 9 s 21FsTf3 21FsTm3 0+ere #otor gain constant ?m * ?tf 9 7f 8 #otor tor-ue constant ?tf in /-m 9 A * T 9 5f Tor-ue T in /-m * (."" A% 5a 9 / 8ac= A#N A% in volts * 4a 5a 7a 4a * A,citation voltage in volts Armature resistance67a in * 4a1 9 5a1 Nield resistance67f in * 4f1 9 5f1 Nield time constant Tf * ;f 9 7f Nield 5nductance6;f in <* J;f 9 2f J;f in * 2Kf2 7f23 Kf in * 4f2 9 5f2 #ec+anical time constant Tm * L 9 8 #oment of inertia L in ?g m2 9 rad * : , 2$0 9 232 , dt9d/ / Stray loss6 : in 0atts * :M , E t2 9 2t1-t23 H )o0er a%sor%ed6 :M in :atts * 4a 5a t2 is time ta=en on load in secs t1 is time ta=en on no load in secs dt is c+ange in time on no load in secs d/ is c+ange in speed on no load is rpm / is rated speed in rpm Nrictional co-efficient6 8 in /-m 9 2rad 9 sec 3 * :MM 9 22/ 9 $0 32 :MM * 30 O of Constant loss Constant loss * /o load i9p Copper loss /o load 59) * 4 2 5a F 5f 3 Copper loss * 5a2 7a / is rated speed in rpm
23
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 1$ T& ;+*+,/(0+ *B+ /&*&, *&,96+ '&0%*)0* K*- : C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )ress t+e reset %utton to reset t+e over speed. )atc+ t+e circuit as per t+e patc+ing diagram. )ut t+e selection %utton of t+e trainer =it in t+e field control mode. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a6 and speed /. Nind t+e motor tor-ue constant ?t f using t+e a%ove values. N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+,V) (V A,/)*6,+ C6,,+0*,I) (A S.++;,N (,./
S$ N&$
CALC!LATIONS:
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE THE MOTOR TORA!E CONSTANT K*-
2"
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ ),/)*6,+ ,+%(%*)0'+ R): C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode. T+e field terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e armature of t+e servomotor. /ote t+e values of t+e armature current 5a6 armature voltage 4a. Nind t+e value of armature resistance 7a using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: A,/)*6,+ V&2*)4+, V)1 (V A,/)*6,+ C6,,+0*, I)1 (A A,/)*6,+ R+%(%*)0'+, R ) (
S$ N&$
CALC!LATIONS:
2$
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE ARMAT!RE RESISTANCE R)
2&
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 7$ T& ;+*+,/(0+ -(+2; ,+%(%*)0'+ R-: C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and apply rated voltage of 2204 to t+e field of t+e servomotor. /ote t+e values of t+e field current 5f6 field voltage 4f. Nind t+e value of field resistance 7f using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: F(+2; V&2*)4+, V)1 (V F(+2; C6,,+0*, I)1 (A F(+2; R+%(%*)0'+, R - (
S$ N&$
CALC!LATIONS:
2'
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD RESISTANCE RF
2(
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: <$ T& ;+*+,/(0+ F(+2; I0;6'*)0'+, L C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e field control mode. T+e armature terminal is left opened. S0itc+ 1/ t+e #C8. /ote t+e values of t+e field current 5f26 field voltage4f2. Nind t+e value of field inductance ;f.using t+e a%ove values N&*+: 5f t+e voltmeter and ammeter in t+e trainer =it is found not 0or=ing e,ternal meters of suita%le range can %e used. O"SERVATIONS: S$ N&$ F(+2; V&2*)4+, V-2 (V F(+2; C6,,+0*, I-2 (/A F(+2; I/.+;)0'+ C - (
CALC!LATIONS:
30
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FIELD IND!CTANCE, LF
31
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 5$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; -,('*(&0)2 '&-+--('(+0* ": C+ec= 0+et+er t+e #C8 is in 1NN position in t+e DC servomotor trainer =it )atc+ t+e circuit as per t+e patc+ing diagram )ut t+e selection %utton of t+e trainer =it in t+e armature control mode and t+e D)DT s0itc+ in po0er circuit position. C+ec= t+e position of t+e potentiometerP let it initially %e in minimum position. S0itc+ 1/ t+e #C8. 4ary t+e pot and adQust t+e motor to run at rated speed. /ote t+e values of armature current 5a6 armature voltage 4a6 field current 5f6 Speed /. C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t1 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Set t+e potentiometer to minimum position and c+ange t+e D)DT s0itc+ to po0er circuit side Connect a load of "00 1+ms in t+e load position 4ary t+e pot and adQust t+e motor to run at rated speed C+ange t+e D)DT s0itc+ position from po0er circuit side to load side6 simultaneously noting t+e time ta=en t2 of t+e motor to come to rest from rated speed6 using a stop 0atc+. Nind t+e values of moment of inertia L and frictional co-efficient 8 using t+e a%ove values
O"SERVATIONS: S$ N& A,/)*6,+ V&2*)4+, V) (V A,/)*6,+ C6,,+0*, I) (A F(+2; C6,,+0*, I(A S.++;, N (,./
*1 (%+'% *2 (%+'%
CALC!LATIONS:
32
33
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF FIELD CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *1 N& 2&);
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF ARMAT!RE CONTROLLED DC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOMENT OF INERTIA J , FRICTIONAL CO-EFFICIENT ": ( *2 2&);
3"
VIVA-VOCE A!ESTIONS: 1. :+at are t+e main parts of a DC servo motorR 2. /ame t+e t0o types of servo motor. 3. State t+e advantages and disadvantages of a DC servo motor. . !ive t+e applications of DC servomotor. ". :+at is servo mec+anismR $. :+at do you mean %y field controlled DC servo motorR
3$
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: D)*+: DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR AIM: To derive t+e transfer function of t+e given AC Servomotor. APPARAT!S @ INSTR!MENTS REA!IRED: S$ N& 1. 2. 3. . ". D+%',(.*(&0 AC servo motor trainer =it AC servo motor Ammeter 4oltmeter )atc+ cords R)04+ 20-13 A 20-1003 mA 203003 4 20&"3 4 T:.+ #C #5 #C #5 A6)0*(*: 1 1 1 1 1 1 As re-uired
THEORY: An AC servo motor is %asically a t0o p+ase induction motor 0it+ some special design features. T+e stator consists of t0o pole pairs 2A-8 and C-D3 mounted on t+e inner perip+ery of t+e stator6 suc+ t+at t+eir a,es are at an angle of (0o in space. Aac+ pole pair carries a 0inding6 one 0inding is called reference 0inding and ot+er is called a control 0inding. T+e e,citing current in t+e 0inding s+ould +ave a p+ase displacement of (0 o. T+e supply used to drive t+e motor is single p+ase and so a p+ase advancing capacitor is connected to one of t+e p+ase to produce a p+ase difference of (0 o.T+e rotor construction is usually s-uirrel cage or drag-cup type. T+e rotor %ars are placed on t+e slots and s+ort-circuited at %ot+ ends %y end rings. T+e diameter of t+e rotor is =ept small in order to reduce inertia and to o%tain good accelerating c+aracteristics. T+e drag cup construction is employed for very lo0 inertia applications. 5n t+is type of construction t+e rotor 0ill %e in t+e form of +ollo0 cylinder made of aluminium. T+e aluminium cylinder itself acts as s+ort-circuited rotor conductors. Alectrically %ot+ t+e types of rotor are identical.
DORKING PRINCIPLE :
T+e stator 0indings are e,cited %y voltages of e-ual magnitude and (0 o p+ase difference. T+ese results in e,citing currents i1 and i2 t+at are p+ase displaced %y (0o and +ave e-ual values. T+ese currents give rise to a rotating magnetic field of constant magnitude. T+e direction of rotation depends on t+e p+ase relations+ip of t+e t0o currents 2or voltages3. T+is rotating magnetic field s0eeps over t+e rotor conductors. T+e rotor conductor e,perience a c+ange in flu, and so voltages are induced rotor conductors. T+is voltage circulates currents in t+e s+ort-circuited rotor conductors and currents create rotor flu,. Due to t+e interaction of stator S rotor flu,6 a mec+anical force 2or tor-ue3 is developed on t+e rotor and so t+e rotor starts moving in t+e same direction as t+at of rotating magnetic field.
3&
FORM!LAE !SED: Transfer function6 !m 2s3 * ?m 9 21F sm3 :+ere #otor gain constant6 ?m * ? 9 N1 F N ? is T 9 C N1 is T 9 / Tor-ue6 T is (.'1 J 7 2S1 S23 7 is radius of t+e rotor in m Nrictional co-efficient6 N * : 9 22/ 9 $032 Nrictional loss6 : is 30 O of constant loss in :atts Constant loss in 0atts * /o load input Copper loss /o load i9p * 4 257F5C3 4 is supply voltage6 4 57 is current t+roug+ reference 0inding6 A 5C is current t+roug+ control 0inding6 A Copper loss in 0atts * 5C2 7C 7C * 1& / is rated speed in rpm #otor time constant6 m * L 9 N1 F N #oment of inertia L is d ; 7 T 9 32 d is diameter of t+e rotor in m 2 !iven d *3(." mm3 ;7 is lengt+ of t+e rotor in m 2!iven ; 7 *&$ mm3 T is density * &.' J 102 gm 9 m
3'
PROCED!RE: 1$ 1. 2. 3. . ". DETERMINATION OF FRICTIONAL CO-EFFICIENT, F C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. S0itc+ 1/ t+e #C8 4ary t+e control pot to apply rated supply voltage /ote t+e control 0inding current6 reference 0inding current6 supply voltage and speed. $. Nind t+e frictional co-efficient using t+e a%ove values O"SERVATIONS: S6..2: V&2*)4+ V (V C&0*,&2 E(0;(04 C6,,+0* I' (A R+-+,+0'+ D(0;(04 C6,,+0* I, (A S.++; N (,./
S$ N&$
CALC!LATIONS:
3(
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE FRICTIONAL CO-EFFICIENT F:
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROCED!RE: 2$ T& ;+*+,/(0+ *B+ /&*&, 4)(0 '&0%*)0* K/
DETERMINATION OF FO FROM TORA!E - SPEED CHARACTERISTICS:
1. 2. 3. . ". $.
C+ec= 0+et+er t+e #C8 is in 1NN position. )atc+ t+e circuit using t+e patc+ing diagram. Set t+e control pot in minimum position. C+ec= 0+et+er t+e motor is in no load condition S0itc+ 1/ t+e #C8 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. Apply load in steps. Nor eac+ load applied note do0n t+e speed and spring %alance readings. 2 Ta=e 3 or sets of readings3 '. 7educe t+e load fully and allo0 t+e motor to run at rated speed. (. 7epeat steps & and ' for &" O control 0inding voltage. 10. Dra0 t+e grap+ %et0een speed and tor-ue6 t+e slope of t+e grap+ gives N1. O"SERVATIONS: C&0*,&2 8&2*)4+ V'1 F S.,(04 ")2)0'+ S.++; T&,96+ 8)26+% N T S1 S2 (N/ (,./ (54 (54 C&0*,&2 8&2*)4+ V'2 F S.,(04 ")2)0'+ T&,96+ S.++; 8)26+% T N S1 S2 (,./ (N/ (54 (54
S$ N&
DETERMINATION OF K FROM TORA!E - CONTROL VOLTAGE CHARACTERISTICS: 1. C+ec= 0+et+er t+e #C8 is in 1NN position. 2. )atc+ t+e circuit using t+e patc+ing diagram. 3. Set t+e control pot in minimum position. . C+ec= 0+et+er t+e motor is in no load condition ". S0itc+ 1/ t+e #C8 $. 4ary t+e control pot and apply rated voltage to t+e reference p+ase 0inding and control p+ase 0inding. /ote do0n t+e no load speed. &. ;oad t+e motor graduallyP t+e speed of t+e motor 0ill decrease. 4ary t+e control pot and increase t+e control 0inding voltage till t+e speed o%tained at no load is reac+ed. /ote do0n control voltage and spring %alance readings. '. 7epeat step & for various speeds and ta%ulate. 2for 1000 rpm3 (. )lot t+e grap+ %et0een tor-ue and control 0inding voltage. T+e slope of t+e grap+ gives t+e value of ?. O"SERVATIONS: C&0*,&2 V&2*)4+ V' (V S.++; N1 F S.,(04 ")2)0'+ 8)26+% S1 S2 (54 54 T&,96+ T N/ S.++; ,./ S.++; N2 F S.,(04 ")2)0'+ 8)26+% S1 S2 K4 K4 C&0*,&2 V&2*)4+ V' V
S$ N&
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM DETERMINATION OF TRANSFER F!NCTION OF AC SERVO MOTOR PATCHING DIAGRAM TO DETERMINE MOTOR GAIN CONSTANT KM:
VIVA-VOCE A!ESTIONS: 1. :+at are t+e main parts of an AC servomotorR 2. State t+e advantages and disadvantages of an AC servo motor. 3. !ive t+e applications of AC servomotor. . :+at do you mean %y servo mec+anismR ". :+at are t+e c+aracteristics of an AC servomotorR
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: DETERMINATION OF TRANSFER F!NCTION OF SEPARATELY E1CITED DC GENERATOR AIM: To o%tain t+e transfer function of separately e,cited DC generator on no load and loaded condition. APPARATUS / INSTRUMENTS REQUIRED: S$ N& D+%',(.*(&0 R)04+ T:.+ A6)0*(*: D)*+:
THEORY: Derivation of transfer function of separately e,cited DC generator is as follo0s6 Applying ?4; to t+e field side6 ef * 7f if F ;f 2dif 9 dt3 Applying ?4; to t+e armature side6 eg * 7a ia F ;a 2dia 9 dt3 F 7; ia 4 ; * 7; i a Also since eg V if 6 let eg * ?g if Ta=ing ;aplace transform of e-uation 213 0e get Af 2s3 * 7f 5f2s3 F s;f 5f2s3 Af 2s3 * 5f 2s3 E7f F s;fH 5f 2s3 * Af 2s3 9 E7f F s;fH U 2"3 U 223 U 233 U2 3 U 213
Ta=ing ;aplace transform of e-uation 223 0e get Ag 2s3 * 7a 5a2s3 F s;a 5a2s3 F 7; 5a2s3 Ag 2s3 * 5a2s3 E7a F s;a F 7;H Ta=ing ;aplace transform of e-uations 233 and 2 3 0e get 4;2s3 * 7; 5a2 s3 T+erefore6 5a2 s3 * 4;2s3 9 7; Ag2s3 * ?g 5f2s3 Su%stituting. e-uations 2&3 and 2'3 in e-uation 2$3 0e get ?g 5f2s3 * E7a F s;a F 7;H E4;2s3 9 7;H Su%stituting t+e value of 5f 2s3 in t+e a%ove e-uation 0e get ?g Af 2s3 9 E7f F s;fH * E7a F s;a F 7;H E 4;2s3 9 7;H <ence transfer function6 4;2s3 9 Af 2s3 * ?g 7; 9 WE7f F s;fH E7a F s;a F 7;HX Nor unloaded condition6 5a * 0 T+erefore transfer function 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH Nor loaded condition ;f * Y 2Kf2 7f23 9 2If ;a * Y 2Ka2 7a23 9 2If Transfer function 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere Gf * ;f 9 7f and Ga * ;a 9 27a F 7;3 FORM!LAE !SED: Transfer function of DC generator6 O0 0& 2&); '&0;(*(&0. 4;2s3 9 Af 2s3 * ?g 9 E7f F s;fH 0+ere ?g is gain constant 7f is field resistance in 1+ms ;f is field inductance in <enry O0 2&);+; '&0;(*(&0: 4;2s3 9 Af 2s3 * ?g 7; 9 E7f 27a F 7;3 21FsGf3 21 F sGa3H 0+ere ?g is gain constant Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry Armature time constant Ga * ;a 9 27a F 7;3 7a is armature resistance in 1+ms ;a is armature inductance in <enry Department of EEE, Rajalakshmi Engineering College, Chennai
U 2$3
U2103 U 2113
U 2123
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PROCED!RE: 1$ T& ;+*+,/(0+ *B+ 4)(0 '&0%*)0* K4 : N& 2&); &, &.+0 '(,'6(* 'B),)'*+,(%*('%: 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in /(0(/6/ ,+%(%*)0'+ position and t+e generator field r+eostat s+ould %e in /)3(/6/ ,+%(%*)0'+ .&%(*(&0 &, /(0(/6/ .&*+0*()2 .&%(*(&0 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+. ". Zsing t+e 3- point starter t+e DC motor is started and it is %roug+t to rated speed %y adQusting t+e motor field r+eostat. $. ?eeping t+e D)ST s0itc+ on t+e load side open6 t+e generated voltage A g and field current If of generator is noted do0n %y varying t+e generator field r+eostat. &. T+e a%ove step is repeated till 12" O of rated voltage is reac+ed. '. A grap+ is plotted %et0een Ag and 5f ta=ing 5f along ,- a,is. A tangent to t+e linear portion of t+e curve is dra0n from t+e origin and slope of t+is line gives ?g. O"SERVATIONS: S$ N&$ F(+2; '6,,+0*, I(A I0;6'+; V&2*)4+, E4 (V
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MODEL GRAPH:
CALC!LATIONS:
L&); 'B),)'*+,(%*('%: 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e motor field r+eostat s+ould %e in /(0(/6/ ,+%(%*)0'+ position and t+e generator field r+eostat s+ould %e in /)3(/6/ ,+%(%*)0'+ .&%(*(&0 &, /(0(/6/ .&*+0*()2 .&%(*(&0 0+ile s0itc+ing 1/ and s0itc+ing 1NN t+e supply side D)ST s0itc+. 3. Ansure t+at t+e D)ST s0itc+ on t+e load side is open. . S0itc+ 1/ t+e supply D)ST s0itc+ ". T+e generator is %roug+t to its rated voltage %y varying t+e generator field r+eostat. $. T+e D)ST s0itc+ on t+e load side is closed6 and t+e load is varied for convenient steps of load current up to 120 O of its rated capacity and t+e voltmeter 4 ; and ammeter 5a readings are o%served. 1n eac+ loading t+e speed s+ould %e maintained at rated speed. &. A grap+ is plotted %et0een 4; and 5; ta=ing 5; on ,- a,is. T+e slope of t+e grap+ gives ?g. O"SERVATIONS: S$ N&$ T+,/(0)2 V&2*)4+, VL (V L&); C6,,+0*, IL (A
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MODEL GRAPH:
PROCEDURE: 2$ T& ;+*+,/(0+ -(+2; I0;6'*)0'+ L- . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRC!IT DIAGRAM:
"1
CALCULATIONS:
PROCED!RE: 7$ D+*+,/(0)*(&0 &- ),/)*6,+ (0;6'*)0'+ L) . 1. Connections are made as per t+e circuit diagram. 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Armature impedance Ka is calculated as 495 and t+e average value of Ka is o%tained. . Armature resistance 7a is measured using multimeter. ". Armature inductance ;a can %e calculated using formula6 ;a * Y 2Ka2 7a23 9 2If CIRC!IT DIAGRAM. Department of EEE, Rajalakshmi Engineering College, Chennai
"2
CALCULATIONS:
CALC!LATIONS:
"3
E3.*$ N&:
AIM: To o%tain t+e transfer function of field controlled DC motor. APPARATUS / INSTRUMENTS REQUIRED: S$ N& D+%',(.*(&0 R)04+ T:.+ A6)0*(*:
"
THEORY:
FORM!LAE !SED:
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Transfer function of field controlled DC motor6 2s3 9 4f 2s3 * ?m 9 Es 21FsGf3 21 F sGm3H 0+ere #otor gain constant6 ?m * ?tf 9 287f3 ?tf is motor tor-ue constant Tor-ue6 T is (.'1 J 7 2S1 S23 7 is radius of t+e %ra=e drum in m 7 * circumference of t+e %ra=e drum9 22 [3 8 is viscous co-efficient of friction 7f is field resistance in 1+ms Nield time constant Gf * ;f 9 7f 7f is field resistance in 1+ms ;f is field inductance in <enry ;f * Y 2Kf2 7f23 9 2If Kf is field impedence in 1+ms 7f is field resistance in 1+ms #ec+anical time constant Gm * L98 #oment of inertia L * )av 9 E2[22/12 /22 32219t13-219t233H Average po0er delivered to t+e load6 )av* 24151 F 512 7a F 4252 F 522 7a3 9 2 7a is armature resistance in 1+ms ;a is armature inductance in <enry t2 is time ta=en on load in secs t1 is time ta=en on no load in secs 4iscous Co-efficient of friction6 8 * )stray 9 2/1 F /232 Stray loss6 )stray * E2[22/12 /22 3H L 9 t1 PROCED!RE: 1$ T& ;+*+,/(0+ /&*&, *&,96+ '&0%*)0*, K*- : 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e armature current 5a of t+e motor is set to some value %y adQusting t+e armature circuit resistance. T+is value of 5a is maintained constant t+roug+out t+e e,periment. 3. T+e field current 5f is varied in steps %y adQusting t+e field r+eostat and for eac+ value of 5f t+e %ra=e drum is adQusted suc+ t+at it Qust fails to rotate. T+e corresponding readings of ammeter and spring %alances are noted. . T+e value of tor-ue for eac+ value of 5f is calculated ". A grap+ is plotted %et0een tor-ue T and field current 5N ta=ing 5N along ,-a,is. T+e slope of t+e grap+ gives t+e value of ?tf O"SERVATIONS: Department of EEE, Rajalakshmi Engineering College, Chennai
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S$ N&$
A,/)*6,+ '6,,+0* I) (A
T&,96+ T (N/
MODEL GRAPH:
CIRC!IT DIAGRAM:
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CALC!LATIONS:
PROCED!RE 2$ T& ;+*+,/(0+ -(+2; I0;6'*)0'+ L- . 1. Connections are made as per t+e circuit diagram. Department of EEE, Rajalakshmi Engineering College, Chennai
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 2. Auto transformer is varied in steps for different voltages and corresponding voltmeter and ammeter readings are noted do0n. 3. Nield impedance Kf is calculated as 495 and t+e average value of Kf is o%tained. . Nield resistance 27f3 is measured using multimeter. ". Nield inductance 2;f3 can %e calculated using formula ;f * Y 2Kf2 7f23 9 2If CIRC!IT DIAGRAM:
CALCULATIONS:
PROCED!RE: 7$ T& ;+*+,/(0+ /&/+0* &- (0+,*() J )0; V(%'&6% -,('*(&0 C&-+--('(+0* ":
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 1. Connections are made as s+o0n in t+e circuit diagram 2. T+e field current of t+e motor is set to some value %y adQusting t+e field resistance. 3. D)DT s0itc+ is t+ro0n to position 216113 and t+e motor is made to run at a speed / 1 21&00 rpm3 %y adQusting t+e armature r+eostat. . D)DT s0itc+ is opened from position 216113 and t+e stop 0atc+ is started simultaneously. T+e time ta=en t1 for t+e speed to drop from /121&00 rpm3 to /2 2 1300 rpm3 is noted. ". Again t+e D)DT s0itc+ is t+ro0n to position 2161 13 and t+e motor is made to run at a speed greater t+an /1 21&00 rpm3 %y adQusting t+e armature r+eostat. $. D)DT s0itc+ is t+ro0n to position 226213 and t+e stop 0atc+ is started 0+en t+e motor speed reac+es /1 21&00 rpm3. T+e time ta=en t 2 for t+e speed to drop from / 1 21&00 rpm3 to /22 1300 rpm3 is noted. Simultaneously t+e readings of t+e ammeter and voltmeter corresponding to /1 and /2 are noted. O"SERVATIONS: S$ N&$ N1 (,./ *1 (S+' V1 (V I1 (A N2 (,./ T2 (S+' V2 (V I2 (A
CALC!LATIONS:
CIRC!IT DIAGRAM:
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CALC!LATIONS:
CALC!LATIONS:
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D)*+:
$2
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM AIM: To study t+e c+aracteristics of a DC position control system. APPARAT!S @ INSTR!MENTS REA!IRED: i3 ii3 #ultimeter THEORY: A DC position control system is a closed loop control system in 0+ic+ t+e position of t+e mec+anical load is controlled 0it+ t+e position of t+e reference s+aft. A pair of potentiometers acts as error-measuring device. T+ey convert t+e input and output positions into proportional electric signals. T+e desired position is set on t+e input potentiometer and t+e actual position is fed to feed%ac= potentiometer. T+e difference %et0een t+e t0o angular positions generates an error signal6 0+ic+ is amplified and fed to armature circuit of t+e DC motor. T+e tac+ogenerator attac+ed to t+e motor s+aft produces a voltage proportional to t+e speed 0+ic+ is used for feed%ac=. 5f an error e,ists6 t+e motor develops a tor-ue to rotate t+e output in suc+ a 0ay as to reduce t+e error to Cero. T+e rotation of t+e motor stops 0+en t+e error signal is Cero6 i.e.6 0+en t+e desired position is reac+ed. PROCED!RE: 1. T+e input or reference potentiometer is adQusted nearer to Cero initially273. 2. T+e command s0itc+ is =ept in continuous mode and some value of for0ard gain ? A is selected. 3. Nor various positions of input potentiometer 273 t+e positions of t+e response potentiometer 203 is noted. Simultaneously t+e reference voltage 2473 measured %et0een t+e terminals 47 S A and t+e output voltage 2413 measured %et0een t+e terminals 41 S A are noted. . A grap+ is plotted 0it+ 0 along y-a,is and 7 along ,-a,is. DC position control =it and #otor unit
O"SERVATIONS:
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM R+-+,+0'+ O6*.6* )0462), )0462), .&%(*(&0, .&%(*(&0, HO HR (;+4,++% (;+4,++% KA F KA F KA F KA F R+-+,+0'+ V&2*)4+, V, (V KA F KA F O6*.6* V&2*)4+VO (V KA F KA F
S$ N&
MODEL GRAPH:
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RES!LT: T+e DC position control system c+aracteristics are studied and corresponding grap+s are dra0n.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&$ D)*+: ANALOG SIM!LATION OF TYPE 0 )0; TYPE 1 SYSTEMS AIM: To study t+e time response of first and second order type 0 and type- 1 systems. APPARAT!S @ INSTR!MENTS REA!IRED: 1. ;inear system simulator =it 2. C71 3. )atc+ cords FORM!LAE !SED: Damping ratio6 * 2ln #)32 9 22 F2ln #)323 :+ere #) is pea= percent overs+oot o%tained from t+e time response grap+ Zndamped natural fre-uency6 n * 9 Etp 21 - 23H 0+ere tp is t+e pea= time o%tained from t+e time response grap+ Closed loop transfer function of t+e type 0 second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?2 ?3 9 21FsT13 21 F sT23 0+ere ? is t+e gain ?2 is t+e gain of t+e time constant 1 %loc= *10 ?3 is t+e gain of t+e time constant 2 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms T2 is t+e time constant of time constant 2 %loc= * 1 ms Closed loop transfer function of t+e type 1-second order system is C2s3972s3 * !2s3 9 E1 F !2s3 <2s3H 0+ere <2s3 * 1 !2s3 * ? ?1 ?2 9 s 21 F sT13 0+ere ? is t+e gain ?1 is t+e gain of 5ntegrator * (.$ ?2 is t+e gain of t+e time constant 1 %loc= *10 T1 is t+e time constant of time constant 1 %loc= * 1 ms THEORY: T+e type num%er of t+e system is o%tained from t+e num%er of poles located at origin in a given system. Type 0 system means t+ere is no pole at origin. Type 1 system means t+ere is one pole located at t+e origin. T+e order of t+e system is o%tained from t+e +ig+est po0er of s in t+e denominator of closed loop transfer function of t+e system. T+e first order system is Department of EEE, Rajalakshmi Engineering College, Chennai $&
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM c+aracteriCed %y one pole or a Cero. A,amples of first order systems are a pure integrator and a single time constant +aving transfer function of t+e form ?9s and ?92sTF13. T+e second order system is c+aracteriCed %y t0o poles and up to t0o Ceros. T+e standard form of a second order system is !2s3 * n2 9 2s2 F 2ns F n23 0+ere is damping ratio and n is undamped natural fre-uency. PROCED!RE: 1$ T& -(0; *B+ %*+);: %*)*+ +,,&, &- *:.+ 0 -(,%* &,;+, %:%*+/ 1. Connections are made in t+e simulator =it as s+o0n in t+e %loc= diagram. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e simulator =it is connected to t+e \- c+annel of C71. . T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. ". T+e gain ? is varied and different values of steady state errors are noted. "2&'5 ;()4,)/ &- T:.+-0 -(,%* &,;+, %:%*+/
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM TRACES FROM CRO: F&, G)(0, K F
F&, G)(0, K F
F&, G)(0, KF
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LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE STEADY STATE ERROR OF TYPE 0 FIRST ORDER SYSTEM
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2$ T& -(0; *B+ %*+);: %*)*+ +,,&, &- *:.+ 1 -(,%* &,;+, %:%*+/ 1. T+e %loc=s are Connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input triangular 0ave is set to 2 4pp in t+e C71 and t+is applied o t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e e,periment s+ould %e conducted at t+e lo0est fre-uency to allo0 enoug+ time for t+e step response to reac+ near steady state. ". T+e C71 is =ept in J-\ mode and t+e steady state error is o%tained as t+e vertical displacement %et0een t+e t0o curves. $. T+e gain ? is varied and different values of steady state errors are noted. &. T+e steady state error is also calculated t+eoretically and t+e t0o values are compared. "2&'5 ;()4,)/ &- T:.+- 1 F(,%* &,;+, %:%*+/
&1
F&, G)(0, K F
F&, G)(0, K F
&2
LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE STEADY STATE ERROR OF TYPE 1 FIRST ORDER SYSTEM
&3
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 7$ T& -(0; *B+ '2&%+; 2&&. ,+%.&0%+ &- *:.+ 0 )0; *:.+- 1 %+'&0; &,;+, %:%*+/ 1. T+e %loc=s are connected using t+e patc+ c+ords in t+e simulator =it. 2. T+e input s-uare 0ave is set to 2 4pp in t+e C71 and t+is applied to t+e 7AN terminal of error detector %loc=. T+e input is also connected to t+e J- c+annel of C71. 3. T+e output from t+e system is connected to t+e \- c+annel of C71. . T+e output 0aveform is o%tained in t+e C71 and it is traced on a grap+ s+eet. Nrom t+e 0aveform t+e pea= percent overs+oot6 settling time6rise time6 pea= time are measured. Zsing t+ese values n and are calculated. ". T+e a%ove procedure is repeated for different values of gain ? and t+e values are compared 0it+ t+e t+eoretical values. "2&'5 ;()4,)/ *& &=*)(0 '2&%+; 2&&. ,+%.&0%+ &- T:.+-0 %+'&0; &,;+, %:%*+/
O"SERVATIONS: P+)5 .+,'+0* O8+,%B&&* IMP 1 2 R(%+ *(/+ *, (%+' P+)5 T(/+ *. (%+' S+**2(04 *(/+ *% (%+' !0;)/.+; N)*6,)2 -,+96+0': 0 (,);@%+'
S$ N&$
G)(0 K
D)/.(04 ,)*(&
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM "2&'5 ;()4,)/ *& &=*)(0 '2&%+; 2&&. ,+%.&0%+ &- T:.+-1 %+'&0; &,;+, %:%*+/
O"SERVATIONS: P+)5 .+,'+0* O8+,%B&&* IMP 1 2 R(%+ *(/+ *, (%+' P+)5 T(/+ *. (%+' S+**2(04 *(/+ *% (%+' !0;)/.+; N)*6,)2 -,+96+0': 0 (,);@%+'
S$ N&$
G)(0 K
D)/.(04 ,)*(&
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LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE CLOSED LOOP RESPONSE OF TYPE 0 SECOND ORDER SYSTEM
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LINEAR SYSTEM SIM!LATOR PATCHING DIAGRAM TO O"TAIN THE CLOSED LOOP RESPONSE OF TYPE 1 SECOND ORDER SYSTEM
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RES!LT: T+e time response of first and second order type-0 and type-1 systems are studied.
VIVA-VOCE A!ESTIONS: 1. 2. 3. . ". $. Define order and type num%er. :+at are dominant polesR :+at is a closed loop systemR :+at is t+e effect of negative feed%ac=R :+at are poles and Ceros of a systemR Define transfer function.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&$ AIM: To digitally simulate t+e time response c+aracteristics of a linear system 0it+out non- linearities and to verify it manually. APPARAT!S REA!IRED: A )C 0it+ #AT;A8 pac=age THEORY: T+e time response c+aracteristics of control systems are specified in terms of time domain specifications. Systems 0it+ energy storage elements cannot respond instantaneously and 0ill e,+i%it transient responses6 0+enever t+ey are su%Qected to inputs or distur%ances. T+e desired performance c+aracteristics of a system of any order may %e specified in terms of transient response to a unit step input signal. T+e transient response c+aracteristics of a control system to a unit step input is specified in terms of t+e follo0ing time domain specifications Delay time td 7ise time tr )ea= time tp #a,imum pea= overs+oot #p Settling time ts ST!DY OF "ASIC MATLA" COMMANDS: T+e name MATLA" stands for MATRI1 LA"ORATORY. #AT;A8 0as originally 0ritten to provide easy access to matri, soft0are developed %y t+e ;5/)AC? and A5S)AC? proQects. Today6 #AT;A8 engines incorporate t+e ;A)AC? and 8;AS li%raries6 em%edding t+e state of t+e art in soft0are for matri, computation. 5t +as evolved over a period of years 0it+ input from many users. 5n university environments6 it is t+e standard instructional tool for introductory and advanced courses (0 MATHEMATICS, ENGINEERING, AND SCIENCE. 5n industry6 #AT;A8 is t+e tool of c+oice for +ig+productivity researc+6 development6 and analysis. #AT;A8 is a +ig+-performance language for tec+nical computing. 5t integrates computation6 visualiCation6 and programming in an easy-to-use environment 0+ere pro%lems and solutions are e,pressed in familiar mat+ematical notation. Typical uses include6 #at+ and computation Algorit+m development Data ac-uisition #odeling6 simulation6 and prototyping Data analysis6 e,ploration6 and visualiCation &( D)*+: DIGITAL SIM!LATION OF FIRST ORDER SYSTEMS
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM Scientific and engineering grap+ics Application development6 including grap+ical user interface %uilding
5t is an interactive system 0+ose %asic data element is an array t+at does not re-uire dimensioning. T+is allo0s you to solve many tec+nical computing pro%lems6 especially t+ose 0it+ matri, and vector formulations6 in a fraction of t+e time it 0ould ta=e to 0rite a program in a scalar non-interactive language suc+ as C or Nortran. 5t also features a family of add-on application-specific solutions called tool%o,es. 4ery important to most users of #AT;A86 tool%o,es allo0 you to learn and apply specialiCed tec+nology. Tool%o,es are compre+ensive collections of #AT;A8 functions 2#-files3 t+at e,tend t+e #AT;A8 environment to solve particular classes of pro%lems. Areas in 0+ic+ tool%o,es are availa%le include SIGNAL PROCESSING, CONTROL SYSTEMS, NE!RAL NETDORKS, F!CCY LOGIC, DAVELETS, SIM!LATION, AND MANY OTHERS. Some practical e,amples of first order systems are 7; and 7C circuits. PROCED!RE: 1. Derive t+e transfer function of a 7; series circuit. 2. Assume 7* 1 1+ms ; * 0. 1 <. Nind t+e step response t+eoretically and plot it on a grap+ s+eet. 3. To %uild a S5#Z;5/? model to o%tain step response 9 sine response of a first order system6 t+e follo0ing procedure is follo0ed. 1. 5n #AT;A8 soft0are open a ne0 model in S5#Z;5/? li%rary %ro0ser. 2. Nrom t+e continuous %loc= in t+e li%rary drag t+e transfer function %loc=. 3. Nrom t+e source %loc= in t+e li%rary drag t+e step input9 sine input. . Nrom t+e sin= %loc= in t+e li%rary drag t+e scope. ". Nrom t+e mat+ operations %loc= in t+e li%rary drag t+e summing point. $. Connect all to form a system and give unity feed%ac= to t+e system. &. Nor c+anging t+e parameters of t+e %loc=s connected dou%le clic= t+e respective %loc=. '. Start simulation and o%serve t+e results in scope. 2Zse a mu, from t+e signal routing %loc= to vie0 more t+an one grap+ in t+e scope3 (. Compare t+e simulated and t+eoretical results. "LOCK DIAGRAM: Step response of a first order system:
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2$ MATLA" (/--(2+ .,&4,)/ *& &=*)(0 *B+ %*+. ,+%.&0%+ )0; (/.62%+ ,+%.&0%+ O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P grid O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC
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O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P grid O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC
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RES!LT: T+e time response c+aracteristics of a first order system is simulated digitally and verified manually. VIVA-VOCE A!ESTIONS: 1. :+at is #AT;A8R Department of EEE, Rajalakshmi Engineering College, Chennai '3
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM 2. 3. . ". $. &. '. :+at is t+e use of #AT;A8 )ac=ageR :+at are t+e tool%o,es availa%le in #AT;A8R :+at is t+e use of a simulationR Differentiate real time systems and simulated systems. !ive t0o e,amples for first order system. /ame t+e standard test signals used in control system. :+at is time responseR
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To digitally simulate t+e time response c+aracteristics of a second order system and verify manually. APPARAT!S REA!IRED A )C 0it+ MATLA" Soft0are THEORY T+e time c+aracteristics of control systems are specified in terms of time domain specifications. Systems 0it+ energy storage elements cannot respond instantaneously and 0ill e,+i%it transient responses6 0+enever t+ey are su%Qected to inputs or distur%ances. T+e desired performance c+aracteristics of a system of any order may %e specified in terms of transient response to a unit step input signal. T+e transient response c+aracteristics of a control system to a unit step input is specified in terms of t+e follo0ing time domain specifications. Delay time td 7ise time tr )ea= time tp #a,imum overs+oot #p Settling time ts PROCED!RE: 1. Derive t+e transfer function of a 7;C series circuit. 2. Assume 7* 1 1+ms6 ; * 0. 1 < and C * 1 micro Narad. Nind t+e step response t+eoretically and plot it on a grap+ s+eet. 3. To %uild a S5#Z;5/? model to o%tain step response 9 sine response of a second order system6 t+e follo0ing procedure is follo0ed. 1. 5n #AT;A8 soft0are open a ne0 model in S5#Z;5/? li%rary %ro0ser. 2. Nrom t+e continuous %loc= in t+e li%rary drag t+e transfer function %loc=. 3. Nrom t+e source %loc= in t+e li%rary drag t+e step input9 sine input. Department of EEE, Rajalakshmi Engineering College, Chennai '
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM . Nrom t+e sin= %loc= in t+e li%rary drag t+e scope. ". Nrom t+e mat+ operations %loc= in t+e li%rary drag t+e summing point. $. Connect all to form a system and give unity feed%ac= to t+e system. &. Nor c+anging t+e parameters of t+e %loc=s connected dou%le clic= t+e respective %loc=. '. Start simulation and o%serve t+e results in scope. 2Zse a mu, from t+e signal routing %loc= to vie0 more t+an one grap+ in t+e scope3 (. Nrom t+e step response o%tained note do0n t+e rise time6 pea= time6 pea= overs+oot and settling time. 10. Compare t+e simulated and t+eoretical results. "LOCK DIAGRAM: Step response of a second order system:
2$ MATLA" .,&4,)/ *& &=*)(0 *B+ %*+. ,+%.&0%+ )0; (/.62%+ ,+%.&0%+ &- %+'&0; &,;+, %:%*+/. O #AT;A8 program to find t+e step response num*E HP den*E HP sys * tf 2num6den3P step 2sys3P
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC
O #AT;A8 program to find t+e impulse response num*E HP den*E HP sys * tf 2num6den3P impulse 2sys3P O!TP!T: (P)%*+ *B+ 4,).B &=*)(0+; -,&/ PC
CALC!LATIONS: !0(* %*+. ,+%.&0%+ &- *B+ 4(8+0 RLC %+,(+% '(,'6(*:
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RES!LT: T+e time response c+aracteristics of t+e given second order system is simulated digitally and verified manually. VIVA-VOCE A!ESTIONS: 1. 2. 3. . ". $. &. :+at is #AT;A8R :+at is t+e use of #AT;A8 )ac=ageR :+at are t+e tool%o,es availa%le in #AT;A8R :+at is t+e use of a simulationR Differentiate real time systems and simulated systems. !ive t0o e,amples for second order system. /ame t+e standard test signals used in control system. ''
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM '. :+at is time responseR
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: STA"ILITY ANALYSIS OF LINEAR SYSTEMS a. USING BOD !LOT
AIM:
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To o%tain t+e %ode plot and c+ec= for sta%ility of t+e system 0it+ open loop transfer function6 !2S3 * APPARAT!S REA!IRED: A )C 0it+ #AT;A8 Soft0are THEORY: A ;inear Time-5nvariant Systems is sta%le if t+e follo0ing t0o notions of system sta%ility are satisfied :+en t+e system is e,cited %y 8ounded input6 t+e output is also a 8ounded output. 5n t+e a%sence of t+e input6 t+e output tends to0ards Cero6 irrespective of t+e initial conditions. T+e follo0ing o%servations are general considerations regarding system sta%ility6 5f all t+e roots of t+e c+aracteristic e-uation +ave negative real parts6 t+en t+e impulse response is %ounded and eventually decreases to Cero6 t+en system is %*)=2+. 5f any root of t+e c+aracteristic e-uation +as a positive real part6 t+en system is 60%*)=2+. 5f t+e c+aracteristic e-uation +as repeated roots on t+e QB-a,is6 t+en system is 60%*)=2+. 5f one are more non-repeated roots of t+e c+aracteristic e-uation on t+e QBa,is6 t+en system is 60%*)=2+.
"ODE PLOT : Consider a Single-5nput Single-1utput system 0it+ transfer function C2s3 * 72s3 :+ere m ] n. a0 sn F a1sn-1 F UUFan %0 sm F %1 sm-1 F UUF %m
R62+ 1 A system is sta%le if t+e p+ase lag is less t+an 1'0^ at t+e fre-uency for 0+ic+ t+e gain is unity 2one3. Department of EEE, Rajalakshmi Engineering College, Chennai (0
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM R62+ 2 A system is sta%le if t+e gain is less t+an one 2unity3 at t+e fre-uency for 0+ic+ t+e p+ase lag is 1'0^. T+e application of t+ese rules to an actual process re-uires evaluation of t+e gain and p+ase s+ift of t+e system for all fre-uencies to see if rules 1 and 2 are satisfied. T+is is o%tained %y plotting t+e gain and p+ase versus fre-uency. T+is plot is called "ODE PLOT$ T+e gain o%tained +ere is &.+0 2&&. 4)(0$ T+e e,act terminology is in terms of a G)(0 M),4(0 and PB)%+ M),4(0 from t+e limiting values -uoted. 5f t+e p+ase lag is less t+an 1 0^ at t+e unity gain fre-uency6 t+e system is sta%le. T+is t+en6 is a 0^ PB)%+ M),4(0 from t+e limiting values of 1'0^. 5f t+e gain is "d8 %elo0 unity 2or a gain of a%out 0."$3 0+en t+e p+ase lag is 1'0^6 t+e system is sta%le. T+is is "d8 G)(0 M),4(0.
PROCED!RE: Step 1. :rite a program to o%tain t+e 8ode plot for t+e given system. Step 2. Assess t+e sta%ility of given system using t+e plot o%tained. PROGRAM O81DA );1T 1N T<A S\STA# OAnter t+e numerator and denominator of t+e transfer function num*E den*E sys*tf2num6den3 OSpecify t+e fre-uency range and enter t+e command 0*logspace2-26 610003P %ode2sys603 ,la%el2_Nre-uency_3 yla%el2 _ )+ase angle in degrees #agnitude of !2s3 in deci%els_3 title2_8ode )lot of t+e system O)+ase cross over fre-uency margin2sys3 E !m6 )m6 :pc6 :gc H* margin 2sys3 _3 OTo determine t+e !ain #argin6 )+ase #argin6 !ain crossover fre-uency and HP HP
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MAN!AL CALC!LATIONS:
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RES!LT: T+e 8ode plot is dra0n for t+e given transfer function using #AT;A8 and verified manually. Nrom t+e plot o%tained6 t+e system is found to %e ``````````````. VIVA-VOCE A!ESTIONS: 1. 2. 3. . ". $. &. '. (. Define sta%ility of ;inear Time 5nvariant System. !ive t+e sta%ility conditions of system using )ole-Kero plot. Define 8ode )lot. :+at is t+e use of 8ode )lotR :+at t+e conditions of sta%ility are in 8ode plotR Define Sta%ility criteria. Define ;imits of sta%ility. Define safe regions in sta%ility criteria. Define )+ase margin and !ain margin.
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM ". Usin# Root Loc$s AIM: To o%tain t+e 7oot locus plot and to verify t+e sta%ility of t+e system 0it+ transfer function6 !2s3 * APPARAT!S REA!IRED: A )C 0it+ #AT;A8 Soft0are THEORY: ROOT LOC!S PLOT: T+e c+aracteristic of t+e transient response of a closed-loop system is related to t+e location of t+e closed loop poles. 5f t+e system +as a varia%le loop gain6 t+en t+e location of t+e closed-loop poles depend on t+e value of t+e loop gain c+osen. A simple tec+ni-ue =no0n as a7oot ;ocus Tec+ni-ueb used for studying linear control systems in t+e investigation of t+e traQectories of t+e roots of t+e c+aracteristic e-uation. T+is tec+ni-ue provides a grap+ical met+od of plotting t+e locus of t+e roots in t+e s-plane as a given system parameter is varied over t+e complete range of values 2may %e from Cero to infinity3. T+e roots corresponding to a particular value of t+e system parameter can t+en %e located on t+e locus or t+e value of t+e parameter for a desired root location can %e determined form t+e locus. T+e root locus is a po0erful tec+ni-ue as it %rings into focus t+e complete dynamic response of t+e system. T+e root locus also provides a measure of sensitivity of roots to t+e variation in t+e parameter %eing considered. T+is tec+ni-ue is applica%le to %ot+ single as 0ell as multiple-loop systems. PROCED!RE: 1. :rite a program to o%tain t+e root locus plot for t+e given system. 2. Assess t+e sta%ility of given system using t+e plot o%tained. PROGRAM: O711T ;1CZS 1N T<A S\STA#O num*E den*E sys*tf2num6den3 rlocus2sys3 v*E-106106-'6'HP a,is2v3 Department of EEE, Rajalakshmi Engineering College, Chennai (" H H
EE2257 Control Systems Laboratory Manual / II EEE A, V SEM ,la%el2_7eal A,is_3 yla%el2_5maginary A,is_3 title2_7oot ;ocus of t+e system_3 title2_7oot ;ocus )lot of t+e system MAN!AL CALC!LATIONS: _3
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM O!TP!T (-,&/ /)06)2 ')2'62)*(&0
RES!LT: T+e 7oot locus plot is dra0n for t+e given transfer function6 !2s3* ``````````````````` using #AT;A8 and t+e range of gain ? for sta%ility is``````````````. VIVA-VOCE A!ESTIONS: 1. Define root locus tec+ni-ue. 2. :+at are t+e conditions of sta%ility in root locus criteriaR 3. :+at is t+e advantage of root locus tec+ni-ueR . :+ic+ met+od of sta%ility analysis is more advantageousR ". <o0 t+e sta%ility of unsta%le is improvedR $. :+at are t+e met+ods to improve t+e sta%ilityR &. :+at is t+e use of compensatorsR '. :+at do you mean %y 7oot-;ociR (. :+at is complementary 7oot ;ociR 10. :+at are contoursR 11. State t+e %asic properties of 7oot ;ocus. 12. <o0 0ould you find t+e num%er of %ranc+es of 7oot ;ociR 13. <o0 are t+e %rea= a0ay points of t+e root locus determinedR 1 . <o0 is t+e point of intersection of t+e asymptotes 0it+ real a,is found out.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM c. USING NY%UIST !LOT AIM: To o%tain t+e /y-uist plot and c+ec= t+e sta%ility of t+e system using /y-uist Sta%ility Criterion for t+e given unity feed%ac= system 0it+ transfer function !2s3<2s3 * APPARAT!S REA!IRED A )C 0it+ #AT;A8 Soft0are THEORY: NYA!IST STA"ILITY CRITERION.
POLAR PLOTS @ NYA!IST PLOTS: T+e sinusoidal transfer function !2QB3 is a comple, function is given %y !2QB3 * 7eE !2QB3H F Q 5mE!2QB3H or !2QB3 * c!2QB3 c d!2QB3 * # d@ -----------213 Nrom e-uation 2136 it is seen t+at !2QB3 may %e represented as a p+asor of magnitude # and p+ase angle @. As t+e input fre-uency varies from 0 to e6 t+e magnitude # and p+ase angle @ c+anges and +ence t+e tip of t+e p+asor !2QB3 traces a locus in t+e comple, plane. T+e locus t+us o%tained is =no0n as POLAR PLOT. T+e maQor advantage of t+e polar plot lies in sta%ility study of systems. /y-uist related t+e sta%ility of a system to t+e form of t+ese plots. )olar plots are referred as /\fZ5ST PLOTS. PROCED!RE: 1. :rite a program to o%tain t+e /y-uist plot for t+e given system. 2. Assess t+e sta%ility of given system using t+e plot o%tained.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM PROGRAM O/\fZ5ST );1T OAnter t+e numerator and denominator of t+e transfer function num*E H den*E H sys*tf2num6den3 OSpecify t+e fre-uency range and enter t+e command ny-uist2sys3 v*E H a,is2v3 ,la%el2_7eal A,is_3P yla%el2_5maginary A,is_3P title2_/y-uist )lot of t+e system MAN!AL CALC!LATIONS:
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM RES!LT: T+e /y-uist plot is dra0n for t+e given transfer function6 !2s3 * `````````````````````` using #AT;A8 and t+e system is found to %e ``````````````````````.
VIVA-VOCE A!ESTIONS: 1. 2. 3. . ". :+at is polar plotR :+at is /y-uist plotR Define t+e conditions of sta%ility in polar plot. :+at is t+e use and advantage of polar plotR State /y-uist sta%ility criterion.
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EE2257 Control Systems Laboratory Manual / II EEE A, V SEM E3.*$ N&: STEPPER MOTOR CONTROL SYSTEM D)*+:
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