Escolar Documentos
Profissional Documentos
Cultura Documentos
Function Generator
Decade resistance box
Decade capacitance box
Decade inductance box
CRO
Connecting wires
CIRCUIT DIAGRAM:
0 10 K
THEORY:
The transfer function which relates input voltage and capacitor voltage is
VC(S) / Vi(S) = 1/ (LC S2 + RC S + 1)
The characteristic equation is
LC S2 + RC S + 1= 0 (or)
S2 + (R/L) S + 1 (L/C) = 0
and
n = 1 / (LC)
= Damping Ratio
n = Undamped natural frequency
PROCEDURE:
1. Switch ON the Main supply and observe the signal source output by varying potentiometer
2. Apply Square wave or step input by varying amplitude potentiometer.
3. Make sure signal source is connected before the input of the second order system.
4. Now select square wave signal. Draw the input square wave signal.
5. Connect the output of square wave signal source to second order system using RLC.
6. Adjust the resistance value in the RLC circuit for different damping factors.
7. For different values of damping factor, observe second order response.
L(mH)
C(F)
R
= 2
Wn=
Wd=Wn(1-2)
1
LC
C
L
Set1
0< <1
Set2
=1
Set3
0.445
47
0.47f
0.225
21276.5
20743.15
47
0.047
21276.5
47
0.047
1.5
21276.5
23787.85
FORMULAE:
1. n = 1/LC
2. = (R/2) (C/L)
3. tr = [( tan-1(1-2)/ ]/( n((1-2))
4. tp = / (n((1-2))
5.
Mp = e((-)/( 1-2))
6. td = (1+ 0.7 )/ n
7. ts = 4/ n for 2% tolerance band
CALCULATIONS:
1) a) = 2
C
L
=0.2225
b) =1
c) =1.25
Mp = e((-)/( 1-2))
=
(0 .2225 )
1(0.2225)2
/
)
=0.1
2) Wn=
1
LC
=21276.5
Wd=Wn(1-2)
=21276.5 (0.2225)
=20743.15
tr =
Wd
= 3.567*10-13 ms
GRAPHS:
RESULT: The time response of second order system has been studied and the time.
Viva-Voice Questions
1. What is Time Response?
2. Define Delay Time, Rise Time, Peak Time, Peak Over Shoot, Settling Time?
3. Define type and order of a system?
4. Distinguish between Type and Order of a system?
5. What is Steady State Error?
6. The damping ratio of system is 0.6 and the natural frequency of oscillation is 8 rad/ sec.
Determine the rise time.
7. Define Positional Error Constant and Velocity Error Constant?
EXPERIMENT - 2
CHARACTERISTICS OF SYNCHROS
AIM:
1. To study synchro transmitter.
2. To Study synchro transmitter and receiver pair.
APPARATUS:
1. Synchro transmitter Receiver pair trainer kit.
2. Patch chords.
CIRCUIT DIAGRAM:
This voltage causes a flow of magnetizing current in the rotor coil which produces a
sinusoidally time varying time varying flux directed along its axis and distributed nearly
sinusoidally, in the air gap along stator periphery. Because of transformer action, voltages are
induced in each of the stator coils. As the air gap flux is sinusoidally distributed, the flux linking
any stator coil is proportional to the cosine of the angle between rotor and stator coil axis and so
is the voltage induced in each stator coil. The stator coil voltages are of course in time phase
with each other.
The classical synchro system consists of two units.
1. Synchro Transmitter
2. Synchro Receiver
PROCEDURE :
SYNCHRO TRANSMITTER
1. Switch ON the transmitter unit that provides supply to the transmitter rotor.
2. Set the Transmitter rotor angle to 0
3. Note down the voltages across the stator terminals i.e., VS1S2, VS2S3, VS3S1 by connecting
the corresponding terminals to the voltmeter provided.
4. Vary the transmitter rotor angle in steps of 30 , and note down the voltages across the
stator terminals for every step.
5. Plot the characteristics of synchro transmitter by taking angular position on X axis
and voltages of stator on Y axis.
SYNCHRO TRANSMITTER RECEIVER PAIR
1. Connect the stator terminals of the transmitter S1, S2, S3 to the corresponding stator
terminals of the receiver S11, S21, S31 .respectively.
2. Switch ON the supply to the transmitter and rotor.
3. Vary the rotor position of the transmitter (from 0 to 360) in steps and note down the
rotor position of the receiver.
4. If the transmitter rotor position matches with the receiver position, then the system is
synchronized. If there is any difference between both the positions, note down the
difference as error.
5. Plot the characteristics by taking the transmitter rotor angle on X axis and receiver rotor
angle on Y axis.
TABULAR COLUMN:
Synchro Transmitter:
S.NO
1
2
3
Vs3s1
0.1
33.8
58.9
Vs1s2
60.3
34.5
1.1
Vs2s3
59.8
68.6
60.7
4
5
6
7
8
9
10
11
12
90
120
150
180
210
240
270
300
330
69.1
60.1
36.2
0.9
-33.9
-59.1
-68.8
-59.7
-33.5
Rotor position
of transmitter
in degrees
0
30
60
90
120
150
180
210
240
Rotor position of
receiver in degrees
0
30
60
90
120
150
180
210
240
GRAPHS:
SYNCHRO TRANSMITTER
Receiver angular position
Transmitter angular
position
Vs1s3
Vs3s2
Vs2s1
Vs1s3
33.7
34.9
59.6
0.4
68.9
32.6
60.3
59.3
-34.8
-68.9
-0.3
-59.6
-33.5
-34.9
-60
-0.4
-69.2
-35.1
All Voltages are in Volts
RESULT : The working of synchro transmitter and synchro transmitter and receiver pair are
studied and the corresponding characteristics are drawn.
Viva-Voice Questions
1. Define the term "synchro."?
2. Name the two general classifications of synchros?
3. List the different synchro characteristics and give a brief explanation of each?
4. Explain the operation of a basic synchro transmitter and receiver?
5. What are the applications of synchro pair?
6. Draw the five standard schematic symbols for synchro and identify all connections?
EXPERIMENT - 3
EFFECT OF P, PI, PID CONTROLLER ON A SECOND ORDER SYSTEM
AIM:
THEORY :A controller is a device introduced in the system to modify the error signal and to
produce a control signal. The controller modifies the transient response of the system.
9
Proportional Controller (P-Controller): The P-Controller is a device that produce a control signal u(t) which is a proportional
to the input error signal e(t).
U(t)
e(t)
U(t) = Kp e(t)
--- 1
U(s) / E(s) = Kp
--- 2
Eq. 1 & 2 gives the output of the P-Controller for input E(s) and transfer function of
the P-Controller respectively.
From Eq. 1, we can conclude that the P-Controller amplifies the error signal by an
amount of Kp. Also the Introduction of the controller on the system increases the
loop gain by an amount of Kp. Increase in loop gain improves the steady state
tracking accuracy and relative stability and also make the system less sensitive to
parameter variations. The draw back in P-Controller is that it leads to a constant
steady state error.
Proportional plus Integral Controller (PI-Controller): The PI-Controller is a device that produces a output signal consisting of two terms
one is proportional to error signal and the other is proportional to the integral of error
signal.
U(t)
--- 1
--- 2
--- 3
Eq. 2 gives the output of the PI-Controller for input E(s) and eq. 3 is the transfer
function of the PI-Controller respectively.
The advantages of both P-Controller and I-Controller are combined in PI-Controller.
The Proportional action increases the loop gain and makes the system less sensitive to
variations of system parameters. The integral action eliminates or reduces the steady
state error. The integral control action is adjusted by varying the integral time.
10
Proportional plus Integral plus Derivative Controller (PID-Controller): The PID-Controller is a device that produces a output signal consisting of three terms
one is proportional to error signal and the second is proportional to the integral of
error signal and third is proportional to the derivative of the error signal.
U(t)
--- 1
--- 2
--- 3
Eq. 2 gives the output of the PID-Controller for input E(s) and eq. 3 is the transfer
function of the PI-Controller respectively.
PROCEDURE:
PROPORTIONAL CONTROLLER
1. Select DC source set the amplitude of a dc source to some predefined value.
2. Connect the PID output to time constant 1 input, connect time constant -1
output to feed back input VF. Set the PID parameter P-20.00, I and D = 0.
Now start the PID controller. It shows run. Note down V s, VF , Error and PID
output.
3. Repeat this for different values of proportional gain and tabulate the result.
PROPORTIONAL INTEGRAL CONTROLLER
1. Select DC source set the amplitude of DC source to some value.
2. Connect DC source to set input Vs connect PID output to time constant 1
input, time constant 1 output to feed back input VF
3. Set P to some value, I to some value andd to zero now start the controller.
Note down Vs, VF, Verr and PID output voltages. Repeat this for different
values of P and I, gain and tabulate then readings.
11
TABULAR COLUMN:
P CONTROLLER:
No load o/p voltage=89mv, voltmeter o/p voltage=1.2volt.
S.NO
Applied
load
Indicated o/p
voltage(digital)
MV
1
1k
79
2
470
70
3
64
330
PROPORTIONAL + INTEGRAL ACTION(P+I):
Meter o/p
voltage(analog
)V
2.2
2.45
3.4
Applied
load
Indicated o/p
Meter o/p
voltage(digital) voltage(analo
MV
g)V
1
1k
101
2.7
2
470
101
4.2
3
101
5.3
330
PROPORTIONAL + INTEGRAL + DERIVATIVE ACTION (P+I+D):
No load o/p voltage=100mv, voltmeter o/p voltage =1.4v.
S.NO
Applied
load
1
2
3
1k
470
330
Indicated o/p
voltage(digital)M
V
100
100
100
Meter o/p
voltage(analog)
V
2.6
4.2
5.2
RESULT: Hence the steady state performance of an analog P, PI & PID controller has
been studied with second order system.
Viva-Voice Questions
1. What is a controller?
12
2.
3.
4.
5.
6.
7.
EXPERIMENT - 4
LAG AND LEAD COMPENSATION MAGNITUDE AND PHASE PLOT
AIM:
1. To Study lead compensation.
2. To study lag compensation.
13
2. LEAD NETWORK:
THEORY
LAG COMPENSATOR
A compensator having the characteristics of a Lag network is called a lag
compensator. If a sinusoidal signal is applied to a lag network, then in steady state the
output will have a phase lag with respect to input.
Lag compensation results in a large improvement in steady state performance
but results in slower response due to reduced bandwidth. The attenuation due to the
lag compensator will shift the gain cross over frequency to a lower frequency point
where the phase margin is acceptable.
The general form of lag compensator transfer function is given by:
G(S) = (S+T) / (S+P) = (S + 1/T) / S + 1/BT Where, T > 0 and B >1
LEAD COMPENSATOR
14
15
TABULAR COLUMN:
1. LEAD NETWORK
R=10k,C=0.1mfd,Vi=30volts RMS.
S.NO
Freq(Hz)
1
2
3
4
5
6
7
8
9
10
60
70
90
100
200
300
500
700
900
1000
Indicate
d phase
angle
72
66
60
58
38
28
18
13
10
10
Indicate
d Vo/Vi
0.9/3
1.2/3
1.5/3
1.6/3
2.4/3
2.7/3
2.9/3
2.9/3
2.9/3
2.9/3
Calculate
d Phase
Angle
72.5
66.26
60.62
57.87
38.62
27.95
17.66
12.81
10.00
9.04
Calculate
d Vo/Vi
0.20
0.40
0.49
0.53
0.78
0.88
0.95
0.97
0.98
0.98
2. LAG NETWORK
R=10k,C=0.1fd, Vi=3 volts RMS
S.N
O
Freq(Hz
)
1
2
3
4
26
65
100
200
Indicate
d phase
angle
10
22
32
52
Indicate
d V0/ Vi
2.8/3
2.7/3
2.6/3
1.86/3
16
Calculate
d Phase
Angle
9.2
22.2
32.12
51.47
Calculate
d Vo/Vi
0.986
0.926
0.846
0.622
5
6
7
8
9
300
400
600
800
1000
61
68
75
80
80
1.4/3
1.1/3
0.8/3
0.6/3
0.45/3
62
68
75.1
78.74
80.97
0.468
0.369
0.256
0.195
0.157
RESULT: Hence, the Lag & Lead compensation networks are studied.
Viva-Voice Questions
1. Write a brief note about Lag Compensator.
2. Write a brief note about Lead Compensator.
3. Write a brief note about Lag Lead Compensator.
5. Which compensation is adopted for improving steady response of a negative unity
feedback system?
6. Which compensation is adopted for improving both steady state and transient
response of a negative unity feedback system?
7. What happens to the gain crossover frequency when phase lag compensator is used?
8. What happens to the gain crossover frequency when phase lead compensator is used?
9. What is the effect of phase lag compensation on servo system performance?
EXPERIMENT - 5
CHARACTERISTICS OF MAGNETIC AMPLIFIERS
AIM:
1. To study series connected magnetic amplifier.
2. To study parallel connected magnetic amplifier.
APPARATUS:
1. Magnetic amplifier trainer kit.
2. Latches.
17
CIRCUIT DIAGRAM:
1. SERIES CONNECTED
18
The Magnetic Amplifier has no moving parts and can be hermetically sealed within
a case similar to the conventional dry type transformer.
However, the Magnetic Amplifier has a few disadvantages i.e. It cannot handle
low-level signals, It is not useful at high frequencies, it has a time delay associated
with the magnetic effects and the output waveform is not an exact reproduction of the
input waveform (poor fidelity) etc.
PROCEDURE:
SERIES CONNECTED MAGNETIC AMPLIFIER
The complete circuit diagram for conducting this experiment is built in the unit
itself.
1. Keep slide switch in position 0 which will be indicated by an indicator, after
the unit is switched ON.
2. Keep control current setting knob at its extreme left position which ensures
zero control current at starting.
3. With the help of plug in links, connect following terminals on the front panel
of the unit.
a) Connect Ac to A1
b) Connect B1 to A2
c) Connect B2 to L
4. Connect 100W fluorescent lamp in the holder provided for this purpose and
switch ON the unit.
5. Now gradually increase control current by rotating control current setting knob
clockwise in steps and note down control current and corresponding load
current.
6. Plot the graph of load current Vs control current.
d) Connect B1 to B2
TABULAR COLUMN:
SERIES CONNECTED
S.NO
1
2
3
4
5
6
7
8
9
PARALLEL CONNECTED
S.NO
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
240
270
300
360
400
420
425
425
425
GRAPHS:
20
Load Current
EXPERIMENT - 6
CHARACTERISTICS OF AC SERVOMOTOR
AIM:
21
APPARATUS:
1. Trainer kit
2. Multimeter
3. Patch Cards
CIRCUIT DIAGRAM:
22
The motors that are used in automatic control systems are called Servomotors.
When the objective of the system is to control the position of an object then the
system is called Servo Mechanism. The servomotors are used to convert an
electrical signal (control Voltage) applied to them into an angular displacement of
the shaft. Then can either operate in a continuous duty or step duty depending on
construction.
There are different varieties of servomotors available for control system
applications. The suitability of a motor for a particular application depends on the
characteristic of the system, the purpose of the system and its operating
conditions. In general, a servomotor should have the following features.
1. Linear relationship between the speed and electric control signal.
2. Steady state stability.
3. Wide range of speed control.
4. Linearity of mechanical characteristics throughout the entire speed range.
5. Low mechanical and electrical inertial.
6. Fast Response.
Depending on the supply required to run the motor, they are broadly classified as
DC Servomotor and AC Servomotor.
An AC Servomotor is basically a 2-Ph induction motor except for certain special
design features. A 2-Ph servomotor differs in the following 2 ways from a normal
induction motor
i.
The rotor of the servomotor is built with high resistance, so that its X/R
ratio is small which results in linear speed-torque characteristics. But
conventional induction motors will have high value of X/R ratio which
results in high efficiency and non-linear speed-torque characteristics.
ii.
The excitation voltage applied to two stator windings should have a phase
difference
of
90.
2. Construction of AC Servomotor :The AC Servomotor is basically a 2-Ph induction motor with some special design
features. The stator consists of two pole pairs mounted on the inner periphery of
23
the stator, such that their axes are at an angle of 90 in the space. Each pole pair
carries a winding. One winding is called reference winding and the other is called
control winding.
displacement of 90. The supply used to drive the motor is single phase and so a
phase advancing capacitor is connected tone of the phase to produce a phase
difference of 90. The rotor construction is usually squirrel cage or drag cup type.
The squirrel cage rotor is made of laminations. The rotor bars are placed on the
slots and short circuited at both ends by end rings. The diameter of the rotor is
kept small in order to reduce inertia and to obtain good accelerating
characteristics.
The drag cup construction is employed for very low inertia applications. In this
type of construction the rotor will be in the form of hallow cylinder made of
aluminium. The aluminium cylinder itself acts as short circuited rotor conductors.
The speed-Torque curves of AC Servomotor are non-linear except in the low
speed region. In order to drive a transfer function for the motor, some linearizing
approximations are necessary. A servomotor operates at high speeds, therefore the
linear portions of speed-torque curves can be extended out of the high speed
region by use of dashed lines. But even with this approximation, the resultant
curves are still not parallel to each other. This means that for constant speeds,
except near Zero speed, the torque does not vary linearly with respect to input
voltage.
3. Transfer Function of AC Servomotor :Let
24
= K1 / (Js2 +Bs+K2s)
= [K1 / (B+K2)] / [s (J/(B+K2))s +1]
= Km / (Tms + 1)
(which is variable byP1). Note the speed of A.C. servomotor. Now switch on
SW3 and start loading A.C. servomotor by controlling pot P2 in a slow
fashion. Note down corresponding values on Ia and N.
7. Now you may set control winding voltage to a new value of 30volts after
switching OFF SW3. Again repeat the process as indicated in step No. 6
8. Plot the speed torque characteristics for various values of control winding
voltages.
25
Tabular column:
Control voltage Vc = 15 volt.
S.No
Ia(mA
Speed N
Eb
P(mw)= Eb* Ia
TORQUE (gm-cms)
.
1
)
000
(RPM)
1375
volt
1.375
mW
00
00.00
100
1300
1.300
130
09.37
200
1225
1.225
245
19.46
300
1175
1.175
352
29.19
400
925
0.925
370
38.92
500
750
0.750
375
48.65
Ia(mA
SPEED N
Eb
TORQUE (gm-cms)
.
1
)
0
(RPM)
1425
volt
1.425
100
1375
1.375
137.5
9.73
200
1300
1.300
260
19.46
400
1175
1.175
470
38.92
500
1050
1.050
525
48.65
600
975
0.975
585
58.38
0.800
560
68
700
800
Control voltage Vc = 25 volt.
TORQUE (gm-cms)
1450
1.45
Eb* Ia (mW)
0.0
0.0
200
1350
1.35
270
19.46
400
1250
1.25
500
38.92
600
1150
1.15
690
58.38
700
1050
1.05
735
68.11
P1.01910 60
TORQUE=
2 N
GRAPHS:
26
Torque-Speed Characteristics
RESULT: Hence, the speed-torque characteristics of an AC Servomotor are studied and
the graphs are drawn.
Viva Questions:
1. What are the main parts of an ac servo motor?
2. What are the advantages and disadvantages of an AC servo motor over dc servo
3. motor?
4. Give the applications of Ac servomotor?
5. Define servo mechanism?
6. What is the difference between regulator & servomechanism?
7. What are the components of AC position control?
8. How is position control achieved?
9. What are the applications of AC servomotors?
10. What is meant by the dynamic response of DC servomotor?
11. Why a revolver is used in Ac servo motor?
EXPERIMENT - 7
SPEED TORQUE CHARACTERISTICS OF DC SERVO MOTOR
27
THEORY :The types of DC Servo Motors are (i) Series Motor (ii) Shunt Motor (iii) Permanent
Magnet Motor. A DC Servo Motor can be controlled by varying either the field
current or the armature current. DC Servo Motors offers higher efficiency than that of
AC Servo Motors of same size, but radio interference is a problem in some
applications.
Most of the DC Servo Motors used in low power applications are of the PM type.
The ease of controllable speed along with the linear torque-speed characteristics
makes the DC Servo Motor ideal for servo mechanism applications. The torquespeed curve is quite similar to that of the AC Servo Motor. These motors are
available in 6, 12 and 24 V models making them applicable to solid-state circuitry.
By comparison, the DC Servo Motor has some advantages over AC Servo Motor. The
DC Servo Motor inertia is greater than that of the AC Servo motor. This greater
inertia is due to the wound armature and commutator, which produces a heavier rotor.
The DC Servo Motor does not require any standby power whereas the AC Servo
Motor continuously draws power for its main (reference) winding.
28
T1gms
T2gms
1
2
50
100
10
20
T1T2(gms)
40
80
Torque=T*3.5cms Speed(RPM
)
122.5
635
20
600
420
550
840
425
1120
350
1400
275
Ia(amps
)
0.25
0.35
0.40
0.65
0.80
1.10
Torque=T*3.5cms
Speed(RPM)
Ia(amps)
140
280
875
825
0.25
0.35
29
3
150
40
4
300
50
5
400
70
(C)Vf=20v and Va=25v
160
250
330
560
875
1155
750
675
600
0.50
0.65
0.80
S.no
T1gms
T2gms
Torque=T*3.5cms
Speed(RPM)
Ia(amps)
1
2
3
4
5
6
Graph:
50
100
250
300
400
500
15
30
40
50
65
85
T1T2(gms)
35
120
210
250
335
415
122.5
420
735
875
1172.5
1452.5
1085
1000
925
875
800
725
0.30
0.45
0.60
0.70
0.85
1.00
3000
2500
2000
Va=25v
1500
Va=20v
Va=15v
1000
500
0
122.5
20
420
840
1120 1400
Result: The effect of Feedback on DC Servomotor has been studied with the help of
Torque-sped characteristics.
Viva Questions:
1.
2.
3.
4.
5.
6.
7.
30
EXPERIMENT - 08
ROOT LOCUS, BODE PLOT FROM MATLAB
AIM: To analyze frequency response of a system by plotting Root locus, Bode plot and
Nyquist plot using MATLAB software.
31
32
if (Wgc>Wpc)
else
end
disp(Closed loop system is unstable)
disp(Closed loop system is Marginally stable)
4. Save the above program by clicking on SAVE button from FILE menu (or) Ctrl+S
5. Run the program by clicking RUN button (or) F5 and clear the errors (if any).
6. Observe the output on the MATLAB Command Window and plots from figure
window.
Using Bode plot:
num = input(enter the numerator of tf);
den = input(enter the denominator of tf);
sys= tf(num,den);
bode(sys);
[gm, pm, weg , wep]=margin(sys)
gmbd = 20 * log 10(gm)
if((pm>0)&(gmbd>0))
disp(the given system is stable);
else
if((pm= =0)&(gmbd= =0))
disp(given system is marginally stable);
else
disp(given system is unstable);
end
end
MODEL GRAPHS:
ROOT LOCUS PLOT:
BODE PLOT:
33
OUTPUT:
Phase Cross Over frequency is:
Wpc =
Gain Cross Over frequency is :
Wgc =
Phase Margin in degrees is :
Pm =
Gain Margin in db is :
GM =
14.6 THEORETICAL CALCULATION:
1. Phase Margin:
1. For a given Transfer Function G(s), get G(j) by placing s= j.
2. Separate Magnitude and Phase terms from G(j).
3. Equate magnitude of G(j) to ONE and get value, this is called Gain Cross
Over Frequency (gc)
4. Substitute gc in place of G(j), get the phase angle ().
5. Now Phase margin (PM) = 180 +
2. Gain Margin:
1. For a given Transfer Function G(s), get G(j) by placing s= j
2. Separate Magnitude and Phase terms from G(j).
3. Equate imaginary part to ZERO and get value, this is called Phase Crossover
Frequency (pc)
4. Substitute pc
in real pat, get the corresponding gain (K).
34
RESULT: Hence Root Locus Plot, Bode Plot and Nyquist plot of given transfer function has
been plotted and verified with theoretical calculations.
Viva Questions:
1. What is gain margin and phase margin?
2. What is gain cross over frequency and phase crossover frequency?
3. What are the different types of stability conditions?
4. What are the advantages and disadvantages of root locus, bode & nyquist plot?
5. What are the advantages of frequency response analysis?
1. What is complementary Root Loci?
2. What are contours?
3. How can you analyze the stability of system with bode, nyquist?
35
EXPERIMENT - 09
PSPICE SIMULATION OF OPAMP BASED DIFFERENTIATOR AND
INTEGRATOR CIRCUITS
AIM:
To simulate the op amp based differentiator circuit using pspice
a) Simulate the practical differentiator circuit given below(fig1) using PSPICE and plot the
transient response of the output voltage for a duration of 0 to 40ms in steps of 50sec the opamp which is modeled by the circuit has R i= 2m, R0=75,R1=10k and C1=1.5619f,
Ao=210 .
5
36
b) Simulate the practical integrator circuit given below(fig2) using PSPICE and plot the
transient response of the output voltage for a duration of 0 to 40ms in steps of 50sec the opamp which is modeled by the circuit has R i= 2m, R0=75,R1=10k and C1=1.5619f,
Ao=210
APPARATUS:
Pspice software
Computer
CIRCUIT DIAGRAM:
PROCEDURE
1. Click on PSPICE icon.
2. From FILE menu click on NEW button and select Text file to open untitled window
3. Enter the following program in untitled window.
GB 4 3 1 2 0.1M
R1 3 4 10K
C1 3 4 1.5619UF
*VOLTAGE CONTROLLED VOLTAGE SOURCE WITH GAIN OF 2E5
EA 4 5 3 4 2.0E+5
R0 5 7 75
.ENDS
.TRAN 10US 4MS
.PRINT
TRAN
V(4,0)
V(1,0)
.PROBE
.END
(b) Program for Integrator
VIN 1 0 PWL(0 0 1NS -1V 1MS -1V 1.0001MS 1V 2MS 1V 2.0001MS -1V 3MS
-1V 3.0001MS 1V 4MS 1V)
R1 1 2 2.5K
RF 2 4 1MEG
RX 3 0 2.5K
RL 4 0 100K
C1 2 4 0.1UF
*SUBCKT CALL FOR OPAMP
XA1 2 3 4 0 OPAMP
.SUBCKT OPAMP 1 2 7 4
RI 1 2 2.0E6
*VOLTAGE CONTROLLED CURRENT SOURCE WITH GAIN OF 0.1M
GB 4 3 1 2 0.1M
R1 3 4 10K
C1 3 4 1.5619UF
EA 4 5 3 4 2E+5
R0 5 7 75
.ENDS
.TRAN 50US 4MS
.PRINT TRAN V(4,0)
V(1,0)
.PROBE
38
.END
4. Save the above program by clicking on SAVE button from FILE menu (or) Ctrl+S
5. Run the program by clicking RUN button (or) from Simulation menu select RUN
button and clear the errors (if any).
6. Observe the output from View menu select output file.
7. Observe the required plots at respective points by selecting Add Trace from Trace
Menu.
MODEL GRAPH:
Differentiator:
Integrator:
39
RESULT:
Hence, the PSPICE simulation of op-amp based integrator and differentiator circuits
have been done.
Viva Questions:
1. What is an Operational amplifier?
2. What are the ideal characteristics of op amp?
3. What is Virtual Short?
4. What are the applications of op amp?
5. What are the advantages and disadvantages of op amp?
1. Explain how the waveform is converted in differentiator?
2. Explain how the waveform is converted in integrator?
EXPERIMENT - 10
LINEAR SYSTEM ANALYSIS USING MATLAB
AIM:
40
To study the 1st and 2nd order system time domain response specifications and
compare with theoretical calculations when open loop system input with unity
feedback is given by G(s)=5/(s2+2s) and the system having the closed loop transfer
function
C ( s)
2
=
R (s ) s+ 2
APPARATUS:
Computer with MATLAB software.
MATLAB PROGRAM:
1ST ORDER SYSTEM
The transfer function of 1st order system is
C ( s)
2
=
R (s ) s+ 2
Num=[0 2]
Den=[1,2]
S=f[num,den]
Step(s)
2ND ORDER SYSTEM:
5
The system with unity feedback is given by G(s)= s +2 s
2
Num=[0 0 5]
Den=[1 2 0]
g= tf[num,den]
s= feedback (g,1)
step(s)
OUTPUT:
41
and H(s)=1
EXPERIMENT - 11
STATE SPACE MODEL FOR CLASSICAL TRANSFER FUNCTION USING
MATLAB
AIM: To Transform a given Transfer Function to State Space Model and from State
Space Model to Transfer Function using MATLAB.
RESOURCES:
1. MATLAB 7 Software
2. Personal Computer.
PROCEDURE:
1. Click on MATLAB icon.
2. From FILE menu click on NEW button and select SCRIPT to open Untitled
window.
3. Enter the following program in untitled window.
PROGRAM:
a= input (enter 1 for tf to to ss conversion and 2 for ss to tf conversion);
If a= =1
num=input(enter the numerator of tf);
den= input(enter the denominator of tf);
[A,B,C,D] = tf 2 ss (num,den);
A,B,C,D
End
If a= =2
A=input(enter the system matrix);
B=input(enter the input matrix);
C=input(enter the output matrix);
D=input(enter the transmission matrix);
[num,den]=ss2tf(A,B,C,D);
Num,den
end
y=tf(num,den)
OUTPUT:
Transfer Function to State Space Model:
Transfer Function of given system is
Transfer Function:
42
2s^2 + 3s + 2
-----------------------------2s^4 + s^3 + s^2 + 2s
Corresponding State Space Model A, B, C, D are:
A=
-0.5000
1.0000
0
0
B=
-0.5000
0
-1.0000
0
1.0000
0
0
0
1.0000
1
0
0
0
C=
D=
Viva Questions:
1.
2.
3.
4.
5.
6.
RESULT:
Hence, the given transfer function to state space model and state space model to transfer
function is transformed by using MATLAB
EXPERIMENT - 12
PROGRAMMABLE LOGIC CONTROLLER
43
44
During the operation, the CPU reads or accepts the input data or status of the field
devices via the input interfaces, executes the control program stored in the memory system,
and writes or updates the output devices via the output interfaces.
This process of
sequentially reading the inputs, executing the program in memory, and updating the outputs is
known as scanning.
Allen-Bradley's programmable controllers are efficient and effective in providing
industrial control. Allen-Bradley was one of the first companies to manufacture PLCs for
enhancing plant productivity. Allen- Bradley's PLC family of programmable controllers, are
among the most advanced and versatile PLCs worldwide. In the Industrial Control Lab we
have SLC-5/02 in the benches and PLC-5 and SLC-500 on the wall.
Ladder Diagrams
The logic implemented in PLCs is based on the three basic logic functions (AND,
OR, NOT). These functions are used either singly or in combinations to form instructions that
will determine if a device is to be switched ON or OFF. The most widely used languages for
implementing ON/OFF control and sequencing are ladder diagrams. It is easy to understand,
and most plant or industrial electricians are accustomed to working with elementary relay
diagrams. Since this type of instruction set is composed of contact symbols, it is also referred
to as contact symbology. The ladder circuit connections in the PLC are implemented via
software instructions. All the logical wiring can be thought of as being inside the CPU
(softwired as opposed to hardwired).
The complete ladder diagram can be thought of as being formed by individual
circuits, each circuit having one output. Each of these circuits is known as a rung. Therefore,
a rung is the contact symbology required to control an output in the PLC. A complete PLC
ladder diagram program then consists of several rungs, each controlling an output interface
which is connected to an output field device as shown in Figure 1.5.
Each rung is a
combination of input conditions (symbols) connected from left to right between two vertical
lines, with the symbol that represents the output at the far right. The symbols that represent
the inputs are connected in series, parallel or some combination to obtain the desired logic;
these input symbols represent the input devices that are connected to the PLC's input
interfaces. When activated, these devices either allow current to follow through the circuit or
cause a break in current flow, thereby switching a device ON or OFF. The input symbols on a
ladder rung can represent signals generated from connected input devices, connected output
devices, or from outputs internal to the controller.
In general, PLC architecture is modular and flexible, allowing hardware and software
elements to expand as the application requirements change. A PLC eliminates hardwired
control in favor of programmable control. Once installed, the control plan can be manually or
45
automatically altered to meet the day-to-day control requirements without changing the field
wiring.
Programming with RSLogix 500 Software
Creating a directory on your network drive
To work correctly, the software needs a directory for your RSLogix programs on your f drive.
Using either Windows Explorer or the My Computer icon on your desktop, create the
directory f:\RSLogix on your network drive.
Running RSLogix 500 and starting a new project
Double-click on the RSLogix 500 icon on the Windows desktop to start the software.
With a new project, before you can edit a ladder program, you must configure the controller
to reflect the actual hardware. The configuration procedure is outlined in section 2.2. Save
this configuration in your F:\RSLogix directory with a file name say PLC500CONFIG.RSS.
If you followed the configuration procedure the processor and I/O configuration has been
completed, for your next project you can skip section 2.2 and copy the PLC500CONFIG file
under a new file name, which you want to assign to your project.
Processor and Input/Output Configurations
The PLCs in S-340 have a 10-slot backplane with the following modules:
46
Select the 1747-L524 5/02 CPU for the processor type and enter your bench number for the
processor name.
You should now see a project tree window and a window to enter your ladder logic.
47
Next, the chassis (the rack in which the modules are installed) and the individual modules
must be defined. Double-click on the IO Configuration icon in the project tree window to
access the I/O Configuration dialog box. In the Rack 1 pull-down menu select 1746-A10 10Slot Rack chassis. In slot 0 under Part # and Description you should see the 1747-L524 5/02
CPU 4K Mem. Next, the I/O modules are defined. To do this, highlight slot 1 and doubleclick on the 1746-IA16 input module. Place the same input module in slot 2. Use slot 3 and 4
to configure the 1746-OA16 output modules. Finally place 1746-NIO4V analog module in
slot 8.
A completed I/O Configuration dialog box is shown below.
Click on the X in the upper right corner to close the configuration dialog box.
You should now save the file by selecting Save As from the File menu. Save with a file
name say PLC500CONFIG. We will use this file as a starting point (the base project file) for
48
the remaining projects. For example, to start a new project you can copy the PLC500CONFIG
file under a file name, which you want to assign to your project say example Lab1a.
2.3 Editing Ladder Logic
With RSLogix 500 Window in the OFFLINE mode, select the PLC500CONFIG file (i.e., the
base project file that you configured in section 2.2) and save it under a new name, for
example, Lab1a. You should see icons for the instructions you need for editing a program at
the top of the RSLogix 500 programming window. A detailed description of the instruction
appears in a balloon and on the status bar when you move the cursor over one of the
instructions. Click on the tabs below the icons if you dont see an instruction you need. Use
the following Step-by-step guide to edit the ladder diagram of Example 1 as shown in Figure
1.5.
1. Select the number of the first rung to begin entering instructions. The rung number
should now be highlighted in red.
2. Click on the examine if closed (XIC) icon. An XIC instruction should now be on the rung.
3. Enter the instructions address. There are two ways to enter the instruction address:
a. Click on the question mark and type in the address I: 1/0.
b. Click on the I1-Input under project tree and drag the desired address (I: 1/0) to the
instruction.
You may add a symbolic address. A symbol, once it has been associated with an address, can
be used for other instructions referencing its address. To add symbols, click on the instruction
and with address highlighted type over the address SP0 as the symbol for this instruction.
You may also add a description for the instruction. To add a description, right click on the
instruction and select Edit Description.
description. You may type START for the description of this instruction.
4. Click on the examine if open (XIO) icon. An XIO instruction should appear on the rung
next the XIC instruction. Follow step 3 for entering the address (I: 1/1), symbol (LS0), and
description Limit Switch.
5. Click on the output enable (OTE) icon. An OTE instruction should appear at the end of the
rung. For the addresses enter O: 3/0 and for the symbol type PL1.
6. Click on the branch icon. A branch appears with one end highlighted. Drag each end of the
branch to its proper location. A green box appears at each possible location when you drag the
branch ends.
49
7. Select the bottom left corner of the branch and click on the XIC icon. An XIC instruction is
added to the branch. For its address you can type the symbolic address PL1 defined in step 5.
8. Select and double click on the End rung to insert a new rung. Add an examine if closed
(XIC) instruction and type PL1 for its address. Next add the output enable (OTE) instruction.
B3/1 (you may use B3 Binary icon under project tree and drug the desired address to the
instruction).
Type INT_OTE_1 for the symbolic address, and Internal output for the
description.
9. Repeat step 8 to add an XIO and an OTE instructions for the last rung.
After you have placed all the instructions, make certain they are all addressed. As a shortcut,
you can drag addresses from one instruction to any other.
Verify the program logic
Click on the file verify or project verify icon, or select them from Edit menu, to verify the
program logic. If there are any logic errors in your program, a window appears below the
project tree and ladder logic windows. Correct any errors before proceeding on with the
lab.2.4
Downloading Program to SLC-500
The Upload/Download Program, transfer programs between the computer and the SLC-500.
By performing a download operation, you will be able to monitor your program when you
enter the Online Programming mode. Turn on the processor Main Power and download the
program of Example 1. The system displays a message stating:
Downloading Program
test mode. The system displays a message stating, Are you sure you want to
50
To test the program press the start pushbutton SP0 the input address is forced, causing the
output for that rung to be true and they will appear in reverse video. Control contact across
pushbutton closes, sealing in the output coil PL1. On the second rung, since the condition is
true, the NO contact and its output will appear in reverse video, and the internal bit B3/1 is
turned on. On the third rung, the condition for an examine OFF is not true and the output for
the rung is not energized and will not appear in reverse video.
Close the toggle switch LS0. On the first rung, the NC contact LS0 opens, and the output coil
PL1 is turned off. On the second rung, the condition for an examine ON is not true and the
output for the rung is de-energized and will not appear in the reverse video. On third rung,
since the condition is true, the NC contact and its output will appear in reverse video, and the
internal bit B3/2 is turned on.
Running mode
Select the running mode. In the running mode the output is enabled, performing the Remote
Run intended operations. Press the start pushbutton and later close the toggle switch and
observe the events made during test procedure.
Saving a Project to a File
The project created in this exercise only exists in the computer memory. To save it to a file on
the hard disk of the computer, choose the Save or Save As command in the File menu.
This opens the Save Program As... dialog box. This box prompts you to type a project
filename (the processor name previously entered upon selection of the processor type is
suggested). Keep the processor name the same as the project filename (EXERC_1).
Make the following observations:
The path leading to the location where project files are to be stored is indicated at
the top of the dialog box;
The extension of project filenames is .RSS;
You can include a revision note and a version number with the project file.
Click the Save button in the dialog box. This will cause project EXERC_1 to be saved
in a file named EXERC_1.RSS.
Choose the Close command in the File menu to close project file EXERC_1.RSS. This will
cause project EXERC_1 to be removed from the computer memory and the RSLogix 500
window.
Close RSLogix 500. Turn off the computer.
AND Gate:
The function of an AND gate is simulated in the electric circuit displayed in Figure
below.
51
Notice that the lamp will be on only when both switches are closed.
a two-input AND logic gate symbol, its Boolean expression, and its truth table is
shown in figure below
. In the truth table, you can see that there is only one set of inputs that produces a
logic high output.
From the ladder logic diagram shown below, it performs the function of a two-input
AND gate. When normally open inputs I:0/0 and I:0/1 are closed, output O:0/0 is energized.
OR Gates:
The function of an OR gate is simulated in the electric circuit displayed in Figure
below.
52
Notice that the lamp will be ON when one or both of the switches are closed. Figure
below displays a two-input OR logic gate symbol, its Boolean expression, and its truth table.
The truth table shows a logic high output for all combinations of inputs except where
both A and B are low. When either input A, B, or both are on, the output is on.
Figure below displays a ladder logic diagram that performs the function of a twoinput OR gate. When either normally open (NO) inputs I:0/0, I:0/1, or both are closed, output
O:0/0 is energized.
NAND Gate:
The function of a NAND gate is simulated in the electric circuit displayed in Figure
below.
53
Notice that the lamp will be off when both switches are closed. The NAND gate takes
its name from NOT and AND. Its outputs are the inverse of the AND gate. Figure below
displays a two-input NAND logic gate symbol, its Boolean expression, and its truth table.
Notice that the NAND gate can be built by connecting an AND gate in series with a
NOT gate. Using the De-Morgan theorem, sometimes also called the Bubble method, you can
convert a NAND gate to an OR gate with inverted inputs where (A B) = A + B.
Figure below displays that there are two different types of ladder logic diagrams that
perform the NAND function.
Both normally closed inputs I:0/0 and I:0/1 must be energized (opened) to turn off
the output O:0/0.
When both normally open inputs I:0/2 and I:0/3 are energized (closed), the relay
coil B3:0/0 is energized. Then the normally closed contact B3:0/0 is opened to turn off output
O:0/1.
NOR Gate:
The function of a NOR logic gate is simulated in the electric circuit displayed in
Figure below.
54
Notice that the lamp will be ON when both switches are open. The NOR gate takes its
name from NOT and OR. Its outputs are the inverse of the OR gate.
Figure below displays a two-input NOR logic gate symbol, its Boolean expression,
and its truth table. Notice the NOR gate can be built by connecting an OR gate in series with a
NOT gate. Using the De-Morgan theorem, you can convert a NOR gate to an AND gate with
inverted inputs where (A + B) = A B.
Figure below displays that there are two different types of ladder logic diagrams that
perform the NOR gate function.
Both normally closed inputs I:0/0 and I:0/1 must be deenergized (remain closed) to
turn on the output O:0/0
55
When both normally open inputs I:0/2 and I:0/3 are de-energized, the relay coil
B3:0/0 is de-energized. Then the normally closed contact B3:0/0 remains closed to turn on
output O: 0/1.
Result: All the truth tables of the logic gates have been verified using programmable logic
controller.
EXPERIMENT - 13
TRANSFER FUNCTION OF DC GENERATOR
AIM: To study the DC motor and DC generator characteristics DC motor speed-torque
characteristics Step response of DC motor.
CIRCUIT DIAGRAM:
Measurement of armature Resistance:
PROCEDURE:
1. Connect the circuit as shown in the figure. Keeping field circuit open.
2. Motor shaft should not rotate.
3. Vary the input voltage from 0-100V from the controller and note dowr ammeter and
voltmeter readings and enter in the tabular column.
4. Calculate the Resistance = V/I
5. Repeat the same for different input voltages.
6. The average resistance value gives the armature resistance.
56
PROCEDURE:
1. Make the connections as given in the circuit diagram. Keep field circuit open.
2. Vary the input AC Voltage from the controller and note down voltmeter and
Ammeter readings and enter in the tabular column.
3. Calculate za, xa and La
4. Repeat the same for different input voltages
5. The average Value gives the La.
57
PROCEDURE:
PROCEDURE:
1. Connect the circuit as shown in the figure
2. Keep the armature winding openVary the input AC supply from the controller and note
own voltmeter and ammeter readings and enter in the tabular column.
3. Calculate Zf , Xf and Lf
4. Repeat the same for different input voltages.
58
59