Characteristics of Ac Servomotor: Department of Electrical and Electronics Engineering

CONTROL SYSTEMS AND SI MULATI ON LAB MANUAL
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGI NEERI NG

PRAGATI ENGINEERING COLLEGE, SURAMPALEM
1

1. CHARACTERISTICS OF AC SERVOMOTOR

AI M: To draw the characteristics of ac servomotor.

APPARATUS: 1. AC servomotor kit
2. Power supply.

SCHEMATI C DI AGRAM:

500/ 3W
PR
P1
E
b

P
2

TO LAMP
1.0mfd
CONTROL
WINDING
(SPEED
CALIBRATION)
(TP
2
)
V
R
+
C
REFERENC
E
WINDING
ROTATING DISC
ACSM
A.C
230V
TR

TP

+
M
2

+
TP
3

E
RECTIFIER
AND
REGULATOR
PCB
1
PCB
2

TE
3

SIGNAL
PROCESSI N
G PCB3
+
-

M1
LOAD
CONTROL
500/ 3W
LIGHT SOURCE
PHOTO PICK
UP
110
10K/3
P
h
N
0 V
DCM


2

THEORY:
AC servomotor is basically a two phase induction motor and consists of two stator
windings oriented 90degrees apart both in time and space when voltages of equal rms
magnitude and 90 degrees phase difference are applied a synchronously rotating magnetic
field of constant magnitude is Set up in the stator. The two Windings are called as reference
and control windings.
The direction of rotating magnetic field depends upon the phase relationship
between the control voltage and reference voltage. As the field sweeps over the rotor, emfs
are induced Producing current in the rotor circuit. The interaction between rotating magnetic
Field and the induced currents produce torque, causing the motor To rotate in the direction of
field. In normal induction motors X/R ratio is generally kept high so as to Obtain the
maximum torque close to operating range in which is usually Around 5% slips. But in AC
servomotor the resistance is made high to achieve linearity of torque speed characteristic.
The voltages applied to the stator windings are seldom balanced. The reference phase
I exited by a constant voltage and control phase is By a voltage, which is 90degrees
out of phase w.r.t. The voltage of the Reference phase. The direction of rotation of Motor
reverses as the polarity Of the control winding voltage is changed.

PROCEDURE:

1. Keep SW3 in load off position indicating that the armature circuit of dc machine is not
connected to auxiliary supply (12 volts)
2.Keep SW2 in off position.
3.Ensure P1 and P2 are in fully anticlock wise position.
4.Now switch on SW1 and SW2.
5.With SW3 in OFF position vary the speed of AC servomotor by moving P1 in
clockwise direction.
6.Tabulate the emf Eb generated by dc machine and speed of ac servomotor. Eb is measured
A multimeter at TP1 indicates port and speed on front panel display.
7.Draw the graph of Eb vs. speed.

TABULAR FORMS:

Without load:

S.NO

SPEED

BACK
EMF


3

With load:

S.NO

Ia

SPEED

Eb

P=Eb.Ia

TORQUE

N 2
10 1.09 P
T
9

=

a b
I E P =

EXPECTED WAVE FORMS:

N
Eb

N
T
RESULT:

QUI Z QUESTI ONS:

1. What is the construction of A.C servomotor?
2. How the two-stator windings are placed?
3. How can we reverse the direction of rotation?
4. Differentiate between A.C servomotor and Induction Motor?
5. Where we use these motors?
6. What are the characteristics of A.c Servomotor?
7. How can we reduce the inertia of rotor?
8. On what direction the motor rotates?

4

2.EFFECT OF FEED BACK ON DC SERVOMOTOR

AI M: To study the performance of effect of feedback on dc servomotor.

APPARATUS: DC servomotor kit.

SCHEMATI C DIAGRAM:

N1
R
a
L
a

J
L
Ea e
a
i
a
T N
2

5v e e
b
C
b
L

i
f
=constant

THEORY: The motors that are used in servo systems are called as dc Servomotors. In
these motors.The rotors inertia is made small in order to get Good torque to weight ratio. DC
servomotors with relatively smaller power. Rating is used in instruments and disc drives
tape drives printers and word Processors. Large rated dc servomotors are used in robot
systems and numerically operated milling machine. The DC servomotors are either field
controlled or armature Controlled. The time constant of field controlled Dc servomotors are
large when Compared to armature controlled dc servomotors. Also the maintenance of
Constant armature current is difficult so armature controlled dc servomotors are Preferred.
The objective of the system is control the position of Mechanical Load in accordance
with the reference position .A pair of Potentiometers act as error detecting device. They
convert the input and output Positions into proportional electrical signals. The difference
between the input and output Angular positions is the error signal given by e =r-c.
The potential difference
v c r
e e e = is the error voltage and is amplified by the error
amplifier. Then this voltage is applied to the armature of the circuit of dc motor. A fixed dc
voltage is applied to the field Winding. If an Error exists then the motor rotates and develops
a torque in such a way that the error is reduced to zero.

For constant field current,
a
i K T
2
= (
a
i =armature current)
And
dt
d
e
k b

3
=
(where
dt
d
is angular velocity).
A
mp
lifi
er.

r

r

5
Applying kvl to the armature circuit, we get
a b a a
a
a
e e i R
dt
di
L = + +

v a a
a
a
e K
dt
d
K i R
dt
di
L
1
0
3
= + +

Now the equation for T equilibrium is

a
i K T
dt
d
b
dt
d
J
2 0
2
2
0
= + +

After taking the lap lace transform we get

s K K b s J R s L s
K K
s E
s
a a v 3 2 0 0
2 1
) )( ( ) (
) (
+ + +
=

If n is the gear ratio then ) ( ) ( s n s C =
Also ) ( )] ( ) ( [ ) (
0 0
s E K s C s R K s E
v
= =
Now the transfer function in the feed forward path of the system is

3 2 0 0
2 1
0
) )( [( ) (
) (
) (
) (
) (
) (
) (
K K b s J R s L s
n K K K
s E
s E
s E
s
s
s C
s G
a a
v
v
+ + +
= - - =

La is usually small and can be neglected.

s
Ra
K K
b s J
R
n
K K K
K K b s J R s
n K K K
s G
a
a
) (
] ) ( [
) (
3 2
0
2
0
2 1 0
3 2 0 0
2 1 0
+ +
=
+ +
=
If
0
J and
a
R
K K
b
3 2
0
+ are multiplied by
2
n , they are expressed in terms of Output shaft.
Then
2
0
n
J
J = , B=
2 3 2
0
/ ] [b n
R
k K
a
+ n R K K K K
a
/
2 1 0
=

) 1 (
) (
2
+
=
+
=
s T s
K
Bs Js
K
s G
m
m
Where
B
K
K
m
= ,
B
J
T
m
=
TABULAR FORMS:
With feedback:

S.NO

1

2

2 1


6

With out feedback:

S.NO.

1

2

2 1

Block diagram showing transfer functions of various components for Dc position control:

Regenerative

Tahco in
Load
Error
u
1
u
2

INPUT N
m

RAD GAIN K
A
K
M

Input
Pot

OUTPUT RADIANS

OUTPUT POT

EXPECTED GRAPH:

For with out feed back with degenerative feed back

2

2

1
1

A
D.P.D.T
Feed back
Control

K
p
1
Servo
Amplifier
Dc
Motor
Gear
Train
N:1
J1
F1
Multiple1 Kpo
Volt/rad
Tacho
(K
T
)


7

RESULT:

QUIZ QUESTI ONS:

1. what are the applications of D.C servomotor?

2. What is meant by positive and negative feed back?

3. What is meant by feed back?

4. What is meant by degenerative feed back?

5. What is meant by regenerative feed back?


8

3. CHARACTERISTICS OF SYNCHROS

AI M: To study the performance of a synchro pair and to obtain its characteristics.

APPARATUS: 1.Synchro transmitter and receiver kit.
2. Patch cords
3. Multimeter.

CI RCUI T DI AGRAM:

S
2
s
2
1

Stator winding of Stator winding
Transmitter V of receiver V

2 / V V/2 V/2 V/2

S
1
s
3
s
1
1
s
3
1

R
1
R
1
1

Rotor winding of Rotor winding of
Transmitter Receiver
R
2
R
2
1

Ph
1-
AC Supply
N


9

S
2
s
2
1

Stator 3/2v Stator 3/2v

0v 3/2v 0v 3/2v

S
1
s
3
s
1
1
s
3
1

30
0

30
0

R
1
R
1
1

Rotor

Rotor

R
2
R
2
1

Ph
1-
AC Supply
N

THEORY:
A synchro is an electromagnetic transducer, which is used to convert an
angular position of a shaft into an electrical signal. Its construction is similar to
that of a three-phase alternator. The stator is of laminated silicon steel and is
slotted to accommodate balanced three phase winding, which is concentric coil
type and wound with a concentric coil.
When ever an ac voltage is applied to the rotor of transmitter, by
transformer action, emfs are induced in the stator coils. These emfs are function
of rotor angular positions.The output of transmitter is applied to the stator winding
of receiver called Control transformer. Again by transformer action an error
voltage will be induced in rotor winding and it is a proportional to cosine of the
angular displacement of shaft.

e(t)=K
1
V sin
c
Tcos

V
S1
=KV
r
sin
r
tcos(+120)

V
S2
=K V
r
sin
c
tcos

V
S3
=KV
r
sin
c
tcos(+240)

10

When the rotor of transmitter is rotated through an angle , the rotor of control
transformer is rotated through an angle .The net angular displacement =90-(+).

e(t)=K
1
Vsin(- )sin
c
t

Thus the synchro pair acts as an error detector.

PROCEDURE:

STUDY OF SYNCHRO TRANSMI TTER

1. Connect the mains supply to the system with the help of cable
provided. Do not interconnect S1, S2, and S3 terminals to the S1,
S2, and S3.

2. Switch on the mains supply for the unit and transmitter rotor supply.

3. Starting from Zero position, note down the voltage between stator winding terminals
i.e. V
S1S2
, VS2S3, VS1S3 in a sequential manner. Enter the readings in tabular forms and
plot the graph of angular position Vs rotor voltages for all three phases.

4. Note that zero position of the stator rotor coincide with V
S3S1
voltage equal to zero
voltage. Do not disturb this condition.

STUDY OF SYNCHRO TRANSMITTER AND RECEIVER PAIR

1. Connect the mains supply to the cable.

2. Connect S1, S2, and S3 terminals of transmitter to the S1, S2, and S3 of synchro
receiver by patch cords provided respectively

3. Switch on the Rotor supply of both transmitter and receiver and also switch on the
mains supply.

4. Move the pointer i.e. rotor position of synchro transmitter insteps of 30
0
and observe
the new rotor position. Observe that whenever transmitter rotor is rotated, the Receiver
rotor follows it for both the directions and their positions are in good agreement.

5. Enter the input angular position and output angular position in the tabular form and plot
a graph.


11

TABULAR FORMS:

S.NO

ROTOR ()

V
S3S1

V
S1S2

V
S2S3

MODELGRAPHS:

S.NO

TRANSMITTER
ANGULAR POSITION

RECEIVER ANGULAR
POSITION

1

u
2

u
-10
-15
-20
20
15
10
5
0
-5
V

12

RESULT:

QUI Z QUESTI ONS:

1. What is synchro?

2. What is the principle of synchro?

3. What is a synchro pair?

4. What are the trade names of synchros?

5. What are the applications of synchro?


13

4. TIME RESPONSE OF SECOND ORDER SYSTEM AND
VERIFICATION USING MATLAB

AI M: To obtain the time response specifications of a RLC series circuit (Second order
system)

APPARATUS: CRO
Function generator
Probes.

THEORY: The transfer function of a second order control system is in the form given below
2
n
2
2
s
2
n
T(s)
+ +
=
s
n

The transient response for a step input exhibits damped oscillation before reaching steady state.
The following are the transient response specifications.

1. Delay Time: It is the time taken by the response to reach 50%of its final value.
2. Rise time: It is the time taken by the response to rise from 0 to 100 %( for undamped
system for 10 to 90% for over damped system) of final value.
3. Peak time: The time required to reach peak of first over shoot.
4. Maximum over shoot: The normalized difference between first peak and steady state
value.
5. Settling time: The time required for the response to lie with in a tolerable band.
PROCEDURE:
1. Connect the circuit as shown in circuit diagram.
2. Switch on function generator.
3. Observe the output response on CRO screen.
Measure the delay time, rise time, maximum overshoot, settling time.
4. Tabulate the results for different values of R.

L=2mH

R=1K

Fucntion
generator

Fig(a) RLC Series Circuit
C=1F
L=2H

14

CALCULATIONS:

For second order system the closed loop transfer function is given by

The response of the system is given by
)]
2
1
(
1
tan t
2
1
n
Sin[
2
1
t
n
-
e
- 1 C(t)

=
Rise time
2
1
n
2
1
(
1 -
tan -

r
t
=

Peak Time
2
1
n

p
t
= t

Settling time =
n
1
s
t =
For 2% tolerance band
n
4
s
t =
For 5% tolerance band
n
3
s
t =
MAT LAB PROGRAM:

num=[0 0 1562500];
den=[1 750 1562500];
Step (num,den)

TABULAR FORM:

VALUES

THEORITICAL

PRACTICAL

Rise Time

Delay time

Settling time

Peak time

Peak over shoot

MAT LAB

15

MODEL GRAPHS:

P
M

1.0

0.5

t
d
t
r

t
p

t
s

RESULT:

QUIZ QUESTIONS:

1. What is the closed loop transfer function of a second order system?

2. What is the characteristic equation of a second Order system?

3. Write down the expression for Damped Frequency?

4. What is the value of for undamped system?

5. What is damping ratio?

6. What is the response of II order system for step input under different damping
cases?


16
5 . EFFECT OF P, PI, PID CONTROLLERS OF A SECOND ORDER
SYSTEM

AI M: To study the effect of P, PI, PID controller of a second order system.

APPARATUS: 1.PID controller kit
2.CRO
3.Patch cards
4.Probes

CI RCUIT DI AGRAM:

ON

OFF
V
in
Ve
ON Vo

. Vf OFF

LEVEL SQUARE
ON

OFF

FREQUENCY TRIANGLE

CONTORLLER
AMPLITUDE DC

MAINS

INV. AMP

DISPLAY

P

I

D
+

Integrator
Time constant
Second order
system
ystem
First order
System

17

THEORY:

PROPOTIONAL CONTROL:
In proportional control, the output is proportional to the actuating error
signal i.e., u(t)=K
p
e(t).Usually a proportional controller is an amplifier with adjustable gain. In
integral control the output is proportional to the integral of actuating error signal i.e., u(t)=K
i

e(t). In this control the output varies at rate proportional to the error signal. If e(t) is doubled
then u(t) varies twice as fast. For zero disturbance e(t) =0, the output remains stationary.

R(S) E(s) Ea(s) C (s)

B(s)

In derivative control the o/p is proportional to the rate of change of actuating
error signal. It produces a significant correction before the magnitude of the actuating
error signal becomes too large, thus tends to increase the stability of the system.
U(t)=K
d
e(t)
dt
d
.

A proportional plus integral controller incorporates both proportional and integral
controls. In PI control, steady state error is eliminated but the system order is increased by
making it more susceptible to instability. It also introduces a zero into the forward path so
that peak overshoot to step input cannot be easily determined. To increase the damping factor
of dominant poles of a PI controller we take advantage of combining it with derivative
controller.
In PID control incorporates proportional integral and derivative control actions.
e(t)
dt
d
T K e(t)dt
T
K
e(t) K u(t)
d p
t
0
i
p
p
+ + =
}

the transfer function is,

) sT
s T
1
(1 K
E(s)
U(s)
d
i
p
+ + =

R(S) E(S) Ea(S)

K
H(s)
G(S)
1+sT
d
+K
i
/ s
) 2 s(s
n
n
2
+

18

DERIVATIVE CONTROL:

e(t)
dt
d
T e(t) (t) e
d a
+ =

The actuating signal for derivative control action consists of proportional error
signal added with derivative of error signal.

R(S) E
d
(S)
C(S)

2
n d
2
n n
2
2
n d
n
2
n
d
n
2
n
d
)s T (2 s
] sT [1
2 s(s
] sT [1 1
) 2 s(s
] sT [1
R(s)
C(s)
+ + +
+
=
(
(
+
+ +
(
(
+
+
=
)

the characteristic equation for the system is,
0 )s T (2 s
2
n d
2
n n
2
= + + +

In this condition maximum overshoot is reduced.
I NTEGRAL CONTROL:
The actuating signal consists of proportional error signal added with integral
of the error signal for integral control action. Actuating signal is given by,

s
E(s)
K E(s) (s) E
e(t)dt K e(t) (t) e
i a
i a
+ =
+ =
}

1
sT
d
) 2 s(s
n
n
2
+

19

R(s) E(s)
C(s)

Block diagram of integral controller

2
n i
2
n
2
n
3
2
n i
n
2
n i
n
2
n i
K s s 2 s
] K [s
) 2 s(s
s
K
1 1
) 2 s(s
s
K
1
R(s)
C(s)
+ + +
+
=
(
(
+
(
+ +
(
(
+
(
+
=

The characteristic equation of a system with integral control is,

0 K s s 2 s
2
n i
2
n
2
n
3
= + + +

PROPORTIONAL PLUS INTEGRAL PLUS DERIVATIVE CONTROL:

R(s) E(s)

E
a
(s)

the actuating error signal for PID control is given by,

}
+ + = e(t)dt K
dt
de(t)
T e(t) (t) e
i d a

Laplace transform equation is,

(
+ + =
s
K
sT 1 E(s) (s) E
i
d a

1

1+sT
d
+K
i
/s
(
(
+ ) 2 s(s
n
2
n

K
i
/s
(
(
+ ) 2 s(s
n
2
n


20

PROCEDURE:

1.Connect the circuit to P-controller with some gain value by giving a square wave input.

2.Connect P controller in time constant block.

3.By giving supply and adjust amplitude of the signal to some value.

4.Connect CRO in X-Y mode. Connect X-input to triangle wave form and Y-input to feed
back input.

5.Observe the waveform in CRO and tabulate the rise time, peak time, settling time, delay
time, peak overshoot.

6.For different controllers PI, PD, PID calculate t
s
, t
p
, t
r
, t
d
.

CALCULATI ONS:

Rise time,
2
n
2
1
r
1
1
tan
t
[
=

Peak time,
2
n
p
1
t
[
=
Peak overshoot,
2
1
p
e M

[
=

Settling time,
n
s
1
t =

For 2% tolerance band,
n
s
4
t =

For 5% tolerance band,
n
s
3
t =

Peak percent overshoot = .100
X
X Y


21
TABULAR FORMS:

For P,PI,PD,PI D

RESULT:

QUIZ QUESTI ONS:

1. What is a proportional controller?

2. What is the drawback in P-controller?

3. What is integral control action?

4. What is the transfer function of P, PI, PD, and PID controllers?

5. What is the advantage and disadvantage of integral controller?

6. What is reset rate?

7. Why derivative control is not employed in isolation?

S.NO

GAI N

Vi

Vf

Ve

Vo

S.NO

P
I
D

Y

X

Y-X
X

.100

22

6. PROGRAMMABLE LOGIC CONTROLLER-STUDY AND
VERIFICATION OF TRUTH TABLES OF LOGIC GATES, SIMPLE
BOOLEAN EXPRESSIONS AND APPLICATIONS OF SPEED
CONTROL OF STEPPER MOTOR.

AI M: To study and verify the truth tables of logic gates using Programmable logic controller kit.

APPARATUS: Programmable logic controller kit.

LOGI C GATES:

AND GATE:

X0 X1

OR GATE:

X0

X1

END
Y
O

END

Y
O


23

NAND GATE: NOR GATE:

X0

X1

X0

X1

NOT GATE: XOR GATE

X0 X0 X1

X0 X1

XNOR GATE:

X0 X1

X0 X1

Y
0
f

END

Y
O

END

Y
O

END

Y
O

END

Y
O

END
Y
O


24

STEPPEER MOTOR CLOCK WISE STEP WI SE:

Y5 Y5
Y5
Y4
Y3
Y2
M1002
ZRST S0 S127
SET S0
SET S20
T0
S0
TMR T0 K2
SET S21
S20
S21
S22
S23
S23
SET S22
SET S23
S0
END
RET
TMR T0 K2
TMR T0 K2
TMR T0 K2
T0
T0
T0
Y5
Y4
Y3
Y2
S0

25
STEPPER MOTOR ANTI CLOCKWI SE STEP WI SE:

Y2
Y3
Y4
Y5
M1002
ZRST S0 S127
SET S0
SET S20
T0
S0
TMR T0 K2
SET S21
S20
S21
S22
S23
S23
SET S22
SET S23
S0
END
RET
TMR T0 K2
TMR T0 K2
TMR T0 K2
T0
T0
T0
Y2
S0
Y5
Y4
Y3
Y2

26
STEPPEER MOTOR CLOCK WISE CONTI NUOUS:

T127
TMR T127 K5
TMR T127 K5
TMR T127 K5
TMR T127 K5
T127
T127
T127
Y2
Y3
Y4
Y5
M1002
ZRST S0 S127
SET S0
SET S20
S0
SET S21
S20
S21
S22
S23
S23
SET S22
SET S23
S0
END
RET
Y2
S0
Y2
Y3
Y4
Y5

27
STEPPEER MOTOR ANTI CLOCK WI SE CONTI NUOUS:

T127
TMR T127 K5
TMR T127 K5
TMR T127 K5
TMR T127 K5
T127
T127
T127
Y2
Y3
Y4
Y5
M1002
ZRST S0 S127
SET S0
SET S20
S0
SET S21
S20
S21
S22
S23
S23
SET S22
SET S23
S0
END
RET
Y2
S0
Y5
Y4
Y3
Y2

28

THEORY: Programmable logic controller simply PLC is an electronic equipment the reads
external input signal such as the status of keypad, Sensor switch, and pulse. Then using a
Microprocessor it executes the calculations of logic, sequence timer, Counter and formulae
according to the status and the value of the Input signal and program saved inner to get the
corresponding output Signal, such as open or close of relay operation of controller machine
Or procedure to control automatic machine or procedure of manufacture.PLC can also be
used to maintain and adjust of production program by
Editing or modifying panel. The common program language of PLC is Ladder
diagram. There are stronger functions in PLC with the development application requirements
of electronic technology such as Position Control network etc.

LADDER DI AGRAM: Ladder diagram is an automatic control diagram language that
developed during world war II.At first it just has basic components such as a contact
(normally open), B contact (normally closed) output coil, timer counter and etc. It has more
functions. Differential contact, latched coil and the application commands add, minus,
multiply, and divide calculations that its additional power panel cant make since
PLC developed.

PROCEDURE: Open WPL provided on the desktop. Double click on the Document. It
opens a window. Design AND, OR, NOT, EX-NOR, EX-OR gates. Connect programmable
logic controller kit to the CPU. Save it, compile it and verify the outputs. And design Stepper
motor in clock wise continuous, stepwise and anti clock wise step wise and continuous. And
verify the outputs.

RESULT:

QUIZ QUESTIONS:

1. What is the advantage of PLC?

2. What is meant by ZRST?

3. What are the applications of plc?

4. What is a PLC?

5. What is the output Equation of A EX-NOR gate?


29
7. PSPICE SIMULATION OF OP- AMP BASED INTEGRATOR AND
DIFFERENTIATOR CIRCUITS.

AI M: To simulate the transfer function using opamp and passive elements
Like resistors and capacitors.
APPARATUS: OPAMP 741
Resistors
Capacitors

CI RCUI T DI AGRAM:

DIFFERENTIATOR: R
f
=10k

R1=100 C1=0.4uf
+

- -

VIN
R
X
100k V0

INTEGRATOR: R
f
=1M

0.1uf

R1=2.5k
+

-

Vin R
l
=10k
V0
Rx=2.5k


30

THEORY:
The transfer function of a linear time invariant system is defined as the Ratio of
lap lace transform of output variable to the Laplace transforms of input variable. It is an
expression in s-domain, relating the output and inputs of the system.interms of the system
parameters and is independent of the input. It gives only the input output Relation but not
the information concerning the internal structure of the system. Hence the transfer function of
a physical system is represented by a block, which is a short Pictorial representation of the
cause and effect relationship between the input and Output of the System. The signal flowing
into the block flows out of it after being processed By the transfer function characterizing the
block.
An OPAMP is basically a differential amplifier, which amplifies the difference
Between the two signals applied to its input terminals (both inverting and non inverting
Terminals) 741 series is the most commonly used commercial Opamp A physical system Can
be modeled mathematically by means of differential equations. By solving the Differential
equations we can formulate the transfer function. This transfer function is Then realized by
using electronic components. Such as opamps, resistors and capacitors etc.

PROGRAM:

DIFFERNTIATOR:

VIN 1 0 PWL (0 0 1MS 1V 2MS 0V 3MS 1V 4MS 0V)
R1 1 2 100
RF 3 4 10K
RX 5 0 10K
RL 4 0 100K
C1 2 3 0.4UF
XA1 3 5 4 0 OPAMP
. SUBCKT OPAMP 1 2 7 4
RI 1 2 2.0E6
GB 4 3 1
R1 3 4 10K
C1 3 4 1.5619UF
EA 4 5 3 4 2E+5
R0 5 7 75
. ENDS OPAMP
. TRAN 10US 4MS
. PLOT TRAN V (4) V (!)
. PROBE
. END


31
INTEGRATOR:

VIN 1 0 PWL (0 0 1NS 1V 1MS 1V 1.0001MS 1V 2MS 1V 2.0001MS 1V 3MS 1V
+ 3.00001MS 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
XA1 2 3 4 0 OPAMP
. SUBCKT OPAMP 1 2 7 4
RI 1 2 2.0E6
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 OPAMP
. PLOT TRAN V (4) V (1)
. PLOT AC VM (4) VP (4)
. PROBE
. END

PROCEDURE:
1. Open microsim Text Edit and type the program.
2. Save the program with a file name
3. Open the saved file in pspice AD and check for errors. If there are any errors make
necessary changes in the program.
4. If there are no errors in the program, it gives the indication that simulation completed
successfully.
5. Open file option in pspice AD and click Run probe.
6. Then a window of name Micro sim probe [file name] will be opened. Now click
trace and select ADD.
7. Now enter and the variables for which plots is to be displayed. In this case enter I(vx)
and V(4) and plots will be displayed.
8. Now plot the graph on a graphsheet.

EXPECTED WAVE FORMS:

DIFFERNTIATOR:

Vin Vo

Time Time

32

INTEGRATOR:

Vin Vo

Time
Time

RESULT:

QUIZ QUESTI ONS

1. what does an integrator mean?

2. What is meant by a differentiator?

3. What parameters an OPAMP should contain?

4. What are the applications of OPAMP?

5. What a voltage controlled voltage source means?


33
8.TRANSFER FUNCTION OF DC SHUNT MOTOR
AI M: To obtain the transfer function of dc shunt motor experimentally.
APPARATUS:
APPARATUS TYPE RANGE QUANTITY

1 Rhesostat WW 100/5A,500 /1.2A 2
2 Ammeters Mc 0-10A, 0-1A 2
3 Ammeter MI 0-10A 1
4 Multimeter - - 1
5 Tachometer digital - 1
CI RCUI TDI AGRAM:


34

THEORY: The transfer function of a system is simply the ratio of lap lace transform of
input variables. Any physical system can be modeled mathematically using D.E s by solving
these Des the TF is obtained. First let us model the DC motor which is armature controlled.
The field current is kept constant.

35
Now
A
ZNP
E
b
60
=
N K e
b b
- = Where
A
ZP
K
b
60
= is called back emf constant

And
dt
d
N

= there fore
dt
d
k e
b b

- = -----I
Applying KVL to the armature ckt, we get

b
a
a a a
e
dt
di
L R i e + + =

dt
di
L R i e e
a
a a a b a
+ = ---------------------II
Torque, ] tan [ t iscons as I K I K
a
T
a
- = =
Also
dt
d
B
dt
d
J

+ =
2
2
----------------------III

Where J =Moment of Inertia of the motor
B=viscous friction
Taking Lap lace transform to Equations I, II, III we get
) ( ) ( s s K s E
b b
=
) ( ) ( ) ( ) ( s
b
E s
a
E s
a
I
a
R s
a
L = +
) ( ) ( ) ( ) (
2
s I K s T s Bs Js
a
+ = +
) ( ) ( ) ( ) ( S K s E s I R sL
b a a a a
= +

a a
b a
a
R sL
s E s E
s I
+
=
) ( ) (
) (

s L R
s K s E K
s Bs Js s
a a
b a T
+
= +
) ( ) (
) ( ) (
2

T b a T a a
K s K s E K R s L s Bs Js ). ( ) ( ] )[ ( ) (
2
= + +

b T a a
T
a
K K R s L B Js s
K
s E
s
+ + +
=
) )( ( ) (
) (

PROCEDURE: TO FIND Kb:

1. The motor is run at different speeds and the corresponding Back emf is measured.
2. The graph of Eb vs. speed whose slope Kb is drawn.
TO FIND Kt:
1. The motor is run at rated speed. By adjusting pulley Different loads are applied on Dc
motor and the Corresponding armature current is noted.
2.The A/C voltage is applied across the armature.
3.Aramture current is noted,
a
a
a
I
V
Z = [The angle is taken]
Now
2 2
(
a a a
R Z L =


36

TABULAR FORMS:

TO FIND Kb:

S.No

IL

If

N

IaRa

V

Eb

TO FIND Kt:

S.No

IL

If

N

Ia

S1

S2

S1-S2

V

T

TO FIND Ra: TO FIND La:

S.NO

Va

Ia

Ra

S.NO

Va

Ia

Ra


37

Model Graphs:

Eb
N

Ia
N

RESULT:

QUIZ QUESTI ONS?

1. How can we do the speed control of D.C shunt motor?

2. What do Kb and Kt mean?

3. What are J and B?

4. What are the applications of D.c shunt motor?

5. In traction which type of motors are used?


38
9. STUDY OF LEAD AND LAG COMPENSATION MAGNITUDE AND
PHASE PLOT.

AI M: To study the lead and lag compensation network and to obtain the magnitude and
phase plot of each.

APPARATUS:
1. Function generator
2. Phase angle meter
3. AC voltmeter
4. Component expo board
5. Multimeter

THEORY:
Every control system is designed for a specific application has to meet certain
performance specification setting the gain is the first step in adjusting the system for
satisfactory performance. In many practical cases, however the adjustment of the gain alone
may not provide sufficient alteration of the system behavior to meet the given performance.
As is the frequently the case, increasing the gain value will improve the steady state behavior
but result in poor stability or instability. It is then necessary to redesign the system in order to
alter the overall behavior so that the system will behave as desired.
As additional device is inserted in the system for such purpose is called a
COMPENSATOR. This device compensates for deficient performance of the original
system. If the components G(s) is placed in series with the unaltered transfer function G(s).
Then the compensation is called series compensation. If the compensator is placed in
feedback compensation. In general series compensation may be simple than feedback
compensation. However the series compensation frequently requires additional amplifier to
increase the gain or provide isolation. Numerous physical devices are used as compensators.
Among the many compensators the widely used series compensators are the so called lead
compensators, lag compensators, and lead lag compensators. This system is designed to make
a detailed study of these types of compensators. They are usually electrical and consist of R-
C networks and amplifiers. We shall study compensating networks in the form of electrical
R-C networks.
This proposed study of compensators will be done in the following fashion.
1. Simple phase lead and phase lag networks.
2. Lead, lag and lead lag compensator networks that are used in the control system.
3. Study of lead, lag networks with the help of active devices.

Procedure: LEAD COMPENSATOR:

1. Make the connections as per the circuit diagram.
2. We must provide small PCBs provided to you in the 22-pin edge connector mounted
on the expo board. We must ensure that the component side of the active filter is
facing you.
3. Switch on the supply and adjust the excitation voltage 3V rms in the AC voltmeter by
applying the sinusoidal input.
4. Check the calibration of the phase angle meter, by keeping sw2 in calibration position
and get 180
0
indication.

39
5. Keep aw3 in lead position. Now change the oscillator frequency in the range of 20 to
1000HZ and get the reading of phase angle.
6. Tabulate the results.
Plot the graphs between (i) |t (j)| vs. (ii) () vs.

LAG COMPENSATOR:

1. Make the connections as per the circuit diagram.
2. We must plug small PCBs provided to you in the 22 pin edge connector mounted on
the expo board. We must ensure that the component aide of the active filter is facing
you.
3. Switch on the supply and adjust the excitation voltage 3V rms in the voltmeter by
applying the sinusoidal input.
4. Check the calibration of phase angle meter, by keeping sw2 in calibration position and
get 180
0
indication.
5. Keep sw3 in lag position. Now change the oscillator frequency in the range of 20 to
1000HZ and get the reading of phase angle.
6. Tabulate the results.
7. Plot the graphs between (i) |t (j)| vs.
(ii) () vs.

R1=10k
C=0.2
V
i
Vo
R1=10k
C=0.2
R2=10k Vo
Vi
R2=10k

40

TABULAR FORMS:

For Lead Network:

S.No Frequency(Hz) e V
i
(v) V
0
(v)
|(e)
Th Pr

For Lag Network:

S.No Frequency(Hz) e V
i
(v) V
0
(v)
|(e)
Th Pr

MODEL GRAPHS: Magnitude Plot (lead network)

T(j)
20 dB/dec 0 dB/dec

0 1 10 100 1000
20 dB/dec 20dB/dec e
-6.02 0 dB/dec
20logK

Phase Plot (Lead Network):

|
m


41

Magnitude Plot (lag network):

1 0 dB/dec 10 100 250 500 1000
-20dB/dec

Phase Plot (lag network):

RESULT:

0dB/de
20dB/de
0
|
m


42

10. STABILITY ANALYSIS ( BODE, ROOT LOCUS, NYQUIST ) OF
LINEAR TIME INVARIANT SYSTEM USING MATLAB.

AI M: To obtain root locus and bode plots of given transfer Function using Mat lab.

APPARATUS: PC, MATLAB 6.1 version.

THEORY: MATLAB is a high performance language for technical Computing. It integrates
Computation, visualization and Programming in an easy to use environment where Problems
and solutions are expressed in familiar mathematical Notation. MATLAB is an Interactive
system whose basic data Element is an array that does not require Dimensioning. The
MATLAB stands for matrix laboratory. IN industry MATLAB is the tool of choice for high
productivity research development And analysis. Using Mat can readily plot Root locus and
Bode plots Lab control System toolbox commands? Root locus is simply the locus of closed
loop poles as the gain varies from zero to Infinity. The command rlocus (num, den) can plot
the root Locus Of a transfer function where num and den are two Matrices whose
elements are the Coefficients of numerator and denominator polynomials of the Given
transfer Function. Also the command bode (Num, den) plots the Bode plot of the transfer
function.

PROCEDURE:
To plot root locus of
3 2
1
2
+ +
+
S S
S

1. Double click on Mat lab prompt. This creates a command Window.
2. Enter the two matrices num and den. Num=[1 1] den=[1 2 3]
3. Execute the command rlocus (num, den)
4. Draw the obtained root locus on graph sheet.

To plot Bode plot of
3 2
1
2
+ +
+
S S
S

5. Enter the two matrices num=[1 1], den=[1 2 3].
6. Execute the command bode (num, den).
7. Draw the obtained gain magnitude plot and phase plot on Semi log sheets.
8. Find the gain margin and phase margin.

To plot Nyquist plot of
3 2
1
2
+ +
+
S S
S

9. Enter the two matrices num=[1 1], den=[1 2 3].
10. Execute the command nyquist(num, den).
11. Draw the obtained nyquist plot on graph sheets.
12. Find the gain margin and phase margin.


43

EXAMPLE1: num=[1 0 0];
den=[1 2 3];
rlocus (num, den)
[P z]=pzmap (num, den)

EXAMPLE2:
num=[1 0 0];
den=[1 2 3];
bode (num, den)
[mag phase w] =bode (num , den)
X=20*log10 (mag);
[mag phase w x]
EXAMPLE3:
Num=[1 0 0];
Den=[1 2 3];
Nyquist (num,den);

RESULT:

QUIZ QUESTI ONS:

1. What is the condition for stability?

2. Write the Equation for angle of Asymptotes?

3. State whether the given transfer functions is stable or Not?

4. What is meant by Gain and Phase margin?

5. What is meant by Gain crosses over and phase cross over frequencies?


44

1. VERIFICATION OF FREQUENCY DOMAIN SPECIFICATIONS OF
THE SECOND ORDER SYSTEM USING MATLAB.

AI M: To verify the frequency domain specifications of a second order system and to obtain
the frequency response of it using MATLAB.

APPARATUS:

PC-1
MATLAB software

THEORY:

MATLAB is a high performance language for technical Computing. It integrates
and solutions are expressed in familiar mathematical Notation. Mat lab is an Interactive
productivity research development and analysis. MATLAB provides an interactive
environment with hundreds of reliable and accurate built in mathematical functions. These
functions provide solutions of broad range of mathematical problems including matrix
algebra, complex, arithmetic and linear systems.

The transfer function of second order control system is in the form given below

2
n
2
2
s
2
n
T(s)
+ +
=
s
n

The frequency response of a sinusoidal input exhibit both magnitude and phase angle of
system.
Resonant Peak: The maximum value of magnitude is known as a resonant peak. The
magnitude of the resonant peak gives the information about the relative stability of system.
Resonant Frequency : The frequency at which magnitude the maximum value is known as
Resonant Frequency.
Bandwidth : It is defined as the range of frequencies in which the magnitude of closed loop
does not drop -3dB.

THEORETI CAL CALCULATI ONS:

2
n
2
2
s
2
n
T(s)
+ +
=
s
n

00 1 54 . 6
2
s
100
T(s)
+ +
=
s

Resonant Peak =
2
1 2
1

Resonant Frequency =
2
2 1
n


45
Bandwidth =
3 2 2
4 4 2 2 1 + +
n

PROCEDURE : To find out specifications of the given transfer function
i) Double click on MATLAB prompt. This creates a command window.
ii) Enter the program and get the step response of the transfer function.
iii) Verify the obtained time domain specifications in the program with theoretical
values.
iv) Tabulate the results.

PROGRAM :
num=[0 0 100];
den=[1 6.54 100];
sys=tf(num,den);
w=logspace(-1,3);
bode(sys,w)
[mag phase w]=bode(sys,w);
[mp,k]=max(mag);
Resonant peak=20*log10(mp)
Resonant frequency=w(k)
N=1;
While 20*log(mag(n))>=-3;n=n+1;end;
Bandwidth=w(n);

TABULAR FORM :

RESULT :

Specifications Theoretical values Practical Values
1. Resonant Peak

2. Resonant frequency

3. Bandwidth


46

2. TIME RESPONSE OF THE ELECTRICAL SYSTEM USING
MATLAB

AI M : To determine the i(t) and v(t) of an RLC circuit over a range of 0<t <15 sec and to
obtain a plot of current and Capacitor voltage.

APPARATUS:
PC-1
MATLAB software

CI RCUI T DI AGRAM :

THEORY:

MATLAB is a high performance language for technical Computing. It integrates
and solutions are expressed in familiar mathematical Notation. Mat lab is an Interactive
productivity research development and analysis. MATLAB provides an interactive
environment with hundreds of reliable and accurate built in mathematical functions. These
functions provide solutions of broad range of mathematical problems including matrix
algebra, complex, arithmetic and linear systems.

MATLAB is also capable of executing sequence of commands that are stored in files,
known as script files or M-files. By opening new blank file opens the edit window. A
program can be written and saved in the ASCII format with a file name having the extension
.m in the directory where MATLAB runs.
To run the program, click on the command window and file name without .m extenxion at the
MATLAB command>>. We can view the text edit window, another type of M file is a
function file. A function provides a convienent way to encapsulate some computation, which
can be used without worrying about its implementation.

V
s
=1V

C=0.32F
L=2H
R=1.4O

47

PROCEDURE :
i) Double click on MATLAB, a command window is opened with prompt.
ii) Go to file and click on the blank M file and editor window is opened.
iii) Enter the program and get the step response of the transfer function.
iv) Plot the results of v(t) and i(t).

PROGRAM :

Function xdot=elect sys(t,x)
V=1;
R=1.4;L=2;C=0.32;
Xdot=[x(2)/C;1/L*(v-x(1)-R*x(2))];
Tspan=[0,15];
X0=[0.5,0];
[t,x]=ode23(electsys,tspan,x0);
Subplot(2,1,1),plot(t,x)
Title(Time response of an RLC series circuit);
Xlabel(t,sec)
Text(8,1.05,capacitor voltage),text(8,0.5,current)
Vc=x(:,1);i=x(:2);
Subplot(2,1,2),plot(vc,i)
Title(current verses capacitor voltage)
Xlabel(capacitor voltage,),ylabel(current)
Subplot(1,1)

RESULT:

Characteristics of Ac Servomotor: Department of Electrical and Electronics Engineering

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CONTROL SYSTEMS AND SI MULATI ON LAB MANUAL

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGI NEERI NG

= is called back emf constant

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