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LABORATORY MANUAL
BY
DHULLAPALLY, KOMPALLY
SECUNDERABAD-500014
St. MARTINS ENGINEERING COLLEGE
DHULAPALLY, SECUNDERABAD
LIST OF EXPERIMENTS:
2 CHARACTERISTC OF SYNCHROS
1.2 RESOURCES:
1. Time Response of a second order system Trainer Kit
2. C.R.O.
3. Multi meter.
4. Patch cords.
1.4 PROCEDURE:
1. Switch ON the Main supply and observe the signal source output by varying
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.
Note: Use 3 pin grounded main supply to the unit avoid line interference. Use proper
CRO probes to see the output wave forms.
For all these cases note down the time response specifications and compare
them with theoretical values.
1.5 OBSERVATION TABLE:
C in
R in L in
Sl No Micro (Damping td tr Mp tp ts ess
Ohm Henry
Farad Factor)
1 500 2 0.32
2 1000 2 0.32
3 1500 2 0.32
4 2000 2 0.32
_ _ _
_ _ _
_ _ _
_ _ _
_ _ _
_ _ _
10000 2 0.32
Time domain
Theoretical Practical
specification
Rise time (tr)
Peak time (tp)
Delay time (td)
Setting time (ts)
Peak over shoot (MP)
1.6 MODEL GRAPH:
1.7 RESULT:
2.1 OBJECTIVE:
2.2 RESOURCES:
Transmitter Characteristics:
1. Connect the mains supply to the system with the help of a cable provided. Do not
connect any patch cords to terminals marked S1, S2 and S3, R1 and R2.
4. Measure these voltages by using AC voltmeter provided in the trainer and note
down the readings.
5. Plot a graph of angular position of rotor voltages for all three phases.
Transmitter-Receiver Characteristics:
5. Observe that whenever Tx rotor is rotated, the Tr rotor follows if for both the
directions of rotations and their positions are in good agreement.
6. Note down the input angular position and output angular position and plot the
graph.
2.6 TABULAR COLUMN:
Transmitter Characteristics:
Sl.
Rotor Position VS1S2 VS2S3 VS3S1
No.
Transmitter-Receiver Characteristics:
Sl.
Angular Position of Transmitter Angular Position of Receiver
No.
Rotor Position
Synchro Transmitter-Receiver Characteristics:
2.11 RESULT:
3.1 OBJECTIVE: To verify the truth tables of the logic gates using programmable
logic controller.
3.3 Theory: The programmable logic controller, PLC is a solid state equipment
design to perform the function of logical decision making for industrial control
application.
Power supply : 24 V DC
Frequency : up to 2 kHz
3.5 Addressing:
Table:40000 to 40099
3.6 Instructions:
3.9 Precautions:
1. AND GATE:
2. OR GATE:
3. NOT GATE::
4. EX NOR:
7. MULTIPLEXER:
In this program 1000.6 and 1000.7 are the selected lines to select the inputs from
1000.0 to 1000.3 we get the display as 0000.0.
8. Half Adder:
Note:
3.11 Result:
All the truth tables of the logic gates have been verified using programmable
logic controller.
EXPERIMENT 4: EFFECT OF FEEDBACK ON DC SERVOMOTOR
4.1 OBJECTIVE :
4.2 RESOURCES:
GAIN BLOCKS: The forward path gain is adjustable from 0 to 10 and the
tachogenerator channel has a gain, which can be varied from 0 to 1.
DRIVER: The driver circuit is a power amplifier suitable to run the motor in either
direction.
Since the response of the mechanical system is too slow for an oscilloscope to
capture a waveform, capture/display unit is provided to store the wave form and
then display it in ordinary oscilloscope.
4.5 PROCEDURE:
1. Switch on power/press reset. The unit goes into display mode. It displays X
and Y axis.
2. Calibrate the time scale of the display. Feed the X-output to Y-input of the
CRO and determine its time period and amplitude and find time/voltage.
This gives the required calibrations.
3. Press mode switch. The unit goes into capture mode and is ready to record
the response. At the end of the capture cycle the mode automatically shifts
top display mode and the waveform is displayed on the scope.
1. Adjust KA=7 and KD=0.1. Obtain the response and find all the performance
measures.
2. Repeat for different values of KD.
4.5 RESULT:
EXPERIMENT 5: TRANSFER FUNCTION OF DC MOTOR
100/2A
+ -
A
+
V
(0-24)V DVM
-
A
M
AA
5.3 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.
TABLE
M
0-230V AV
V AA
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.
Ra ohms
Za = Va La= Xa
SI. No. Va la Xa =Za2 Ra2
Ia 2f
+ -
A
+
0-230V AC V
-
FF
+ -
A
0-230V AC +
V
-
FF
2. Keep the armature winding openVary the input AC supply from the controller and
note down voltmeter and ammeter readings and enter in the tabular column.
A F1 F2
M
0 220V
AA
2. Connect 220V fixed DC supply to the field of DC motor and Brake drum belt should
be loosened.
3. Start the motor by applying 0-220V variable DC supply from the controller till the
motor rotates at its rated speed.
5. Apply load in steps upto rated current of the motor and note down corresponding IL,
N, F1and F2 readings.
Switch OFF the armature DC supply using Armature supply ON/OFF switch and them
switch OFF the MCB. Radius: R= 6.5 cm
T
KT = La
Ia
TABLE
SLNo. h F2 N rpm T=(F1~F2)
6.5X9.81N-cm
A F
0-220V DC
V M 220V DC
AA
FF
2. Connect 220V fixed DC supply to the motor field keep the armature control pot at its
minimum position and switch at OFF position.
3. Switch ON the MCB, Switch ON the armature control switch. Vary the armature voltage
and note down the speed and the corresponding meter readings.
SI. =2N
Ia N V Eb = V - I a R a
No. 60
Eb
Transfer Function of Armature Controlled DC Motor = KT
S[[Ra+ SLa] [SJm + fm] + KT Kb]
Ra = Armature Resistance
La = Armature Inductance
la = Armature Current
Eb = Back emf
T = Torque developed
J = Moment of Inertia = 0.024 Kg-m2
By KirchofFs law
IaRa + La dla + Eb = v
dt
proportional to la.
Tm Ia
Tm KTIa
Also for Mechanical System
J dm2 + B dm _ Tm
dt 2 dt
Eb =Kb dm
dt
Dynamic Equation Laplace Equipment
Tm = KT la Tm (s) - KT la (s)
Eb = Kb Wm Eb (S) = Kb Wm (s)
Va - Eb = Ra la + La dla Va(s) - Eb(s) = Ra la (s) + S1a
dt Ia(s)
Tm = Jm d2m + fm dm Tm(s) = JmS2 m (s) + Sfm m(s)
dt2 dt
PROCEDURE: -
+
A
Ia A
M
AA 100-200V
V
0-220V
1. Make the connections as given in the circuit diagram.
2. Motor field voltage should be maximum and belt is loosened
3. Switch ON the supply to the controller unit. Switch ON the armature supply.
Vary the armature voltage till the motor speed comes to rated speed and note
down meter readings.
4. Vary the field supply till we obtain 20% above rated speed of motor and note
down the readings.
TABULAR COLUMN
Tm I f
Tm = Kf I f Tm (s) = KfIf(s)
Vf = R f I f + L f d I f
dt Vf (s) = Rf If (s) + SLf If (s)
Tm = Im d2m + fm dm
dt2 dt Tm (s) = S2 Jm m(s) + S fm m(s)
or or
Tm = Jm dm + fm m
dt Tm (s) = S Im m (s) + Fm m (s)
S(Rf+SLf)(SJm + fm)
CALCULATION;
From graph (K/) =
Field resistance (Rf) =
Inductance (Lf) =
Transfer function = Kf
S(R f +SL f ) (SJm + fm)
b. Controller unit suitable for the above motor - Generator set with Digital meters
A +
V
M G Eg
AA -
0-220V DC
F FF F FF
If
220V DC
100 - 220V DC
5. Switch on the MCB keeping armature voltage control pot at its minimum position &
ON/OFF switch at OFF position and also variable field voltage pot at its maximum
position
6. Now switch ON the Armature control switch and vary the armature control
potentiometer till the motor rotates at its rated speed.
7. Note down If and Eg and entered in the tabular column.
8. Now vary the generator field supply and note down Eg for different Igs and
entered in the tabular column.
Transfer function = K E / Lf
SfRf*/Lf Eg
Kg =
Eg
If
If
= Kg/Lf
S + R f Lf
SI. If Eg
No. Amps Volts
EXPERIMENT 6: EFFECT OF P, PI, PID CONTROLLER ON A SECOND ORDER
SYSTEM
6.1 OBJECTIVE:
To study the steady state performance of an analog P, PI & PID controller using
simulated system.
6.2 RESOURCES:
3. PID Controller
4. Patch Chords
Sl.
P Vi Vf Ve
No.
1.
2.
3.
4.
Sl.
I Vi Vf Ve
No.
1.
2.
3.
4.
PID Controller (Constant Proportionate gain & Integral gain and Variable
Differential gain)
P= I=
Sl.
D Vi Vf Ve
No.
1.
2.
3.
4.
6.6 PRELAB QUESTIONS:
1. What is a controller?
2. What is the difference between a compensator and controller?
3. Write a brief note about Proportional Controller?
4. Write a brief note about Derivative Controller?
5. Write a brief note about Integral Controller?
6.10 RESULT:
Hence the steady state performance of an analog P, PI & PID controller has been
studied using simulated system.
EXPERIMENT 7: STUDY OF LEAD LAG COMPENSATION NETWORKS
7.1 OBJECTIVE:
7.2 RESOURCES:
7.4 PROCEDURE:
1. Switch on the main supply to unit observe the sine wave signal by varying the
2. Now make the network connections for Lag, Lead and Lead-Lag networks connect
4. Set the amplitude of sine wave to some value ex: 3 Volts peak, 4Volts Peak etc.,
5. Now vary the frequency and note down frequency, phase angle difference and
output voltage peak for different frequencies and tabulate all the readings.
6. Calculate the theoretical values of phase angle difference and gain compare these
7. Plot the graph of phase angle versus frequency (phase plot) and gain versus
10. Repeat the same experiment for lead and lag-lead networks.
FORMULAE:
Lag Network :
1
Gain = RC
( RC )
2
2 + 1
FORMULAE:
Lead Network:
Vout jRC
Gain GC= ( j) =
Vin 1 + jRC
Vout R
( C )
2
= Z= R2 + 1
Vin Z
Vin = V
FORMULAE:
Lag-Lead Network:
R1C1 = 1 , R 2C 2 = 2
R1 + R 2
= >1
R2
10k + 10k
= = 2.0
10k
R2
= 0.5 < 1
R1 + R 2
The transfer function of such a compensator is given by
s + 1 s + 1
1 2
G (s) =
s + 1 s + 1
1 2
(lag) (lead)
CALCULATIONS:
0 = 1
12
The frequency at which phase angle zero is 0 = 1
12
0= 2??=500
f =500/6.28 = 80Hz
7.5 TABULAR COLUMN :
Lag Network :
TABULAR COLUMN :
Lead Network :
TABULAR COLUMN :
Lag-Lead Network:
7.7LAB ASSIGNMENTS:
1. To study the open loop response on compensator and Close loop transient
response.
2. The max. phase shift provided for lead compensator with transfer function
3. G(s)=(1+6s)/(1+2s)
7.9RESULT:
Hence, the Lag, Lead and Lead-Lag compensation networks are studied.
EXPERIMENT 8: TRANSFER FUNCTION OF DC GENERATOR
8.1 OBJECTIVE:
8.2 RESOURECES:
1. Thyristor controller.
2. MGSET (Motor Generator)
3. DC Ammeter
4. DC Voltmeter
5. AC Ammeter
6. AC Voltmeter
Vf 1/Rf+sLf Kg Eg
Vf Kg/Rf+sLf Eg
(Kg/Lf) /
Vf(s) Eg
8.4 PROCEDURE:
2. Connect motor field supply to field adjust the motor field voltage to its rated
voltage 220V.
3. Connect generator field supply to field of generator and keep the generator field
potentiometer to its minimum position.
4. Now switch ON the armature thyristor controller till the motor runs at its rated
speed -1500 r.p.m.
6. Now vary generator field controller and note down Eg for different If s and enter in
the tabular column.
Kg = Eg / Ig
Measurement of Field Resistance:
3. Apply suitable DC voltage form GENERATOR FIELD CONTROLLER and note down V
and I readings.
5. Repeat the step for various input DC voltage and find out field resistance.
4. Vary the AC voltage applied and note down Vf and If and enter the readings in the
tabular column and find out Zf , Xf and Lf .
Sl.
Ef (volts) If (Amps) Kg ()
No.
8.6 CALCULATIONS:
Field Resistance Rf =
Field Inductance Lf =
Kg = Eg / If
Eg
If
9.1 OBJECTIVE : To study the performance of PID controller used to control the
temperature of an oven.
9.2 RESOURCES:
1. PID Controller
2. Patch chords
Theory:
error e(t)
Relay
Reference Actuator Output e(t)
Hys Plant
(Oven) Temperature
Proportional
KP
Derivation
KD
Integral
KD
0
10 m V/ C
Temperature
Block Diagram
Feedbackof the Temperature Controller
CONTROLLER
In temperature control systems, commonly used basic control actions
are
v ON-OFF or relay.
v Proportional.
v Proportional -- Integral.
v Proportional -- Integral -- Derivative.
A brief description of these are give below :
The Hysteresis enables the controller output to remain at its present value till
the input or error has increased a little beyond zero. Hysteresis helps in avoiding
too frequent switching of the control, although a large value results in greater
errors. The response of a system with ON-OFF controller is shown in Fig. 5.
Describing function technique is a standard method for the analysis of non-linear
systems, for instance, one with an ON-OFF controller.
mm forcing the plant output to exactly correspond to trie reference input so that the
error is zero. In practical s> sterns, the error may not be exactly zero due to
imperfections in an electronic integrator caused by bias current needed, noise and drift
present and leakage of the integrator capacitor.
The integrator (I) block in the present system is realized with a circuit shown in Fig. 8
an has a transfer function.
The integral gain is therefore adjustable in the range 0 to 0.024 (approx.). Due to the
tolerance of large capacitance's, the value of K| is approximate.
+ +
1000 1000
e(t) __
82K
PID controller is one of the most widely used controller because of its simplicity. By
adjusting is coefficients Kp. K D (or TD) the controller can be used with a variety of
system the process of setting the controller coefficients to suit a given plant is known
as tuning are man) methods of 'tuning' a PID controller. In the present experiment,
the method of Ziegler-Nichol has been introduced which is suitable for the oven control
system although better methods arc available and may be attempted.
TEMPERATURE MEASUREMENT :
EXPERIMENT AL WORK :
A variety of experiments may be conducted with the help of this unit. The principal
advantage of the mat is that all power sources and metering are built in and one needs
only a watch to be able to note down the temperature readings at precise time instants.
After each run the oven has to be cooled to early me room temperature, which may
take about 20-30 minutes.
9.3PROCEDURE:
Plant identification is the first step before an attempt can be obtained experimentally
from its before mi attempt can be made to control it. In the present case the oven
equations are obtained experimentally from its step response as out lined below :
(1) Keep Run/Wait switch to 'WAIT' S2, to Set/Meas. Switch to "SET" and open
'FEEDBACK' terminals, (refer panel drawing).
(2) Connect P output to the actuator input and switch ON the unit.
(3) Set P potentiometer to 0.5 which gives Kp=10. Adjust reference potentiometer
to read 5.0 on the DVM. This provides an input of 0.5 V to the driver.
(4) Put Set/Meas. Switch to the 'MEASURE position and note down the room
temperature.
(5) Put Run/Wai switch to 'RUN' position and note temperature reading every 15
sec, till be temperature becomes almost constant.
ON - OFF CONTROLLER :
(7) Keep Run/Wait switch to ' W A I T position and allow the oven to cool the room
temperature. Short " F E E D BACK' terminals.
(8) Keep Set/Meas. switch to the 'SET* position and adjust reference potentiometer
to the desired output temperature, say 50(,C. by seeing on the digital display.
(9) Connect R output to the driver input. Outputs of P, D, and I must be
disconnected from driver input. Select "HI or LO value of Hysteresis. (First
keep the Hysteresis switch to L O ) .
(10) Switch Set/Meas. switch to 'MEASURE' and Run/Wait switch to 'RUN' position.
Read and record oven temperature every 15/30 sec., for about 20 minutes.
(11) Plot a graph between temperature and time and observe the oscillations (Fig.
12) in the steady state. Note down the magnitude of oscillations.
(12) Repeat above steps with the J\HI setting for Hysteresis and observe the rise
time, steady-state error and percent overshoot.
PROPOTIONAL CONTROLLER :
Ziegler and Nichols suggest the value of Kp for this condition as :
Kp = ( 1 / K ) x T 1/ T 2
(13) Starting with a cool oven, keep switch Run/Wait switch to 'WAIT' position and
connect P output to the driver input. Keep R. D and 1 outputs disconnection.
Short 'FEEDBACK" terminals.
(14) Set P potentiometer to the above calculated value o KP, keeping in mind that the
maximum gain is 10.
(15) Select and set the desired temperature to say 50 C.
(16) Keep Run./Wait switch to "Run" position and record temperature readings as
before.
(17) Plot the observations on a linear graph paper and observe the rise time, steady-
state error and percent overshoot (Fig. 13).
PROPORTIONAL-INTEGRAL CONTROLLER :
Ziegler and Nichols suggest the value of KPand K1 for this conditions as :
Kr = (0.9/K) x T1/T2; T1 = 1 / K 1 = 3.3 T2, giving K 1 = 1 / 3.3 T2.
(18) Starting with a cool oven, keep Run/Wait switch to 'WAIT' position, connect P
and I outputs to the actuator input and disconnect R & D output. Short
"FEEDBACK" terminals.
(19) Set P & I potentiometers to the above value of Kp and K1 respectively, keeping
in mind that the maximum value of Kp is 10 and that of K1 is 0.024.
(20) Select and set the desired temperature to say 50C.
(21) Keep Run/Wait switch to 'RUN* position and record temperature readings as
before.
(22) Plot the response on a graph paper and observe the steady-slate error and
percent overshoot. (Fig. 14).
(23) Starling with a cool oven, keep Run/Wail switch to ' W A I T , position and
connect P, D & I outputs to actuator input. Keep K output disconnected. Short
'FEEDBACK' terminals.
(24) Set P, I & D potentiometers according to the above calculated value of Kp, K1
and KD keeping in mind that the maximum value for these are 20. 0.024 and
23.5 respectively.
(25) Select and set the desired temperature to say 50 0C.
(26) Keep Run/Wait Switch to "RUN", and record temperature-time readings.
(27) Plot the response on a linear graph paper and observe t h e rise time, steady-
stale error and percent overshoot. (See Fig. 1 5 ) .
Compare the results to the various controller options.
CALCULATIONS:
From the graph between temperature and time (Fig. 1 1 ) , the final oven
temperature for input of 0.5 volt is 70.4C.
With reference to Fig. 10. T 1 and T2, as measured from the open-loop graph are :
T1 = 2 sec.. T2 = 237 sec. (Note that these values may differ from unit to unit).
(i) P Control :
Kp = (l/K) x T1 / T2 (1/158.8.4) x 337 / 21 - 0.071 V / C .
With temperature sensor sensitivity of 10mV/t and maximum gain of
P Amplifier as 10KPmax = 0.1V/C.
Hence P-setting required for proportional control is 71%. The temperature Vs.
time plot is shown in Fig. 1 3 .
(ii) P - l Control :
Kp = (0.9 / K) x T1 / T2 - (0.9/158.8.4) x 237 /21 - 0.639
iii) PD Control :
Kp = (0.9/ 158.8)237 21 =0.0639
Hence P - retting required 63.9%.
T1 = 3.3. T2 =3.3x21 =69.3.
Kd = Td = 0.5 T2 =0.5x21 = 10.5 Sec.
D - Setting = (10.5 / 20) \ 100 = 52.5%
The temperature vs time plot is shown in Fig. 14 A.
(iv) P - I - D Control :
KP = (1.2/K) x T1/T2 = (1.2/158.8) x 237/21 = 0.853
This gives a P-coefficient setting of 85.3%
T1 = 2.0T2 = 2.0 x 21 = 42;
K1 = 1 / 42 = 0.0239/sec. = 0.0238/see.
I - setting = (0.0239 / 0.0244) x 100 = 0.979 x 100 = 97.8%.
KD = TD = 0.5 T2 = 0.5X21 = 10.5 sec.
K Dmax = 23.5 sec, [sec Eq. 3j
D-setting = (10.5/23.5)x 100 = 0.447 x 100 = 44.7%.
The temperature vs time plot is shown in Fig. 15.
Results:
1.0000 0 0 0
0 1.0000 0 0
0 0 1.0000 0
B= 1
10.1 OBJECTIVE:
10.2 RESOURCES:
10.4 PROCEDURE:
4. With the help of patch cords connect following terminals on the front panel
a. Connect AC to A1
b. Connect B1 to A2
c. Connect B2 to L
5. Now connect variable rheostat (or bulb) on front panel.
2. Keep control current setting knob at its extreme left position (i.e. Rotate in anti
clockwise direction) which ensures Zero control current at starting.
3. With the help of patch cords connect following terminals on the front panel
i) Connect AC to A1
ii) Connect A1 to A2
iii) Connect B1 to B2
iv) Connect B2 to L
6. Now increase control current by rotating the corresponding knob in steps and note
down the readings of Control Current and corresponding Load Current.
IC (mA)
IL (mA)
IC (mA)
1. In series connection how the characteristics will change when inductive load is
connected?
2. In parallel connection how the characteristics will change when inductive load is
connected?
3. Compare the input and output characteristics in both the modes?
10.9 POST LAB QUESTIONS:
10.10 RESULT:
Hence the series and parallel magnetic amplifiers are studied and corresponding
graphs are plotted.
EXPERIMENT 11: CHARACTERISTICS OF AC SERVOMOTOR
11:1 OBJECTIVE:
11:2 RESOURCES:
4. Now switch ON the instrument and also switch ON the servomotor. You can
observe that AC Servomotor will start rotating and the speed will be indicated by
the rpm meter on front panel.
5. With load switch OFF position, vary the speed of the AC servomotor by rotating
speed control potentiometer P2 in clockwise direction and note down the back
emf (Eb) generated by the DC machine at Tp terminals at different speed. Use
digital millimeter to measure back emf voltage. Tabulate these readings.
3. Now switch ON the instrument and also switch ON the servomotor. You can
observe that AC Servomotor will start rotating and the speed will be indicated by
the rpm meter on front panel.
4. By rotating P2, set control winding voltage (Vc) at 45V. Use digital millimeter to
measure control winding voltage. Note down the speed of Ac servomotor in
table. Now keep P1 at minimum position and switch ON the load switch to apply
the load. Note down the back emf voltage (Eb) from Tp Terminals. Note down
the Eb and Ia values.
5. Repeat above step for different values (at least 3) of load control potentiometer.
Note down the corresponding value of Ia, Eb and speed.
Vc =
11.10 RESULT:
12.1 OBJECTIVE:
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 op-amp which is modeled by the circuit has Ri= 2m, Ro=75,
R1=10k and C1=1.5619f, Ao=2105.
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 op-amp which is modeled by the circuit has Ri= 2m, R0=75,
R1=10k and C1=1.5619f, Ao=2105.
12.3 CIRCUIT DIAGRAM:
12.4 PROCEDURE
R1 1 2 100
RF 3 4 10K
RX 5 0 10K
RL 4 0 100K
C1 2 3 0.4UF
*SUBCKT CALL FOR OPAMP
XA1 3 5 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 2E5
RO 5 7 75
.ENDS
.PROBE
.END
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 2E5
RO 5 7 75
.ENDS
.PROBE
.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).
Differentiator:
Integrator:
Transient Response
Time (sec)
12.6 PRE LAB QUESTIONS:
1. What is the output voltage for the differentiator if the input is sinusoidal?
2. What is the output voltage for the integrator if the input is sinusoidal?
3. How the op amp acts as voltage multiplier?
12.8 POST LAB QUESTIONS:
12.9 RESULT:
13.1 OBJECTIVE: To write a program and simulate dynamical system of I/O model
13.3 Program:
s=tf(num,den)
step(s)
Xlabel('t in secs')
Ylabel('v in volts')
[nt,dt]=tfdata(s,'v')
wn=sqrt(dt(3))
z=dt(2)/(2*wn)
tr=pi-(atan^-1(sqrt(1-z^2)/z)/(wn*sqrt(1-z^2)))
tp=pi/(wn*sqrt(1-z^2))
disp('the settling time is:')
ts=4/(z*wn)
pos=exp((-z*pi)/sqrt(1-z^2))*100
end
OUTPUT:
num =
100
den =
1 5 100
Transfer function:
100
---------------
s^2 + 5 s + 100
nt =
0 0 100
dt =
1 5 100
wn =
10
z=
0.2500
tr =
2.8238
0.3245
ts =
1.6000
pos =
44.4344
the response of second order system is:
1.5
1
v in volts
0.5
0
0 0.5 1 1.5 2 2.5
t in secs (sec)
RESULT:
EXPERIMENT 14 : ROOT LOCUS, BODE PLOT AND NYQUIST PLOT USING
MATLAB
14.1 OBJECTIVE:
To analyze frequency response of a system by plotting Root locus, Bode plot and
Nyquist plot using MATLAB software.
14.2 RESOURECES:
1. MATLAB 7 Software
2. Personal Computer
14.3 PROCEDURE:
14.4 PROGRAM:
clear all;
clc;
disp(Transfer Function of given system is : \n);
G = tf(num,den);
figure(1);
rlocus(G);
%Bode Plot
clear all;
clc;
G = tf(num,den);
figure(2);
bode(G);
[Gm,Pm,Wpc,Wgc] = margin(G);
Wpc
disp(Gain Cross Over frequency is : \n);
Wgc
Pm
Gm = 20*log(Gm)
Gm
if (Wgc<Wpc)
else
if (Wgc>Wpc)
else
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) F5 and clear the errors (if any).
6. Observe the output on the MATLAB Command Window and plots from figure
window.
14.5 MODEL GRAPHS:
-1
Real Axis (Sec )
Bode Plot:
Magnitude (dB)
Phase (deg)
Frequency (rad/sec)
OUTPUT:
Wpc =
Wgc =
Pm =
Gain Margin in db is :
GM =
1. Phase Margin:
1. For a given Transfer Function G(s), place K in the numerator and get the
characteristic equation Q(s) = 1 + G(s).
5. Substitute pc in real pat and equate real part of G(j) to ZERO and get the
corresponding gain (K).
6. This gain is called maximum Allowable Gain (Kmax) or Limiting value of the Gain for
stability.
14.7 TABULAR COLUMN:
From
MATLAB
Theoretical
1. For the above function, if a pole is added, how the stability will be effected for all
the plots?
2. For the above function, if a pole is removed, how the stability will be effected for
all the plots?
3. For the above function, if a zero is added, how the stability will be effected for
all the plots?
4. For th?e above function, if a zero is removed, how the stability will be effected
for all the plots
14.10 POST LAB QUESTIONS:
14.11 RESULT:
Hence Root Locus Plot, Bode Plot and Nyquist plot of given transfer function has
been plotted and verified with theoretical calculations.
EXPERIMENT 15: STATE SPACE MODEL FOR CLASSICAL TRANSFER FUNCTION
USING MATLAB
15.1 OBJECTIVE:
To Transform a given Transfer Function to State Space Model and from State
Space Model to Transfer Function using MATLAB.
15.2 RESOURCES:
1. MATLAB 7 Software
2. Personal Computer.
15.3 PROCEDURE:
15.4 PROGRAM:
Clear all;
clc;
Num = [2 3 2];
Den = [2 1 1 2 0];
sys = tf(num,den);
[A,B,C,D] = tf2ss(num,den)
B
C
15.5 PROGRAM:
Clear all;
clc;
A = [1 2;3 4 ]
B = [1;1]
C = [1 0]
D = [0]
[num,den] = ss2tf(A,B,C,D);
Sys = tf(num,den);
Sys
7. Save the above program by clicking on SAVE button from FILE menu (or) Ctrl+S
8. Run the program by clicking RUN button (or) F5 and clear the errors (if any).
9. Observe the output from on the MATLAB Command Window.
OUTPUT:
Transfer Function:
2s^2 + 3s + 2
------------------------------
1.0000 0 0 0
0 1.0000 0 0
0 0 1.0000 0
B= 1
D= 0
OUTPUT:
A = 1 2
3 4
B = 1
C = 1 0
D = 0
and corresponding Transfer Function is:
s2
-----------------
s^2 5s -2
8s + 1
s^4 +s^3+s^2+s+ 1
15.9 RESULT:
Hence, the given transfer function to state space model and state space model
to transfer function is transformed by using MATLAB.