EXPERIMENT 1 TIME RESPONSE OF A SECOND ORDER SYSTEM AIM: To study the time response of second order system.

. APPARATUS: 1. 2. 3. 4. Second order system kit Function Generator CRO Connecting wires

CIRCUIT DIAGRAM:

0 10 K

Fig: 1.1. Second Order System using RLC THEORY: PROCEDURE: 1. Apply square wave input of magnitude 5V peak to peak 2. Connect the output to CRO and measure the output voltage for various points. 3. Repeat for various values of = 0.3, 0.7, 1, 2.

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 GRAPHS:

Voltage

ess
1

0.5

Time (msec) ts

Fig:1.2. Step Response of an under damped system RESULT: COMCLUSION: 2

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. PROCEDURE: SYNCHRO TRANSMITTER 1. Connect the main supply to the system with the help of cable provided. Do not interconnect S1, S2 and S3 to S11, S21, S31. 2. Switch ON main supply for the unit and transmitter rotor supply. 3. Starting from zero position, note down the voltage between stator winding terminals ie., Vs1s2, Vs1s3, Vs2s3, in a sequential manner. Enter the readings in a tabular form and plot the graph of angular position Vs rotor voltages for all the 3phases. 4. Note that zero position of the stator coincide with Vs3s1, voltage equal to zero voltage. Do not disturb this condition.
SYNCHRO TRANSMITTER RECEIVER PAIR

1. Connect the main supply cable 2. Connect S1, S2 , S3 terminals transmitter to S1, S2, S3 of synchro receiver by patch chords provided respectively. 3. Switch ON rotor supply of both transmitter and receiver and also switch ON the main supply. 4. Move the pointer i.e. rotor position of synchro transmitter in steps of 300 and observe the rotor position. Observe that whenever transmitter rotor is rotated, the receiver rotor follows it for both the directions of rotations 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.

CIRCUIT DIAGRAM:

Fig: 2.1. Synchro transmitter and receiver pair

THEORY: TABULAR COLUMN: Synchro Transmitter: S.NO 0 30 60 . . . . . . 330 Rotor Position in degrees Vs3s1 Vs1s2 Vs2s3

Synchro transmitter & Receiver Pair: S.NO 0 30 60 . . . . 330 Rotor position of transmitter in degrees Rotor position of receiver in degrees

GRAPHS:

SYNCHRO TRANSMITTER

Receiver angular position

Transmitter angular position Fig: 2. 2. V

SYNCHRO TRANSMITTER RECEIVER PAIR

Stator induced line voltage

Vs1s3

Vs3s2

Vs2s1

Vs1s3

Fig: 2.3

RESULT: COLCLUSION:

EXPERIMENT - 3 EFFECT OF FEEDBACK ON DC SERVO MOTOR AIM : To study DC position control with and without feedback. APPARATUS: DC Position control trainer kit. CIRCUIT DIAGRAM:

Amplifier

ea

J2 5V

Fig: 3.1. DC Position Control System

THEORY: PROCEDURE: 1. The switches SW3 , SW4 are initially OFF and are ON as soon as the power supply is ON.

2. Keeping the SW1 switch open adjust the input to different values and note down the corresponding output and the deviation. 3. Now keeping the SW1 ON note down the output for different values of input in both degenerative and regenerative modes and also the deviation.

TABULAR COLUMN:
1. TACHO OUT:

S.NO

INPUT

OUTPUT

DEVIATION

2. TACHO DEGENERATIVE:

S.NO

INPUT

OUTPUT

DEVIATION

3. TACHO IN (REGENERATIVE):

S.NO

INPUT

OUTPUT

DEVIATION

GRAPHS:

Deviation

Deviation

Position Fig: 3.2. Tacho Out

Position Fig: 3.3 Tacho IN (Regenerative)

Output

Position Fig: 3.4 Tacho IN RESULT: CONCLUSION: EXPERIMENT - 4 EFFECT OF P, PD, PI, PID CONTROLLER ON A SECOND ORDER SYSTEM ( Degenerative)

AIM: To study the effect of proportional, integral, differential, controllers on a second order system. APPARATUS: 1. Microprocessor based PID controller trainer kit. 2. Patch chords CIRCUIT DIAGRAM: Verr Vs PID Controller Second Order System VPID Output

Fig: 4.1. THEORY: PROCEDURE:

Effect of PID on second order system

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 Vs, VF , Error and PID output. 3. Repeat this for different values of proportional gain and tabulate the result.
PROPORTIONAL INTEGRAL CONTROLLER

10

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.
PROPORTIONAL DERIVATIVE CONTROLLER

1. Repeat the above with P and D gain settings keeping I gain at 0. 2. Tabulate the readings of Vs, VF and Verr and PID output.
PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLER

1. Repeat the above process for different P, D and I gains. TABULAR COLUMN:
P CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

I - CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

11

D - CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

PI - CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

PD - CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

12

PID - CONTROLLER

S.NO

P - Gain

Set voltage Vs

Feed back voltage VF

Error Voltage

PID o/p Vo

RESULT: COLCLUSION:

EXPERIMENT - 5 STATE SPACE MODEL FOR CLASSICAL TRANSFER FUNCTION USING MATLAB AIM: To write a program using MATLAB to transform a transfer function into state space and vice versa PROGRAM:

13

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) RESULT: CONCLUSION:

EXPERIMENT - 6 LAG AND LEAD COMPENSATION MAGNITUDE AND PHASE PLOT AIM: 1. To Study lead compensation. 2. To study lag compensation. 3. To study lead lag compensation.

14

APPARATUS: 1. Trainer kit. 2. Function generator. 3. Connecting wires. CIRCUIT DIAGRAM:

1. LAG NETWORK:

Fig: 5.1.
2. LEAD NETWORK:

15

Fig : 5.2.
3. LIMITED LAG NETWORK

Fig: 5.3.
4. LIMITED LEAD NETWORK:

16

Fig: 5.4.
5. LAG LEAD COMPENSATION NETWORK

Fig: 5.5.

17

THEORY: PROCEDURE: 1. Circuit is to be connected as per the circuit diagram. 2. Give a sinusoidal function as input using a function generator with an amplitude of 3V. 3. Select various frequencies and give as input to the lag, lead and lag lead compensating networks. 4. Note the phase angle from the phase angle meter and tabulate the input and output voltages for different frequencies. 5. Calculate the phase angle theoretically and verify with the indicated value. 6. Draw the frequency and phase plots. TABULAR COLUMN:
1. LEAD NETWORK

S.NO

Freq(Hz)

=2f

V0(V)

Vi(V)

Gain A(dB)

Indicated Calculated T(j ) T(j )

2. LAG NETWORK

18

S.NO

Freq(Hz)

=2f

V0(V)

Vi(V)

Gain A(dB)

Indicated Calculated T(j ) T(j )

3. LIMITED LAG NETWORK

S.NO

Freq(Hz)

=2f

V0(V)

Vi(V)

Gain A(dB)

Indicated Calculated T(j ) T(j )

4. LIMITED LEAD NETWORK

S.NO

Freq(Hz)

=2f

V0(V) 19

Vi(V)

Gain

Indicated Calculated

A(dB)

T(j )

T(j )

5. LAG LEAD NETWORK

S.NO

Freq(Hz)

=2f

V0(V)

Vi(V)

Gain A(dB)

Indicated Calculated T(j ) T(j )

GRAPHS: 1. Lag network 2. Lead network

20

3. Limited lag network 4. Limited lead network 5. Lag lead network

RESULT: CONCLUSION:

EXPERIMENT - 7 TRANSFER FUNCTION OF A DC GENERATOR

21

AIM: To determine the transfer function of a DC generator after determining the various constants APPARATUS: 1. D.C. Motor-Generator set. 2. Motor stator. 3. Field rheostat for Motor. 4. Rheostat as potential divider for excitation of generator. 5. Ammeter M.C,M.I 6. Voltmeter M.C,M.I 7. Tachometer. 8. Variac and connecting wires. THEORY PROCEDURE: 1. Make the connections as per the circuit diagram, keep the motor field rheostat in minimum position and potential divider also kept in minimum potential position. 2. Start the motor with the help of motor starter and adjust the speed to rated value. 3. To determine Kg ,magnetization characteristics If vs Vg of separately excited DC generator has to be found use the straight line portion to determine Kg =Vg / If 4. The field resistance of generator Rf is determined by drop test method as shown in fig 6.2

22

5. To find Lf of generator, first the impedance Zf is determined by voltmeter and ammeter method as shown in fig 6.3 using A.C. supply and determines X f and Lf. 6. Plot the magnetization characteristics between Generated voltage vs Field current

CIRCUIT DIAGRAM:

M z

zz

zz

Fig: 6.1. O.C.C of a DC Generator

23

Fig: 6.2. Field resistance Drop Test

Fig: 6.3. Field Impedance Drop Test

24

TABULAR COLUMN: 1) Magnetization Characteristic : S.No. Field current If(Amps) Generated voltage (Volts)

2)Field Resistance Rf: S.No. V(volts) I(amps) Rf=V/I

25

3)Field Impedance: S.No. V I Z=V/I

CALCULATIONS: Field Resistance Rf = 1.2*Rfavg Xf = (Zf2 - Rf2 )0.5 Field Inductance Lf = Xf / (2**f) To calculate the Kg ,The linear portion of the magnetizing characteristics is required Kg=Vg/If

Therefore, The Transfer Function of a DC Generator is given by Vg(s) /Vf(s) = Kg / ( Lf S+Rf)

MODEL GRAPH: 26

Generated Voltage Eg

Field Current If RESULT: CONCLUSION:

EXPERIMENT - 8

27

TEMPERATURE CONTROLLER USING PID AIM: To study the phenomenon of steady state error of a temperature control system using proportional controller, proportional integral controller and proportional differential controller. APPARATUS: 1. Trainer kit 2. Connecting wires CIRCUIT DIAGRAM

Fig: 7.1 . Proportional Controller

28

Fig: 7.2. Proportional Integral Controller

Fig:7.3. Proportional Derivative Controller

29

THEORY: PROCEDURE: 1. Establish the connection between the conditions unit and the model process with the help of cable provided. 2. Connect Red 3, Black 1 for P controller, Red 3, Black 2, and Red 1, Black 1 for PI controller, RED 3, Black 3 and Red 2 , Black 1 for PD controller with the help of patch chords. 3. Set the SET potentiometer at position of 16 corresponding to 400 of temperature. 4. Set proportional band control to 10% i.e. K1 = 10 5. Now turn ON the power supply. TABULAR COLUMN:
P CONTROLLER

S.NO

LOW SPEED DEVIATION

HIGH SPEED DEVIATION

PI CONTROLLER

30

S.NO

LOW SPEED DEVIATION

HIGH SPEED DEVIATION

PD CONTROLLER

S.NO

LOW SPEED DEVIATION

HIGH SPEED DEVIATION

GRAPHS:

Low Speed

Deviation

31

Deviation

Low Speed

High Speed

High Speed

Time(sec)

Time (Sec)

Fig:7.4. P Controller

Fig: 7.5. PI - Controller

Deviation

High Speed

Low Speed

Time (Sec)

Fig: 7.6. PD - Controller RESULT: CONCLUSION:

EXPERIMENT - 9 CHARACTERISTICS OF MAGNETIC AMPLIFIERS

32

AIM: 1. To study series connected magnetic amplifier. 2. To study parallel connected magnetic amplifier. 3. to study saturated magnetic amplifier. APPARATUS: 1. Magnetic amplifier trainer kit. 2. Latches. CIRCUIT DIAGRAM:
1. SERIES CONNECTED

B1

A1

Fig 8.1. Series connected magnetic amplifier

2. PARALLEL CONNECTED

33

Fig 8.2. Parallel connected magnetic amplifier

3. SATURATED MAGNETIC AMPLIFIER

34

Fig 8.3.Self saturated magnetic amplifier THEORY: 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

35

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.
PARALLEL CONNECTED MAGNETIC AMPLIFIER

The procedure is same as for series connected magnetic amplifier but connections of the terminals on the front panel of the unit are made as follows: a) Connect Ac to A1 b) Connect A1 to A2 c) Connect B2 to L d) Connect B1 to B2
SELF SATURATED AMPLIFIER

The procedure is same as explained above but switch is kept in position E and the terminals on the front panel of the unit are made as follows: a) Connect Ac to C1 b) Connect A3 to B3 c) Connect B3 to L

TABULAR COLUMN

36

SERIES CONNECTED

S.NO

Control Current IC(mA)

Load Current IL(mA)

PARALLEL CONNECTED

S.NO

Control Current IC(mA)

Load Current IL(mA)

SATURATED MAGNETIC AMPLIFIER

S.NO

Control Current IC(mA)

Load Current IL(mA)

GRAPHS:

37

Load Current

Control Current Fig: 8.4. Series Connected magnetic amplifier

Load Current

Control Current Fig: 8.5. Parallel Connected Magnetic amplifier

Load Current

Control Current Fig: 8.6.Saturated Magnetic amplifier

RESULT: CONCLUSION:

EXPERIMENT - 10 38

CHARACTERISTICS OF AC SERVOMOTOR AIM: To study the speed torque characteristics of AC servomotor. APPARATUS: 1. Trainer kit 2. Multimeter 3. Connecting wires. CIRCUIT DIAGRAM:

Servo Amplifier

Fig: 9.1.AC Servomotor

THEORY: 39

PROCEDURE: 1. Study all the controls carefully on the front panel. 2. Initially keep the load switch at OFF position, indicating that the armature circuit of DC machine is not connected to auxiliary DC supply 12V dc. Keep servomotor supply switch also at OFF position. 3. Ensure load potentiometer and control voltage autotransformer at minimum position. 4. Now switch on main supply to the unit and also AC servomotor supply switch. Vary the control voltage transformer. You can observe that the AC servomotor will be indicated by the tachometer in the panel. 5. With load switch in OFF position, vary the speed of AC servomotor by moving the control voltage and note down back emf generated by the DC machine(Now working as a generator or tacho), Enter the results in the table. 6. Now with load switch at OFF position, switch ON AC servomotor and keep the speed in the minimum position. You can observe that the AC servomotor starts moving with speed being indicated by the tachometer. Now vary the control winding voltage by varying the autotransformer and set the speed for maximum speed. Now switch on the load switch and start loading AC servomotor by varying the load potentiometer slowly. Note down the corresponding values of Ia and speed-readings are entered. The control voltage is also noted.

TABULAR COLUMN:

40

No load Torque T=0, Ia = 0 S.NO VC(Volts) Eb (Volts) Speed N rpm

VC = 150V S.NO Eb(Volts) N(rpm) Ia(Amps) P = EbIa(Watts) Torque(Nm)

VC=220V S.NO Eb(Volts) N(rpm) Ia(Amps) P = EbIa(Watts) Torque(Nm)

41

VC = 225V S.NO Eb(Volts) N(rpm) Ia(Amps) P = EbIa(Watts) Torque(Nm)

GRAPHS: X1/R1>X2/R2>X3/R3 y 3 y 2 42

Vc=225V 1 Vc=200V Vc=175V Vc=150V

Torqu e

Speed

Speed Fig:9.2

Torque

Fig: 9.3.

Eb

Speed Fig:9.4. RESULT: CONCLUSION: EXPERIMENT - 11 ROOT LOCUS, BODE PLOT FROM MATLAB AIM: To analyze the stability of a system using a) Bode plot b)Root locus c)Nyquist plot

43

PROGRAM: 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 Using Root locus: num=input(enter the numerator of tf); den= input(enter the denominator of tf); sys= tf(num,den); [r,k] = rlocus(sys); rlocus(sys) count=0 for i=1;length(k); if real (r(i)>0) count =count+1; end

44

end if count= =0 disp(system is stable); else disp(system is unstable); end Using Nyquist plot: num=input(enter the numerator of tf); den= input(enter the denominator of tf); s= tf(num,den); nyquist(num,den); [gm,pm,def,pef]=margin(s) if((gm>0)&(pm>0)) disp(system is stable); else disp(system is unstable); end OUTPUT: CONCLUSION:

EXPERIMENT 12 ON OFF TEMPERATURE CONTROLLER AIM: To study ON OFF temperature Controller.

45

APPARATUS: 1. ON OFF Temperature Controller Equipment CIRCUIT DIAGRAM:

230 V

+ 12 V

Heater

Fig: 12.1 Block Diagram of ON OFF Temperature Controller

THEORY: PROCEDURE:

46

1. Connect the RTO sensor PT 100 to the binding post provided on the front panel. 2. Connect the heater cable on the rear side socket. 3. Keep rotary switch on the front panel in 00 degree position. And on the supply. 4. The D.P.M should indicate 0-0 degree centigrade. 5. When select switch is taken to 100 degree position DPM should indicate 100 degree centigrade. This completes calibration check and ensures that MIN and MAX controls on the PCB are properly adjusted. 6. Keep the select switch in SET position and adjust SET TEMP.(p1) pot to 560 c. Keep dead band pot to most counter clock wise position(MIN). 7. Take select switch to RTD position. Now you can observe that RTD temperature goes on increasing and the controller keeps the temperature of the process around the set point depending on dead band adjustment. 8. Take readings of the temperature at regular intervals of 10sec or 15sec and plot a graph for temperature vs time readings. 9. You may adjust dead band to most clock wise position(MAX) and repeat the process again. 10. If you keep a fan near process model, you may again take another set of readings and observe oscillations in temperature.

TABULAR COLUMN: Set temperature = 500 Minimum dead band: S.NO. Time(Sec) Temperature(degrees)

47

Maximum dead band: S.NO. Time(Sec) Temperature(degrees)

GRAPHS: y

Temperature

48

Time (sec)

Fig: 12.2. Temperature Verses Time RESULT: CONCLUSION:

49