1

CONTROL SYSTEM MANUAL

LIST OF EXPERIMENTS
1. Determination of transfer function of AC Servomotor 2. Determination of transfer function of DC Generator 3. Determination of transfer function of DC Servomotor. 4. Analog simulation of Type - 0 an Type ! 1 systems 5. Digital simulation of non-linear systems *** ". Sta#ility analysis of linear systems $. Stepper motor control system %. Digital simulation of first systems &. Digital simulation of secon systems

10. DC an AC position control systems

*** ADDITIONAL EXPERIMENT

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VIVA QUESTIONS 1. Define control system? 2. Define tr nsfer f!nction? ". Mention some control system com#onents? $. %& t is ser'o mec& nism? 5. (i'e t&e e)#ression for tr nsfer f!nction of .c. ser'o motor? *. %& t is t&e !se of com#ens tors? +. %rite t&e e)#ression of tr nsfer f!nction for le ,-l .-l ./le , com#enstor? 0. %& t is t&e si.nific nce of ' rio!s com#ens tors. 1. %& t ,o yo! me nt 2y ty#e n, or,er of system? 13. %& t re t&e effects of ,ifferent ty#es of controller? 11. %& t is t&e !se of 2o,e #lot? 12. 4om# re 2o,e #lot n, ny5!ist #lot 1". 4om# re com#ens tors n, controllers? 1$. List t&e ##lic tions of .c. ser'omotor? 15. List t&e ##lic tions of ,.c.ser'omotor? 1*. (i'e t&e ##lic tion of sync&ros. 1+. List t&e commonly enco!ntere, non/line rities. 10. List t&e time ,om in s#ecific tions 11. List t&e fre5!ency ,om in s#ecific tions 23. Define st 2ility 21. %& t re t&e ty#es of st 2ility? 22. List t&e tools ' il 2le for ssessin. st 2ility? 2". Define close, loo# system 6it& n e) m#le? 2$. Define o#en loo# system 6it& n e) m#le? 25. (i'e t&e tr nsfer f!nction for rm t!re controlle, D.c. 7er'o motor.

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CIRCUIT DIAGRAM:-

Name Plate Detail:

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Ex.No:1 Date: Aim: To st!,y t&e c& r cteristics n, fin, t&e tr nsfer f!nction of n A4 ser'omotor. T%eor&: An c ser'omotor is 2 sic lly 28 in,!ction motor. T&e rotor of t&e ser'omotor is 2!ilt 6it& &i.& resist nce so t& t its A9R r tio is sm ll so s#ee, tor5!e c& r cteristics 6ill 2e line r. T&e e)cit tion 'olt .e ##lie, to st tor 6in,in.s s&o!l, & 'e #& se ,ifference of 13: 'or(in): T&e st tor 6in,in.s re e)cite, 2y 'olt .e of e5! l rms m .nit!,e n, #& se ,ifference. T&is res!lts in e)citin. c!rrent n, 6&ic& c !ses rot tin. m .netic fiel, of const nt m .nit!,e. Rot tin. m .netic fiel, s6ee#s o'er t&e fl!). ;ence 'olt .e in,!ces c!rrent in st tor con,!ctors n, c!rrent cre tes rotor fl!). 'or(in) o! a# er$omotor in #ontrol & tem: T&e reference 6in,in. .et e)cite, 2y const nt 'olt .e so!rce. T&e fre5!ency is in r n.e of 53/1333 ;<. =>s? 9 E>s? @ Am9 7 >Bm? sC1 %&ere Am is Motor . in const nt Bm is Motor time const nt A**li#ation: 4ontrol 6in,in. is e)cite, 2y t&e mo,!l te, control si.n l n, t&e 'olt .e is of ' ri 2le m .nit!,e n, #ol rity. Dor t&e #ro,!ction of rot tin. m .netic fiel, t&e control #& se 'olt .e m!st 2e of s me fre5!ency s reference #& se 'olt .e. ;ence t&e control si.n l is mo,!l te, 2y c rrier si.n l 6&ose fre5!ency is s me s t& t of reference 'olt .e n, t&en ##lie, to t&e control 'olt .e. Dor mo,!l tion #!r#ose c s!##ly itself is !se, s c rrier si.n l. Let ec is control si.n l Ecm is mo,!l te, control si.n l If ec is #ositi'e t&en ecm n, ec r 6ill 2e s me in #& se so ecm @ 9ECec96s6ct for ec co. Tran !er !"n#tion o! AC Ser$omotor: %>s? 9 Ec>s? @ A1 9Es C A2 C F @ Am91C7Tm Am @ A1 9 A2 C F @ motor . in const nt Tm @ E9 A2 C F @ time const nt >or? motor time const nt Let = n.!l r ,is#l cement of motor % @ ,= 9 ,t @ n.!l r s#ee, T @ tor5!e ,e'elo#e, 2y t&e lo ,. F @ Driction l 'isco!s coefficient of con,!ctor E @ moment of inerti of lo ,. A1 @ slo#e of s#ee, tor5!e c& r cteristics Tm @ tor5!e ,e'elo#e, 2y t&e motor. Tm @ E ,2=9 ,T2 C F ,=9,t Tm @ A1 G A2 ,= 9 ,t E ,2=9 ,T2 C F ,=9,t @ A1 G A2 ,= 9 ,t E s2 =>s? C F=>s? @ A1 E e >s? / A2 =>s? =>s?9 Ee>s? @ A19 E72CFsCA2 Tran !er !"n#tion o! AC Ser$omotor

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MODE+ GRAP,

To !in- .1 Tor5!e T @ 1.01 * r * 7 Nm. 7 @ Lo , in A. r @ r ,i!s of s& ft in m @ 3.3*0m Load (Kg) Control Voltage Vc (V) Torque (Nm)

To !in- ./ Tor5!e T @ 1.01 * r * 7 Nm. 7 @ Lo , in A. r @ r ,i!s of s& ft in m @ 3.3*0m Speed (rpm) Load (Kg) Torque (Nm)

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TD of c ser'omotor @ Am91C72m Am @ A19 A2C F Bm @ E 9 A2C F

Re "lt: T&!s t&e c& r cteristic of c ser'omotor 6 s st!,ie, n, its tr nsfer f!nction is fo!n,.

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CIRCUIT DIAGRAM:-

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Ex.no:/ Date: Tran !er !"n#tion o! e*aratel& ex#ite- DC Generator Aim: To ,etermine t&e tr nsfer f!nction of se# r tely e)cite, ,c .ener tor. A**arat" Re0"ire-: S.No. 1 2 " Name o! t%e A**arat" R&eost t Ioltmeter Ammeter T&*e Do!2le t!2!l r M4 MI M4 MI Ran)e $33H 9 2A >3/"33?I >3/"33?I >3/2? A >3/1? A Qt& 2 1 1 1 1

T%eor&: Tr nsfer f!nction of line r ' ri nt system is ,efine, to 2e t&e r tio of L #l ce tr nsform of t&e ot&er in#!t ' ri 2le !n,er t&e ss!m#tion t& t ll initi l con,itions re <ero. A ,c .ener tor is commonly !se, in control system for #o6er m#lific tions. T&e tr nsfer f!nction of se# r tely e)cite, .ener tor is .i'en s Tr nsfer f!nction (>s? @ A. 9 Rf C 7Lf

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A. ///// .ener tor const nt >I9A? Rf /////// resist nce of fiel, 6in,in. Lf ///// in,!ct nce of fiel, 6in,in. Pro#e-"re : Determination o! .) 1. 4onnections re .i'en s #er t&e circ!it ,i .r m. 2. 4lose t&e DP7T s6itc&. ". T&e fiel, r&eost t of t&e motor is to 2e ,J!ste, to 2rin. t&e motor to t&e r te, s#ee, 1533 r#m. $. Fy ' ryin. t&e fiel, r&eost t of t&e .ener te, 'olt .e re note, ,o6n. 5. Re#e t t&e 2o'e ste# for ' rio!s #ositions of t&e fiel, r&eost t of t&e .ener tor. *. Plot t&e .r #&- 2et6een fiel, r&eost t i.e. fiel, c!rrent n, t&e .ener te, 'olt .e. +. T&e slo#e of t&e .r #& is const nt A.. Determination o! +! 1. 4onnections re .i'en s #er t&e circ!it ,i .r m. 2. T&e DP7T s6itc& is close,. ". 7in.le #& se ' ri c is ,J!ste, n, t&e ' rio!s ' l!es of fiel, c!rrent n, fiel, 'olt .e re note, ,o6n. $. T&e fiel, coil im#e, nce is c lc!l te, 2y Bf @ If 9 If 1orm"la " eTo o2t in t&e tr nsfer f!nction Bf //// fiel, im#e, nce in H Rf //// fiel, resist nce in H Xf //// fiel, re ct nce in H D //// 7!##ly fre5!ency in ;< Xf2 @ Bf 2/ Rf2 Diel, in,!ct nce @ Xf 9 2Kf To o2t in t&e settlin. time ts 7ettlin. time @ time re5!ire, to re c& 10L of ste ,y st te ' l!e >o.10iss? Name Plate Detail : DC Motor Voltage Current Speed Type Excitation Voltage Excitation Current MODE+ GRAP,: DC Generator

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Ta2"lation :OCC S.No 1 2 3 4 ! " # $ 1% 11 To 1in- R! V (v) If (A) ! Voltage (V) Field Current (A)

To 1in- 3! V (v) If (A) "f # $% (!)

&

Cal#"lation : Deri' tion of tr nsfer f!nction Tr nsfer f!nction @ L E >.?9 L E >f ? @ if R f C Lf ,it9,t @ Ef>t? T Min. L #l ce tr nsformIf >s? Rf C Lf >s? If >s? @ Ef >s? (ener tor const nt A. @ E. 9 If ///// E. @ A. If E. >s? @ A. If >s? If >s? @ E. >s? 9 A. E. >s? 9 Ef >s? @ A. 9 Rf C sLf A . @ N E. 9 N I f

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Xf @ O Bf 2/ Rf2 Xf @ 2KfLf Lf @ Xf 9 2Kf 7!2stit!tin. ' l!e of A.- Rf - Lf in tr nsfer f!nction 6e & 'e tr nsfer f!nction of se# r tely e)cite, ,c .ener tor E. >s? 9 Ef >s? @ A. 9 Rf C sLf TD @ E. >s? 9 Ef >s? @ A. 9 Rf C sLf

Res!lt P T&!s t&e tr nsfer f!nction of se# r tely e)cite, ,c .ener tor 6 s ,etermine, TD @ E. >s? 9 Ef >s? @ A. 9 Rf C sLf

CIRCUIT DIAGRAM:-

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Ex.No:4A Date: TRANS1ER 1UNCTION O1 1IE+D CONTRO++ED DC SERVO MOTOR Aim: To ,etermine t&e tr nsfer f!nction of fiel, controlle, ,c ser'o motor. A**arat" Re0"ire-: S'No 1 2 3 4 ! " Name of t(e )qu*pment A&&eter A&&eter Volt&eter Volt&eter Volt&eter ,-eo.tat Auto Tran.1or&er Tac-o&eter Stop Cloc3 T+pe 'C '* 'C '* 'C Tu/ular Single 2-a.e ange %(2. ) A %(1 A %(3%+ %(3%%+ %(3%%+ 4%%0)2A ,uant*t+ 2 1 1 1 1 1

# Analog (%( %%%),2' 1 $ T%eor&: T&e s#ee, of ,c motor is ,irectly #ro#ortion l to rm t!re 'olt .e n, in'ersely #ro#ortion l to fl!). In fiel, controlle, ,c motor t&e rm t!re 'olt .e is Me#t const nt n, t&e s#ee, is ' rie, 2y ' ryin. t&e fl!) of t&e m c&ine since fl!) is ,irectly #ro#ortion l to fiel, c!rrent- t&e fl!) is ' rie, 2y ' ryin. file, c!rrent. T&e s#ee, control system is n electromec& nic l control system. T&e electric l system consists of rm t!re n, file, circ!it 2!t for n lysis #!r#ose- only fiel, circ!it is consi,ere,- 2ec !se t&e rm t!re is e)cite, 2y const nt 'olt .e. T&e mec& nic l system consists of t&e rot tin. # rt of t&e motor n, t&e lo , connecte, to t&e s& ft of t&e motor. T&e fiel, controlle, ,c motor & s n o#en loo# tr nsfer f!nction. Determination o! 5 an- 6: Pre#a"tion : 1. T&e motor fiel, r&eost t s&o!l, 2e Me#t in minim!m #osition 2. Loose connections s&o!l, 2e 'oi,e,. Pro#e-"re: 1. 4onnections re m ,e s #er t&e circ!it ,i .r m. 2. T&e DPTP s6itc& is connecte, to 1/1Q. ". T&e motor is st rte, 2y !sin. t&ree #oint st rter. $. T&e fiel, r&eost t of t&e motor is ,J!ste, to s#ee, 2o'e t&e r te, s#ee, >NC N? 6&ere N is t&e r te, s#ee, >i.e 1533r#m? n, N is 233r#m > ss!mes? 5. DPDT is c& n.e, from 1/1Q #osition n, t&e time t Men for t&e s#ee, to f ll >N/ N? i.e 1"33r#m is note, s t1. *. T&e motor fiel, r&eost t is 2ro!.&t to t&e minim!m resist nce #osition. T&e motor is s6itc&e, off n, . in st rte,. +. T&e electric l lo , is s6itc&e, on in or,er to com#ens te t&e rm t!re ,ro#. 0. DPDT is connecte, to #osition 1/1Q once . in n, ,J!st t&e fiel, r&eost t of t&e motor to .et s#ee, sli.&tly 2o'e >NCN? i.e 1033r#m. 1. DPDT is mo'e, from #osition 1/1Q to 2/2Q n, 6&en t&e s#ee, f lls to >NC N? i.e 1+33r#m- note ,o6n t&e 'oltmeter mmeter re ,in.s s II n, II n, t&e sto# clocM is st rte,. 13. T&e time t Men 6&en t&e s#ee, f lls to >N/N? i.e 1"33r#m is note, s t2 n, note ,o6n t&e ' l!es of 'oltmeter n, mmeter re ,in. s I2 R I2. 11. T&e fiel, r&eost t of t&e motor is 2ro!.&t to minim!m resist nce #osition.

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12. DP7T s6itc& is o#ene,. MODE+ GRAP,:

Ta2"lation: To o2tain Armat"re re i tan#e Ra: S'No Armature Current (A) Armature Voltage (V) Armature re-*-tance a . V/I 0

To o2tain 1iel- Im*e-an#e 3!: S'No 0*eld Current 0*eld (A) Voltage (V)

0*eld Impedance"f . V/I 0

Determination o! .t: S'No Voltag 0*eld e Curren appl*e t(A) d

Armatur e Current (A)

Spr*ng 1alance S$ S4 (3g) (3g )

Torque2 T (N . m)

To o2tain 1iel- re i tan#e R! S'No 0*eld 0*eld Current (A) Voltage (V)

0*eld re-*-tance . V/I 0

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Determination o! 3!: Pre#a"tion : 1. 7in.le #& se ' ri c is Me#t in minim!m #osition 2. Loose connections s&o!l, 2e 'oi,e,. Pro#e-"re: 1. 4onnections re m ,e s #er t&e circ!it ,i .r m 2. DP7T s6itc& is close,. ". 7in.le #& se ' ri c is ,J!ste, n, ' rio!s ' l!es of t&e fiel, c!rrent n, fiel, 'olt .e re note,. $. T&e fiel, im#e, nce is c lc!l te, !sin. o&ms l 6 i.e Rf @ If 9 If Determination o! .!: Pre#a"tion : 1. T&ere s&o!l, not 2e ny lo , 6&ile st rtin. n, sto##in.. 2. Diel, r&eost t s&o!l, 2e in minim!m #osition. ". Loose connections s&o!l, 2e 'oi,e,. Pro#e-"re: 1. 4onnections re m ,e s #er t&e circ!it ,i .r m. 2. DP7T s6itc& is close,. ". T&e motor is st rte, 2y !sin. t&ree #oint st rter n, 2ro!.&t to r te, s#ee, 2y ' ryin. t&e fiel, r&eost t. T&e motor & s to 2e lo ,e, in ste#s till t&e r te, ' l!e n, e c& lo ,- t&e ' l!es of rm t!re c!rrent- 'olt .e- fiel, c!rrent n, t&e s#rin. 2 l nce re ,in.s re note, ,o6n. Determination o! R!: Pre#a"tion : 1. T&e r&eost t s&o!l, 2e Me#t in m )im!m #osition. 2. Loose connections s&o!l, 2e 'oi,e,. Pro#e-"re: 1. 4onnections re m ,e s #er t&e circ!it ,i .r m. 2. DP7T s6itc& is close,. ". T&e r&eost t is ,J!ste, n, ' rio!s ' l!es of t&e fiel, c!rrent n, fiel, 'olt .e re note,. $. T&e rm t!re resist nce is c lc!l te, !sin. o&ms l 6 i.e R f @ If 9 If Determination o! Ra: Pre#a"tion : 1. Arm t!re r&eost t s&o!l, 2e Me#t in m )im!m #osition. 2. Loose connections s&o!l, 2e 'oi,e,. Pro#e-"re: 1 4onnections re m ,e s #er t&e circ!it ,i .r m. 2. DP7T s6itc& is close,. ". T&e r&eost t is ,J!ste, n, ' rio!s ' l!es of t&e rm t!re c!rrent n, rm t!re 'olt .e re note,. $. T&e rm t!re resist nce is c lc!l te, !sin. o&ms l 6 i.e R @ I 9 I 1orm"la: Tor5!e @ 1.01 * >71S72? * R %&ere R @ rC t92 %&ere r is t&e r ,i!s of t&e 2re M ,r!m n, t is t&e t&icMness of t&e 2elt i.e 4 @ 2Kr Lf @ OBf2/ Rf29 2Kf >;? Pc @ 3.5 * >I1I1 C I2I2 C I12R C I22R ? >%? E @ #c * t1 * t2 9 2K2 >N12 G N22? >t1 / t2? >M. m2 9 r ,?

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Pstr y / 2K2 >N12 G N22? * E 9 t1 >%? P1 @ Pstr y 9 K2 >N12 C N22? >NM 9r , 9 7ec? Tr nsfer D!nction (>s? @ Mm 9 7>1CTfs? %&ere Mm @ Mt 9 F>Rt? n, E 9 F >M. m 9 N G 7? >R , 9 A 7ec GH? %&ere Tf @ Lf 9 Rf- Tm @ E 9F An, time const nt Tf @ Lf 9 Rf Determination o! 5 an- 6: Po ition o! DPDT !rom 1-17 to 8-87 S'N ange of -peed o (rpm)

T*me ta3en for t(e -peed to fall from (N4N) to (N ( N). t1 .econd.

1"%% ( 13%% Po ition o! DPDT !rom 1-17 to /-/7 S'N ange of T*me ta3en for t(e o -peed (rpm) -peed to fall from (N4N) to (N ( N). .econd. 1. 13%% 5 1"%% t1 2. 1"%% 5 13%% t2 6 Voltmete r read*ng (volt-) V1 6 V2 6 Ammeter read*ng (amp-) *1 *2

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Re "lt: T&!s t&e tr nsfer f!nction of fiel, controlle, ,c s&!nt motor is fo!n, to 2e T>s? 9 If >s? @ Mm 9 7 >1 C 7Tf? >1 C 7Tm? Note: Am @ motor . in const nt @ ALf 9 Rf . F Tf @ Diel, time const nt @ Lf 9 Rf

21 CIRCUIT DIAGRAM:-

Name Plate Detail:

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Ex.No:46 Date: TRANS1ER 1UNCTION O1 ARMATURE CONTRO++ED DC SERVO MOTOR Aim: To ,etermine t&e tr nsfer f!nction of rm t!re controlle, ,c 7er'o motor. A**arat" Re0"ire-: S'No Name of t(e )qu*pment 1 A&&eter 2 A&&eter 3 Volt&eter 4 Volt&eter Volt&eter ! ,-eo.tat " Auto Tran.1or&er # Tac-o&eter $ Stop Cloc3 T+pe 'C '* 'C '* 'C Tu/ular Single 2-a.e Analog ange %(2. ) A %(1 A %(3%+ %(3%%+ %(3%%+ 4%%0)2A (%( %%%),2' ,uant*t+ 2 1 1 1 1 1 1

T%eor&: T&ere re m ny ty#es of D.4. motors !se, in in,!stries. D.4. motors t& t re !se, in control systems re c lle, D.4. ser'o motors. In D.4. ser'omotors t&e rotor inerti & 'e 2een m ,e 'ery sm ll- 6it& t&e res!lt t& t motors 6it& 'ery &i.& tor5!e to inerti r tio re commerci lly ' il 2le. 7ome D.4. motors 6it& rel ti'ely sm ll #o6er r tin. re !se, in instr!ments n, com#!ter rel te, instr!ments. D.4 series- s&!nt n, #erm nent m .net D.4. ser'o motors 6it& me,i!m n, l r.e #o6er r tin.s re !se, in ro2ot systems n, 4N4 m c&ines. An, norm lly t&ey re ' il 2le 6it& 2!ilt in t c&o.ener tor for s#ee, sensin. in close, loo# control ##lic tions. Most im#ort nt mon. t&e c& r cteristics of t&e D.4. ser'o motor is t&e m )im!m cceler tion o2t in 2le. Dor .i'en ' il 2le tor5!e t&e rotor moment of inerti m!st 2e m )im!m. 7ince t&e ser'omotor o#er tes !n,er contin!o!sly ' ryin. con,itions- cceler tion n, ,eceler tion of t&e rotor occ!r from time to time. T&e ser'o motor m!st 2e 2le to 2sor2 t&e mec& nic l ener.y s 6ell s to .ener te it. T&e #erform nce of ser'omotor 6&en !se, s 2r Me is s tisf ctory. Name *late Detail : Ty#e P Iolt .e P Tor5!e P 7#ee, P Pro#e-"re: 1. Remo'e t&e lo , in no lo , con,ition. 76itc& On t&e mo,!le. 2. Note ,o6n t&e no lo , c!rrent n, no lo , s#ee,. ". A,J!st t&e #otentiometer for t&e r te, 'olt .e of 2$I $. A,J!st t&e lo , in ste#s to m )im!m of 233.m/cm n, c!rrent of 3.0 Am#s >,o not e)cee, 3.0 m#s? 5. At e c& lo , note ,o6n t&e s#ee,. *. 4 lc!l te t&e corres#on,in. tor5!e n, #lot t&e tor5!e s#ee, c& r cteristics. +. Re#e t t&e #roce,!re for *3L n, $3L of t&e r te, 'olt .e . R te, Iolt .e 2. *3L r te, 'olt .e c. $3L r te, 'olt .e

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Mo-el Gra*%

S*ee- V9S Tor0"e Mo-el Cal#"lation : T&e si) # r meters necess ry to e' l! te tr nsfer f!nction re R - L - A2- F n, E. Fefore connectin. t&e D4 ser'o motor fin, t&e rm t!re Resist nce R in O&ms n, Arm t!re in,!ct nce L in &enries. Use L4R meter for t&is #!r#ose. T Me fe6 re ,in.s 2y c& n.in. t&e #osition of t&e rotor. T Me t&e le st ' l!es fo!n,. R @ VVVVVVVVVVVVVVVV W L @ VVVVVVVVVVVVVVVV ;. To -etermine .t an- 6 76itc& on t&e m ins s!##ly !nit n, s6itc& on D4 #o6er s!##ly to t&e motor. R!n t&e ser'o motor t some nomin l s#ee,. Pro.ressi'ely ##ly incre sin. lo ,s !#to r te, 03L of t&e r te, m )im!m c!rrent. Determine t&e follo6in. in t&e #!r#ose. 7l.No. Arm t!re 7#ee, An.!l r Ielocity X Tor5!e T Tor5!e Driction c!rrent i Unit @ Units @ N/m const nt At @ coefficient RPM X 2 @ Units Unit @ A RPM T9i N/m9A F@T9Y N/ *3 m9>R ,9s? @ R ,9s

To Determine .2 Remo'e t&e lo , i.e r!n t&e motor 6it& no lo ,. Pro.ressi'ely incre se t&e 'olt .e n, ,etermine t&e follo6in. in t&e #rocess. 7l.No. Arm t!re Arm t!re 7#ee, An.!l r Ielocity X F cM EMD E2 F cM EMD Iolt .e c!rrent i Unit @ @ I / i .R const nt RPM X 2 @ Units I Unit @ Unit @A RPM Units @ I A2@E29Y E29X *3 I @ R ,9s

2$ To -etermine t%e Rotor Moment o! Inertia. 5 T&is c n 2e ,etermine, from t&e mec& nic l time const nt. 4!t G off #o6er s!##ly to t&e r!nnin. motor t f!ll s#ee, n, e' l! te t&e time re5!ire, s y >Ts? in secon,s to come to f!ll sto#. T&erefore Tm @ Ts 9 5. T&en E @ Tm9F- A. G m2 9 r ,.
Tran !er 1"n#tion o! DC Ser$o Motor :Armat"re Controlle-; T&e s#ee, of D4 ser'o motor is ,irectly Pro#ortion l to rm t!re 'olt .e n, in'ersely #ro#ortion l to t&e fl!) in fiel, 6in,in.. In n rm t!re controlle, D4 motor- t&e ,esire, s#ee, is o2t ine, 2y ' ryin. t&e rm t!re 'olt .e. T&is system is n electromec& nic l control system. T&e electric l system consists of n rm t!re circ!it n, fiel, circ!it. D!rin. n lysis- only t&e rm t!re circ!it is consi,ere, 2ec !se const nt 'olt .e e)cites t&e fiel,. T&e mec& nic l system consistin. of t&e rot tin. # rt of t&e motor n, t&e lo , connecte, to t&e s& ft of t&e motor. An rm t!re controlle, D4 motor s#ee, control system is s&o6n in Di.!re.

Let

R L I I E2 A1 T E F

1i)"re -1. @ Arm t!re Resist nce- W @ Arm t!re In,!ct nce- ; @ Arm t!re 4!rrent- A @ Arm t!re Iolt .e- I @ F cM emf- I @ Tor5!e const nt- n/m9A @ Tor5!e ,e'elo#e, 2y motor- N/m @An.!l r ,is#l cement of s& ft- r , @ Moment of inerti of motor n, lo ,-M.m29r , @ Driction l co/efficient of motor n, lo ,- N/m9>r ,9s?

A2

@ F cM emf const nt I/s9r ,.

1i)"re-/ E0"i$alent Cir#"it o! armat"re

25 A2 @ F cM emf const nt- I9>r ,97? E5!i' lent circ!it of rm t!re for fi./1 is s&o6n in fi./2. Airc&offQs 'olt .e l 6- 6e c n 6riteI R C L ,i 9,t C e2 @ I
Tor5!e of D4 motor is #ro#ortion l to t&e #ro,!ct of fl!) n, c!rrent- 7ince fl!) is const nt in t&is system- t&e tor5!e is #ro#ortion l to i lone. T Z i tor5!e T @ At i T&e mec& nic l system of t&e motor is s&o6n in fi.!re *.9. T&e ,ifferenti l e5! tion .o'erenin. t&e mec& nic l system of motor is .i'en 2y-

d 2 d + =T dt 2 dt , ,t
[ F cM emf- e2 @ A2

t&e 2 cM emf of D4 m c&ine is #ro#ortion l to s#ee, > n.!l r 'elocity? of t&e s& ft. e2 Z

, ,t

t&e l #l ce tr nsform tion of ' rio!s time ,om in si.n ls in'ol'e, in t&is system L \I ] @ I >7? L \e2] @ E2>7? L\T] @ T>7? L \i ] @ I >7? I \^] @ ^>7? T&e ,ifferenti l e5! tion .o'ernin. t&e rm t!re controlle, D4 motor s#ee, control system is dia iR CL C e2 @ I ____ >i? dt T @ At i ____ >ii? J d 2 dt 2
Z

d dt

<

____..

>iii?

, A2 ___._ >i'? ,t t Min. l #l ce tr nsform of ,ifferenti l e5! tions of t&e system 6it& <ero s initi l con,itions 6e .etI >7? R C L s I >7? C E2 >7? @ I >7? ____.. 5.1 T>7? @ At I >7? ____.. 5.2 2 Es ^>7? C F s ^ >7? @ T>s? ____. 5." E2>s? @ A2 s ^>7? ____ 5.$ On e5! tin. e5! tions 5.2 n, 5." 6e .etAt I >s? @ >Es2 C Fs? ^>7? ____ 5.5 2 Js + Bs I a >s? >S ? ____ 5.* Kt E5! tion 5.1 c n 2e 6ritten s>R C s L ? I >s? C E2>s? @ I >s? ................ 5.+ 7!2stit!tin. for E2>s? n, I >s? from e5! tion 5.$ n, 5.5 res#ecti'ely in e5! tion 5.+
e2

2* >R C s L ? Js + Bs > S ? + K b s > S ? = Va > s? Kt

2

>R C s L ? >Js 2 + Bs ? K b K t s > S ? = Va > s? Kt

T&e re5!ire, tr nsfer f!nction is

>s? Va > s ?
Kt >R C s L ? >Js 2 + Bs ? K b K t s Kt C R F7 C L E7 2 CL F7 2 + K b K t s Kt C >ER FL ?7 C >Fr + K b K t ? EL FR C K b K t C EL

>s? Va > s ?

<

R E7

<

7\EL

2 7

<

Kt ER C FL s\s 2 C EL

t&e tr nsformer f!nction of rm t!re controlle, D4 ser'o motor c n 2e e)#resse, in not&er st n, r, form s s&o6n 2elo6. Kt >s? @ Va > s ? >R C s L ? >Js 2 + Bs ? K b K t s Kt R B < sL Es 2 R + 1 Fs 1 C C Kb Kt Fs R
<

Kt R B s >1 C sT ? >1 C sTm ? C Kb Kt R B

6&ere

La T @ Ra J @ Tm B !se t&is for TD

Electric l time const nt @ Mec& nic l time const nt

>s? Va > s ?

Kt >R C s L ? >Js 2 + Bs ? K b K t s

2+

Re "lt: T&!s t&e tr nsfer f!nction of fiel, controlle, ,c s&!nt motor is fo!n, to 2e

>s? Va > s ?

Kt >R C s L ? >Js 2 + Bs ? K b K t s

20

Pro)ram:
%nyquist PLOT OF THE LINEAR SYSTEM clc; n=[0 0 0 40] =[! " !0 #] sys=t$%n& ' nyquist%sys' titl(%)Nyquist *l+t $+, t-( syst(. 40/%s04'%s1202s02')' 34is%[52&6&56&6]' [7.&*.&8c*&8c7]=.3,7in %sys' %9O:E PLOT OF THE LINEAR SYSTEM clc; nu.=[0 !0 6] (n=[! 4;26 !] sys=t$%nu.& (n' 8=l+7s*3c(%52&4&!00'; <+ (%sys&8' titl(%)<+ ( *l+t +$ t-( syst(. 6[!02s]=s1204;26s0!)'; [7.&*.&8c*&8c7]=.3,7in %sys' %,++t l+cus OF THE LINEAR SYSTEM clc; n=[0 0 0 ! !]; =[! 4 !6 520 0 ]; sys=t$%n& ' >(,+s=,++ts%n' *+l(s=,++ts% ' ,l+cus%sys'; ?=[5@&2&5"&"]; 34is%?'; titl(%)R++t l+cus +$ t-( syst(. A%s0!'/%s125s'%s12206s020')'; [A&*+l(s]=,l+c$in %sys' %RLOBFIN: Fin ,++t l+cus 73ins $+, 3 7i?(n s(t +$ ,++ts; %*+l3, *l+t clc; t!=in*ut%)(nt(, t!)'; t2=in*ut%)(nt(, t2)'; A=in*ut%)(nt(, A)'; 4=0C;02C!00; 3=A;/%%%t!Dt2'D%4;Di';1@'0%%t!0t2'D%4;Di';12'0%4;Di''; *+l3, %3n7l(%3'&3<s%3'&)<5)';

21

E).NoP $ D teP STA6I+IT= ANA+=SIS O1 +INEAR S=STEMS Aim: To n ly<e t&e st 2ility of line r systems !sin. 2o,e- root loc!s n, ny5!ist #lots. .no>le-)e Re0"ire-: i. ii. iii. 6o-e *lot: Dor t&e .i'en tr nsfer f!nction- 2o,e #lot m!st 2e ,r 6n. T&e comm n, `2o,ea com#!tes m .nit!,e n, #& se n.le of t&e fre5!ency res#onse of contin!o!s/time- line r- time in' ri nt systems. Dirst enter t&e n!mer tor n, ,enomin tor #olynomi ls !sin. t&e comm n,s. bb n!m @ \ 3 1 2] bb n!m @ \23 21 2m] for t&e .i'en tr nsfer f!nction (>s? @ ss2 C 1sC 2 9 2ss2 C2isC22- if ny ' l!es of coefficients re not #resent- #!t t&em s <ero in t&e 2o'e comm n,. Most commonly !se, comm n,s for 2o,e #lot re bb 2o,e >n!m- ,en? bb 2o,e >n!m- ,en-? bb sys @ tf>n!m-,en? bb 2o,e >sys? to s#ecify t&e fre5!ency r n.e- t&e comm n, i. bb @ lo.s# ce >,1-,2? or ii. bb @ lo.s# ce >,1-,2-n? 4 n 2e !se,. T&e comm n, >i? .ener tes 'ector lo. rit&mic lly e5! lly s# ce, 2et6een 13 ,1 n, 13,2. 7o to .ener te 53 #oints 2et6een 3.1 r , 9 sec n, 133 r ,9sec- enter t&e comm n,. bb @ lo.s# ce >/1-/2? T&e comm n, >ii? .ener tes n #oints lo. rit&mic lly e5! lly s# ce, 2et6een ,ec ,es 13 ,1 n, ,,2. To .ener te 133 #oints 2et6een 1 r ,9sec n, 1333 r ,9sec- enter t&e follo6in. comm n, m!st 2e entere,. Dor o2t inin. . in m r.in- #& se m r.in- . in crosso'er fre5!ency n, #& se crosso'er fre5!ency- t&e follo6in. comm n, is !se,. 7ys m!st & 'e 2een lre ,y ,efine,. N&0"i t *lot: T&e MATLAF comm n, ny5!ist com#!tes t&e fre5!ency res#onse for contin!o!s/timeline r time/in' ri nt systems. T&e comm n, ??n&0"i t :n"m@-en; Dr 6s t&e Ny5 !ist #lots t&e tr nsfer f!nction (>s? @ n!m >s? 9 ,en >s? in ,r 6in. ny5!ist #lot 6&ere `Di'i,e 2y Beroa o#er tion is in'ol'e, \e.P (>s? 19s>sC1?] Ny5!ist #lot m y 2e erroneo!s. In t& t c se- s#ecify t&e )is !sin. t&e comm n,s. bb' @ \/2- 2/5 5][ n, t&e r n.e for re l )is 6ill 2e from /2 to 2 n, im .in ry )is from /5 to 5. Dre5!ency res#onse n lysis met&o,s. ( in m r.in n, #& se m r.in 7t 2ility n lysis from #lots

"3
Root lo#" : In #lottin. root loci 6it& MATLAF 6e ,e l 6it& e5! tion 1CAn!m9,en @ 3 !sin. t&e comm n, bb rloc!s >n!m-,en? root loc!s #lot is ,r 6n on t&e screen. N!m n, ,en m!st & 'e 2een lre ,y entere,. T&e r n.e fi)in. c n 2e ,one s e)#l ine, in Ny5!ist #lot. If ny tr nsfer f!nction & s #olynomi ls s #ro,!ct of first n, secon, or,er terms- t&en sim#lifie, ' l!es c n 2e s!2stit!te, !sin. con'ol!tion comm n,. Let @ s>sC1? F @ s2 C $s C 1* T&en enter t&e comm n,s s bb @ \1 1 3] bb 2 @ \1 $ 2*] bb ,en @ con'> -2? Re "lt: T&e re#ort m!st cont in t&e res!lts 2o!t t&e st 2ility of t&e system !sin. t&e 2o'e #lots.

"1
Pro)ram:
%.i.+ syst(. clc; 3=[0 ! 0; 0 0 !; 5! 54 52]; <=[0 2; 0 ! ; ! !]; c=[! 5@ 2; ! ! !]; =[0;2]; 7@=ss%3&<&c& '; 7$,(q=t$%7@'; $i7u,(%!' *>.3*%7$,(q' $i7u,(%2' .3,7in%7$,(q'; %sis+ syst(. clc; 3=[0 ! 0; 0 0 !; 5! 54 52]; <=[0 ; 0 ; ! ]; c=[! 5@ 2]; =[0;2]; 7@=ss%3&<&c& '; 7$,(q=t$%7@'; $i7u,(%!' *>.3*%7$,(q' $i7u,(%2' .3,7in%7$,(q';

"2
Ex.No:AA Date: DIGITA+ SIMU+ATION O1 +INEAR S=STEM Aim: To o2t in st te s# ce form!l tion of t&e system !sin. MATLAF .no>le-)e Re0"ire-: 7t te s# ce mo,els T%eor&: State *a#e mo-el : An im#ort nt re#resent tion for line r systems is t&e st te G s# ce form!l tion. X>nC1? @ AX>n? CF!>n? c>n? @ 4X>n? CD!>n? %&ere X>n? RN @ st te 'ector t time n U>n? @ # X 1 'ector of in#!ts c>n? @ 5 X 1 o!t#!t 'ector A @ N X N st te tr nsition m tri) F @ N X # in#!t coefficient m tri) 4 @ 5 X N o!t#!t coefficient m tri) D @ 5 ) P ,irect # t& coefficient m tri) T&e st te/s# ce re#resent tion is es#eci lly #o6erf!l for Time/' ryin. line r systems M!lti/in#!t- m!lti/o!t#!t >MIMO? line r systems

%eQll 2e concerne, #rim rily 6it& t&e sin.le/in#!t7in.le/o!t#!t >7I7O? c se- i.e.- # @ 5 @ 1 State B *a#e e0"ation : T&ere re se'er l ,ifferent 6 ys to ,escri2e st te/s# ce re#resent tion is .i'en 2y t&e e5! tions system of line r ,ifferenti l e5! tion. T&e

%&ere ) is n n 2y 1 'ector re#resentin. t&e st te >commonly #osition n, 'elocity ' ri 2les in mec& nic l systems?- U is sc l r re#resentin. t&e in#!t >commonly force or tor5!e in mec& nic l systems?- n, y is sc l r re#resentin. t&e o!t#!t. T&e m trices A>n 2y n?- F>n 2y 1? n, c>1 2y n? ,etermine t&e rel tions&i#s 2et6een t&e st te n, in#!t n, o!t#!t ' ri 2les. Note t& t t&ere re n first/or,er ,ifferenti l e5! tions. 7t te s# ce re#resent tion c n lso 2e !se, for systems 6it& m!lti#le in#!ts n, o!t#!ts >MIMO?

Re "lt: T&!s t&e st te s# ce form!l tion of t&e system is o2t ine, !sin. MATLAF

""
6lo#( -ia)ram :i;.Ste* Re *on e o! tran !er !"n#tion >it% an- >it%o"t non-linearitie

Backlash 1 s+1 Sine Wave Transfer Fcn Dead Zone Scope

Saturation

:ii;.Ste* Re *on e o! tran !er !"n#tion >it% an- >it%o"t non-linearitie

Backlash 1 s2 +s+1 Step Transfer Fcn Dead Zone Scope

Saturation

"$