IC 1252

CONTROL SYSTEMS

DEPARTMENT OF EEE LAB MANUAL II YEAR/IV SEMESTER

PREPARED BY
Ms.N.CHANDRAKALA LECT /EEE Ms.M.VIJAYALAKSHMI LECT/EEE

IC 1252 CONTROL SYSTEMS LABORATORY

LIST OF EXPERIMENTS: CYCLE I TRANSFER FUNCTION OF ARMATURE CONTROLLED DC MOTOR TRANSFER FUNCTION OF FIELD CONTROLLED DC MOTOR TIME RESPONSE OF FIRST ORDER AND II ! ORDER SYSTEM USIN" PROCESS CONTROL SIMULATOR. TRANSFER FUNCTION OF LA" COMPENSATOR TRANSFER FUNCTION OF LEAD COMPENSATOR TRANSFER FUNCTION OF AC SERVO MOTOR STUDY OF SYNCHROS STUDY OF CLOSED LOOP SYSTEM CYCLE II: DESI"N OF P# PI# PID CONTROLLERS STUDY OF STEP RESPONSE OF IS$ AND II ! ORDER SYSTEM STABILITY ANALYSIS OF LINEAR SYSTEM DI"ITAL SIMULATION OF LINEAR SYSTEM DI"ITAL SIMULATION OF NON%LINEAR SYSTEM

1.TRANSFER FUNCTION OF ARMATURE CONTROLLED DC MOTOR AIM : To derive the transfer function of armature controlled DC motor. APPARATUS RE&UIRED: S.NO ! % THEORY: &n armature controlled DC motor' the desired s(eed is o)tained )* var*in+ armature ,olta+e and -ee(in+ field current is constant. .e -no/ that E) 0 (1n 2 345A 6rom a)ove e7uation DC motor s(eed is directl* (ro(ortional to the armature volta+e. 8et Ra 0 Armature Resistance 8a 0 Armature &nductance E) 0 9ac- emf &a 0 Armature current T 0 Tor7ue develo(ed in the motor : 0 "oment of inertia 9 0 Dash(ot 0 An+ular Dis(lacement #t 0 Tor7ue constant #) 0 9ac- emf constant 6rom e7uivalent circuit Differential e7uation of e7uivalent circuit can )e /ritten as Ra ia ;8a dia2dt ; e) 0 ,a <<<<<<<<<<<<<<... ! Differential e7uation of mechanical s*stem can )e /ritten as : d% 2dt% ; 9 d 2 dt 0 T<<<<<<<<<<<<. % Tor7ue is directl* (ro(ortional to the armature current T &a ' T &a T 0 #t &a<<<<<<<<<<.. = "otor )ac- emf is directl* (ro(ortional to the s(eed >An+ular velocit* ? E) 0 #) d 2 dt <<<<<<<.. <<<<<<<<.. @ Ta-in+ la(lace transform froom e7u ! ' % A = Ra&a>s? ; 8as&a>s? ; E)>s? 0 ,a>s? <<<<<<<<.. B :s%>s? ; 9s>s? 0 T > s?<<<<<<<<<< 3 APPARATUS DC Servo "otor #it "otor RANGE $ $ QT ! !

T>s? 0 #ts&a>s?<<<<<<<<<<<<<<. E)>s? 0 #)s>s?<<<<<<<<<<<<<... E7uatin+ e7uation 3 A C #ts&a>s? 0 :s%>s? ; 9s>s? &a>s? 0 :s%>s? ; 9s>s? 2 #ts <<<<<<. E E7uation D A E values su)stitute in e7u B > Ra ; 8as?&a>s? ; E)>s? 0 ,a>s? > Ra ; 8as? :s%>s? ; 9s>s? 2 #ts ; #)s>s? 0 ,a>s? >s ?[> Ra ; 8as? :s%? ; 9s ; #)s ] 2 #ts 0 ,a>s? >s ? #ts 0 ,a>s? [> Ra ; 8as? :s%? ; >9 ; #))s ] P'()*!+'* F(' C,-)+-,$. / R, , ! L,: !. %. =. @. B. 3. C. D. E.

C D

&nitiall* -ee( all s/itches in off (osition. &nitiall* -ee( volta+e adFustment POT>variac? in minimum (osition. &nitiall* -ee( armature and field volta+e adFustment POT >variac? in minimum (osition. Connect the -it armature out(ut A and AA to motot armature terminal A and AA res(ectivel*. S/itch on the (o/er s/itch and SPST s/itch >S!?. Shaft should not rotate /hen a((l*in+ the DC in(ut volta+e. No/ note do/n the armature current for various armature volta+e.Calculate Resistance Ra. Shaft should not rotate /hen a((l*in+ the AC in(ut volta+e. No/ note do/n the AC current for various AC volta+e. Calculate inductance 8a.

P'()*!+'* F(' C,-)+-,$. / B,)0 E12 3K45: !4. &nitiall* -ee( all s/itches in off (osition. !!. &nitiall* -ee( volta+e adFustment POT >variac? in minimum (osition. !%. &nitiall* -ee( armature and field volta+e adFustment POT >variac? in minimum (osition. !=. Connect the -it armature out(ut A and AA to motor armature terminal A and AA res(ectivel*. !@. Connect the -it field out(ut 6and 66 to motor field terminal 6 and 66 res(ectivel*. !B. S/itch on the (o/er s/itch and SPST s/itch S! and S%. !3. Set the field volta+e at rated value.AdFust the ,a and note do/n &a and S(eed for various ,a.Plot the +ra(h. P'()*!+'* F(' C,-)+-,$. / A'1,$+'* T('6+* )( s$, $: !C.A((l* the ,a till the motor run at rated s(eed and a((l* load )* ti+htenin+. !D.Note do/n the ,a '&a and s(rin+ )alance readin+ and (lot the +ra(h and calculate tor7ue constant from the +ra(h.

TABULAR COLUMN : 3 I 5 T( 2. ! R, : S.no Armature current > &a? Armature volta+e > ,a? Armature Resistance > Ra?

3II5 T( 2. ! L,: S.no Armature current > &a? Armature Armature Armature volta+e &m(edence Reactance > ,a? Ga0,a2&a Ha0I> Ga%$Ra%? Armature &nductance 8a0 Ha2% f

3 III 5 T( 2. ! K4 S.no Armature current

Armature volta+e

S(eed >N?

E) 0,a $ &aRa

0%N234

> &a?

> ,a?

RP"

>,O8TS?

Radians2Sec

3IV5 T( 2. ! T,: S.no Armature current > &a? Armature volta+e > ,a? S! >#+? S% >#+? R,!.+s 7 8.895 1 S!$S% Tor7ue >#+? >Ta?0E.D!>S!$S%? r Nm.

MODEL "RAPH : 3.5 M*,s+'*1* $ (2 B,)0 E123045:

E)

E)

>radians2sec? 3..5T('6+* Vs A'1,$+'* )+''* $3I,5:

T >Nm? &a &a

MODEL CALCULATION : #) 0 E) 2 #t 0 m a 9 : T2 &a 0:m29m 08a2Ra 0 4.4%CD-+ 04.44C@ #+m%.

RESULT: Thus the transfer function of armature controlled DC motor is o)tained.

CIRCUIT DIA"RAM:

BLOCK DIA"RAM REPRESENTATION:

,a>S?

AIM: Ra>!;sa? To derive the transfer function of field controlled DC motor. APPARATUS RE&UIRED: S.NO ! APPARATUS DC Servo "otor #it RANGE $ QT !

#m 2.TRANSFER FUNCTION FIELD CONTROLLED DC MOTOR s9m>!;OF ms? ! s#)

m>S?

"otor

THEORY : &n 6ield controlled DC motor' the desired s(eed is o)tained )* var*in+ field current and #ee(in+ armature is constant. .e -no/ that E) 0 (1n 2 345A 6rom a)ove e7uation DC motor s(eed is inversel* (ro(ortional to the field current. 8et Rf 0 field Resistance 8f 0 field &nductance Ra 0 Armature Resistance 8a 0 Armature &nductance &a 0 Armature current T 0 Tor7ue develo(ed in the motor : 0 "oment of inertia 9 0 Dash(ot 0 An+ular Dis(lacement #t 0 Tor7ue constant #) 0 9ac- emf constant 6rom e7uivalent circuit Differential e7uation of e7uivalent circuit can )e /ritten as Ra ia ;8a dia2dt ; 0 ,f <<<<<<<<<<<<<<.. ! Differential e7uation of mechanical s*stem can )e /ritten as : d% 2dt% ; 9 d 2 dt 0 T<<<<<<<<<.. % Tor7ue is directl* (ro(otional to the armature current T &a ' T &a' T 0 #t &a<<<<<<<<. = Ta-in+ la(lace transform froom e7u ! ' % A = Ra&a>s? ; 8s&a>s? 0 ,a>s? <<<<<<. @ % :s >s? ; 9s>s? 0 T > s?<<<<<<<<<< B T>s? 0 #ts&a>s?<<<<<<<<<<<<<<. 3 E7uatin+ e7uation 3 A C #ts&a>s? 0 :s%>s? ; 9s>s? &a>s? 0 :s%>s? ; 9s>s? 2 #ts <<<<<<. C E7uation >C ? values su)stitute in e7u @ > Ra ; 8s?&a>s? ; E)>s? 0 ,a>s? > Ra ; 8s? :s%>s? ; 9s>s? 2 #ts? 0 ,a>s? >s ?[> Ra ; 8s? :s%? ; 9s ] 2 #ts 0 ,a>s? >s ? #ts 0 ,a>s? [> Rf ; 8s? > :s% ; 9s? ] P'()*!+'* F(' C,-)+-,$. / R2 , ! L2:

!C. &nitiall* -ee( all s/itches in off (osition. !D. &nitiall* -ee( volta+e adFustment POT>variac? in minimum (osition. !E. &nitiall* -ee( armature and field volta+e adFustment POT >variac? in minimum (osition. %4. Connect the -it field out(ut 6 and 66 to motor field terminal 6 and 66 res(ectivel*. %!. S/itch on the (o/er s/itch and SPST s/itch >S%?. %%. Shaft should not rotate /hen a((l*in+ the DC in(ut volta+e. %=. No/ note do/n the field current for various field volta+e. Calculate Resistance Rf. %@. Shaft should not rotate /hen a((l*in+ the AC in(ut volta+e. %B. No/ note do/n the AC current for various AC volta+e. Calculate inductance 8f. P'()*!+'* F(' C,-)+-,$. / B,)0 E12 3K45: %3. &nitiall* -ee( all s/itches in off (osition. %C. &nitiall* -ee( volta+e adFustment POT >variac? in minimum (osition. %D. &nitiall* -ee( armature and field volta+e adFustment POT >variac? in minimum (osition. %E. Connect the -it armature out(ut A and AA to motor armature terminal A and AA res(ectivel*. =4. Connect the -it field out(ut 6 and 66 to motor field terminal 6 and 66 res(ectivel*. =!. S/itch on the (o/er s/itch and SPST s/itch S! and S%. =%. Set the field volta+e at rated value. AdFust the ,fand note do/n &f and S(eed for various ,f.Plot the +ra(h. P'()*!+'* F(' C,-)+-,$. / F.*-! T('6+* )( s$, $: !C.A((l* the ,f till the motor run B4 J at rated s(eed and a((l* load )* ti+htenin+. !D.Note do/n the ,f' &f and s(rin+ )alance readin+ and (lot the +ra(h and calculate tor7ue constant from the +ra(h. TABULAR COLUMN : 3 I 5 T( 2. ! R2 : S.no 6ield current > &f? 6ield volta+e >,f? 6ield Resistance > Rf ?

3II5 T( 2. ! L2:

S.no

6ield current > &f?

6ield volta+e > ,f?

6ield 6ield im(edence Reactance Gf0,f2&f Hf0I> Gf%$Rf%?

6ield &nductance 8f0 Hf2% f

3 III 5 T( 2. ! K4: S.no 6ield current > &f ?

6ield volta+e > ,f?

S(eed >N? RP"

E) 0,f K &fRf
>,O8TS?

0%N234 Radians2Sec

3IV5 T( 2. ! T2: S.no 6ield current > &f? 6ield volta+e > ,f? S! >#+? S% >#+? R,!.+s 7 8.895 1 S!$S% Tor7ue >#+? >Tf?0E.D!>S!$S%? r Nm.

MODEL "RAPH :

3.5 M*,s+'*1* $ (2 B,)0 E123045:

E)

E)

>radians2sec? 3..5T('6+* Vs F.*-! )+''* $3I25:

T >Nm? &f &f

MODEL CALCULATION: #) 0 E) 2 #t 0 m f 9 : Tf2 &f 0:m29m 08f2Rf 0 4.4%CD-+ 04.44C@ #+m%.

RESULT : Thus the transfer function of 6ield controlled DC motor /as o)tained. CIRCUIT DIA"RAM:

BLOCK DIA"RAM REPRESENTATION:

,f>S?

#m s9m>!;ms? ! COMPENSATOR :. DESI"N AND IMPLEMENTATION OF LA" s#) Rf>!;sf? > & ? To determine the transfer function of 8a+ Com(ensator > % ? To dra/ a fre7uenc* res(onse (lot of 8a+ Com(ensator

m>S?

AIM

APPARATUS RE&UIRED: S.no ! % = @ B 3 Name of the a((aratus CRO A6O Resistor Ca(acitor 9read)oard Connectin+ /ires Ran+e =4 "h1 ! "h1 T*(e $ $ $ $ $ $ Quantit* ! ! ! ! ! 6e/

THEORY: The control s*stems are desi+ned to (erform s(ecific tas-s. The s(ecifications are Generall* related to accurac*' relative sta)ilit* and s(eed of res(onse. &n time domain the Transient state (erformance s(ecifications are +iven in terms of rise time' maLimum over Shoot' settlin+ time and dam(in+ ratio. &n fre7uenc* domain' the transient state (erformance

S(ecifications are +iven in terms of (hase mar+inM +ain mar+in' resonant (ea- and )and/idth. The first ste( in desi+n is the adFustment of +ain to meet the desired s(ecification. &n Practical s*stems' adFustment of +ain alone /ill not )e sufficient to meet the +iven s(ecification. &n man* cases increasin+ the +ain ma* result in (oor sta)ilit*. &n such cases' it is Necessar* to introduce additional device or com(onents in the s*stem to alter the )ehavior and to meet the desired s(ecifications. Such a redesi+n of a suita)le device is called com(ensation. A device inserted into the s*stem for the (ur(ose of satisf*in+ the s(ecification is Called com(ensator. A com(ensator havin+ the characteristics of the la+ net/or- is called 8a+ com(ensator. &t is used to im(roved the stead* state res(onse and reduce the )and/idth. The main dra/)ac- of la+ com(ensator is (oor transient state. TRANSFER FUNCTION: The R$C net/or- sho/n in fi7 can reali1e the la+ com(ensator. 8et Eo>s? 0 Out(ut volta+e Ei>s? 0 &n(ut volta+e 9* volta+e division rule' Eo>s? 0 Ei>s? > R%;!2sC? 2 > R!;R%;!2sC? Eo>s? 0 Ei>s? >sCR%;!? 2sC 2 NsC>R!;R%?;!O 2sC Eo>s? 0 Ei>s? >sCR%;!? 2 NsC>R!;R%?;!O Eo>s? >sCR%;!? 0 Ei>s? NsC>R!;R%?;!O Eo>s? >s;!2 CR%? 0 Ei>s? >R!;R%?2 R% Ns;!2>>R!;R%?2R%?R%CO Eo>s? ! 0 Ei>s? >s;!2T? >s;!2T? <<<<<<<<!

<<<<<<<<<<<<<<<<<%

Com(arin+ e7uation ! A % T 0R%C' 0 >R!;R%?2 R% .here T 0 Time constant 0 Attenuation factor PROCEDURE: !.The connections are made as (er the circuit dia+ram. %.S/itch on the main su((l*. .e +et

=.Set the in(ut si+nal )* usin+ si+nal +enerator. @.,ar* the fre7uenc* and ma+nitude of the si+nal +enerator. B.Note the different readin+s of the out(ut value enter into the ta)ular column. 3.,erif* the out(ut /aveform' it la+ )ehind the a((lied volta+e. 3.S/itch off the su((l*. C.Disconnect the circuit and return the com(onents to the la) instructor. TABULAR COLUMN s. ( F'*6+* ); O+$<+$ =(-$,/* P>,s* s>.2$ ",. . !4 X1 X2

MODEL "RAPH:

"a+nitude

6re7uenc* >P1?

X1 X2

MODEL CALCULATION:

RESULT: Thus the transfer function and fre7uenc* res(onse curve of la+ com(ensator /as o)tained. 5.DESI"N AND IMPLEM ENTATION OF LEAD COMPENSATOR AIM >!? To determine the transfer function of 8ead Com(ensator >%? To dra/ a fre7uenc* res(onse (lot of 8ead Com(ensator APPARATUS RE&UIRED : S.no ! % = @ B 3 Name of the a((aratus CRO A6O Resistor Ca(acitor 9read)oard Connectin+ /ires Ran+e =4 "h1 ! "h1 T*(e $ $ $ $ $ $ Quantit* ! ! ! ! ! 6e/

THEORY: The control s*stems are desi+ned to (erform s(ecific tas-s. The s(ecification is Generall* related to accurac*' relative sta)ilit* and s(eed of res(onse. &n time domain the Transient state (erformance s(ecifications are +iven in terms of rise time' maLimum over

Shoot' settlin+ time and dam(in+ ratio. &n fre7uenc* domain' the transient state (erformance S(ecifications are +iven in terms of (hase mar+inM +ain mar+in' resonant (ea- and )and/idth. The first ste( in desi+n is the adFustment of +ain to meet the desired s(ecification. &n Practical s*stems' adFustment of +ain alone /ill not )e sufficient to meet the +iven s(ecification. &n man* cases increasin+ the +ain ma* result in (oor sta)ilit*. &n such cases' it is Necessar* to introduce additional device or com(onents in the s*stem to alter the )ehavior And to meet the desired s(ecifications. Such a redesi+n of a suita)le device is called com(ensation. A device inserted into the s*stem for the (ur(ose of satisf*in+ the s(ecification is Called com(ensator. A com(ensator havin+ the characteristics of the lead net/or- is called 8ead com(ensator. &t is used to im(roved the transient state res(onse and reduce the maLimum (ea- overshoot. The main dra/)ac- of la+ com(ensator is (oor Stead* state. TRANSFER FUNCTION: The R$C net/or- sho/n in fi+. can reali1e the lead com(ensator. 8et Eo>s? 0 Out(ut volta+e Ei>s? 0 &n(ut volta+e 9* volta+e division rule ' Eo>s? 0 Ei>s? R% 2 R%;>R!5!2sC? 2>R!;!2sC? Eo>s? 0 Ei>s? R% 2 R%;R! 2> R!sC;!? Eo>s? 0 Ei>s? >sCR%;!? 2 NsC>R!;R%?;!O Eo >s? R% >sCR!;!? 0 Ei>s? NsCR!R%; R%;R!O Eo>s? >s;!2 CR!? 0 Ei>s? Ns;>!2 R% 2>R!;R%?? 2 R!CO Eo>s? 0 Ei>s? >s;!2T? >s;!2T? <<<<<<<<!

<<<<<<<<<<<<<<<<<%

Com(arin+ e7uation ! A % .e +et T 0R!C ' 0 R% 2>R!;R%? .here T 0 Time constant 0 Attenuation factor PROCEDURE: !.The connection is made as (er the circuit dia+ram. %.S/itch on the main su((l*. =.Set the in(ut si+nal )* usin+ si+nal +enerator. @.,ar* the fre7uenc* and ma+nitude of the si+nal +enerator.

B.Note the different readin+s of the out(ut value enter in to the ta)ular column. 3.,erif* the out(ut /aveform' it leads the a((lied volta+e. 3.S/itch off the su((l*. C.Disconnect the circuit and return the com(onents to the la) instructor. TABULAR COLUMN s. ( F'*6+* ); O+$<+$ =(-$,/* P>,s* s>.2$ ",. . !4 X1 X2

MODEL "RAPH:

"a+nitude

6re7uenc* >P1?

X1 X2

MODEL CALCULATION:

RESULT: Thus the transfer function and fre7uenc* res(onse curve of lead com(ensator /as o)tained. ?.TRANSFER FUNCTION OF AC SERVO MOTOR AIM: To derive the transfer function of AC Servo motor. APPARATUS RE&UIRED : !.AC Servomotor trainer -it %."ultimeter =.Patch cards THEORY : &t is an electromechanical device' /hich convert electrical si+nal into an+ular dis(lacement. An AC servomotor )asicall* a t/o$(hase induction motor eLce(t for certain s(ecial desi+n features. The rotor of the servomotor is )uilt /ith hi+h resistance' so that H 2 R ratio is small /hich result in linear s(eed$tor7ue characteristics. The stator consists of t/o (ole (airs mounted on the inner (eri(her* of the stator' such that Their aLes are at an an+le of E4o in s(ace. Each (ole (airs carries a /indin+. One /indin+ is called Reference /indin+ and the other is called Control /indin+. The rotor construction is usuall* s7uirrel ca+e .The s7uirrel ca+e rotor is made of laminations. The rotor )ars are (laced on the slots and short$circuited at )oth ends )* end rin+s.

The diameter of the rotor is small in order to reduce inertia and to o)tain +ood acceleratin+ characteristics. The Dra+ cu( construction is em(lo*ed for ver* lo/ inertia a((lication. &n this t*(e of construction the rotor /ill )e in the form of hollo/ c*linder made of aluminium. The aluminium c*linder itself acts as short$circuited rotor conductors. TRANSFER FUNCTION OF AC SERVOMOTOR: 8et Tm 0 Tor7ue develo(ed )* servomotor Q 0 An+ular dis(lacement of rotor . 0 An+ular s(eed Tl 0 Tor7ue re7uired )* the load : 0 "oment of inertia 9 0 ,iscous frictional coefficient #! 0 Slo(e of control (hase volta+e vs tor7ue characteristic #% 0 Slo(e of s(eed tor7ue characteristics Tor7ue develo(ed )* motor' Tm 0 #!ec K #% d 2 dt <<<<<<<<<.. ! 8oad tor7ue' Tl 0 : d% 2 dt ; 9 d 2 dt<<<<<<<<<. % E7uatin+ the e7uation ! A % : d% 2 dt ; 9 d 2 dt 0 #!ec K #% d 2 dt <<<<<<<<<<. = On ta-in+ la( lace transform of a)ove e7uation' /e +et :s%>s? ; 9s>s? 0 #!Ec>s? K #%s>s? > :s%; 9s;#% ? >s? 0 #!Ec>s? >s? 0 Ec>s? #! s> :s; 9;#%s ?

>s? #! 2 >9;#% ? 0 Ec>s? s> : S29;#% ; !? >s? #m 0 Ec>s? s>ms ; !? .here ' #m 0 #8 2 9;#% 0 "otor +ain constant m 0 : 2 9;#% 0 "otor time constant PROCEDURE: !.Connections are made as (er the circuit dia+ram. 2.D*$*'1. ,$.( (2 K1 >a? Connect G! #! of (ulse isolation out(ut to G! #! O6 SCR!. >)? Connect G% #% of (ulse isolation out(ut to G% #% O6 SCR% >c? Connect the (o/er card to the )ac-side of trainer -it

>d? "otor (in is connected to the trainer -it >e? S/itch on the su((l* >f? "easured the initial s(eed and add the load +raduall*. >+? AC voltmeter is connected across the /indin+s >h? Ta-e the follo/in+ readin+s ,c's(eed and load >i? Plot the +ra(h (hase volta+e vs tor7ue @.D*$*'1. ,$.( (2 K2 >a? S/itch on the su((l* >)? S/itch on the (ulse S% >c? A((l* (hase volta+e to control (hase usin+ (otentio meter. >d? Note do/n the load value >e? Plot the +ra(h tor7ue vs. (hase volta+e >f? S/itch off the (o/er su((l*. MODEL "RAPH :

T('6+* S-(<* K1

Tor7ue S-(<* K2

S(eed MODEL CALCULATION T0 E.D! L load L >R; t2%? Nm.

TABULAR COLUMN: 3 15 T( 2. ! K2: S.No S(eed 8oad Tor7ue

>R(m?

>#+?

>Nm?

3 25 T( 2. ! K1: Control volta+e S.No >,?

8oad >#+?

Tor7ue >Nm?

RESULT : Thus the transfer function of AC Servomotor /as o)tained. @.PROCESS CONTROL SIMULATOR AIM : !.To o)serve the time res(onse of closed loo( second order (rocess /ith P$control %.To stud* the time res(onse of P;&;D controller in a (rocess. APPARATUS RE&UIRED : !.Process Control Simulator -it %.CRO =.Patch cards THEORY: .hen the control si+nal a((lied to the (rocess is (ro(ortional to the deviations'the control is termed as (ro(ortional. &n (rocess control this sensitivit* is defined in terms of Pro(ortional )and. This is the ran+e of values of deviation that causes the controller out(ut to cover its full o(eratin+ ran+e. This is often eL(ressed as a (ercenta+e such that !44J (ro(ortional )and means that the full ran+e of out(uts of the measurin+ s*stems causes the controller to o(erate over its full ran+e. AdFustments of the (ercenta+e of the (ro(ortional )and varies the +ain of the controller. This eL(eriment /ill eLamine the effects of chan+es in (ercenta+e of the (ro(ortional )and and the res(onse of the s*stem to distur)ances.

&f a s*stem /ere re7uired to follo/ a sudden chan+e in set value this /ould +ive rise to a ra(id chan+e in the deviation. Althou+h this deviation chan+e is ra(id the s*stem res(onse rather slo/l*' So if at this time the controller out(ut could )e )oosted the s(eed of the s*stem res(onse should )e im(roved. &f the deviation /as differentiated' i.e rate of chan+e measured' and a si+nal (roduced (ro(ortional to this and then added to the si+nals from the (ro(ortional and inte+rator sections' some im(rovement should result. Such an arran+ement is -no/n as three term Controller or P&D Controller. PROCEDURE: ,5 P'()*!+'* 2(' )-(s*! -((< s*)( ! ('!*' A.$> <'(<('$.( ,- )( $'(-: !? Connections are +iven as (er circuit dia+ram usin+ (atch cards. %? Set the (rocess fast 2 slo/ s/itch >S.@? in fast (osition. =? #ee( the set value (ot to 1ero. @? A((l* a sine /ave si+nal around B4P1. B? &ntroduce a (ro(ortional )and until /e +et sustained oscillation. 3? Note do/n the (ea- overshoot' settin+ time' (ea- time and rise time. 45 P'()*!+'* 2(' PID C( $'(--*': C? Set the (rocess fast 2 slo/ s/itch >S.@? and controller fast 2 slo/ s/itch >S.=? in fast (osition. D?A((l* a sine /ave around B4P1. E? No/ (atch & and &Q and adFust the inte+ral time until stead* state deviation is 1ero. !4? No/ note do/n the num)er of overshoots )efore the s*stem settles. !!? No/ connect D and DQ and slo/l* increase the derivative time and note do/n the effect of this in s*stem res(onse. TABULAR COLUMNI 3.5 T( F. ! 3P )( $'(--*'5: S.No. JP9 PeaOvershoot "( Rise Time tr Pea- Time t( Settin+ Time ts

3..5 T( F. !3PID )( $'(--*'5: S.No. Pro(ortional 9and &nte+ral Time ti Rise Time tr PeaTime t( Settin+ Time ts PeaOvershoot

MODEL "RAPHI "easured ,alue

Time

Set Point

Time>seconds?

RESULT: Thus the time res(onse of closed loo( second order (rocess /ith (ro(ortional control /as o)served and the res(onse of P&D Controller /ere studied. 9.STUDY OF SYNCHROS AIM: To stud* the construction' /or-in+ and (rinci(les of s*nchros. APPARATUS RE&UIRED: !.S*nchro Transmitter and Receiver #it %.Patch cards. THEORY: The term s*nchro is a +eneric name for a famil* of inductive devices' /hich /or-s on the (rinci(le of a rotatin+ transformer. The trade name of s*nchro is sels*n' Autos*n and teles*n 9asicall* the* are electromechanical transducer' /hich (roduces an out(ut volta+es de(endin+ u(on the an+ular (osition of the rotor. A s*nchro is formed )* interconnected of the devices called the s*nchro transmitter and s*nchro control transformer. The* are also called as s*nchro (air. The s*nchro (air measures and com(ares t/o an+ular dis(lacements and its out(ut volta+e is a((roLimatel* linear /ith an+ular difference of the aLis of )oth shafts. SYNCHRO TRANSMITTER: &t consists of t/o main (arts such as stator and rotor. The stator construction is similar to an three (hase alternator. &t is made u( of laminated silicon steel and slotted on the inner

(eri(her* to accommodate )alance three (hase alternator. The stator /indin+ is concentric t*(e /ith the aLis of three coils !%4 de+ree a(art. The stator /indin+ is star connected. The rotor construction is dum( )ell /ith the sin+le /indin+. The ends of the rotor /indin+s are terminated on t/o sli( rin+s. A sin+le (hase AC eLcitation volta+e is a((lied to the rotor throu+h the sli( rin+s. .hen the rotor is eLcited )* AC volta+e' the rotor current flo/s and a ma+netic field is (roduced. The rotor ma+netic field increases an emf in the stator coil de(ends u(on the an+ular (osition of the coil aLis /ith res(ect to rotor aLis. 8et' E! 0 &nstantaneous value of AC volta+e a((lied to rotor. Es!'Es%'Es= 0 &nstantaneous value of induced emf in the stator coil S!'S%'S= Er 0 "aLimum value of rotor eLcitation volta+e 0 An+ular fre7uenc* of rotor eLcitation. #t 0 Turns ratio of stator A rotor /indin+s. #C 0 Cou(lin+ co$efficient. 0 An+ular dis(lacement of rotor. ErSint 0 &nstantaneous value of eLcitation volta+e. #t#cErSint 0 &nduced emf in the stator coil. #!Cos 0 Cou(lin+ co$efficient #c for coil S% #!Cos >$!%4? 0 Cou(lin+ co$efficient #c for coil S= #!Cos> $%@4?0 Cou(lin+ co$efficient #c for coil S! Pence the emfs of stator coil /ith res(ect to neutral can )e eL(ressed as follo/sI Es% 0 #t#!CosErSint0 #ErCosSint Es= 0 #t#!Cos>$!%4?ErSint 0 #ErCos>$!%4?Sint Es! 0 #t#!Cos>$%@4?ErSint $ #ErCos>$%@4?Sint Pence coil to coil emf can )e eL(ressed as' Es!es% 0 es!$ es% 0 = #ErSin> ; %@4? Sint Es% es= 0 es% $ es= 0 = #ErSin> ; !%4? Sint Es= es! 0 es= $es! 0 = #ErSin>? Sint S; )>'( C( $'(- T', s2('1*': &ts construction is similar to s*nchro transmitter eL(ect rotor construction. The rotor of the control is made u( of c*lindrical so that the air +a( is (racticall* uniform. This feature of the control transformer minimi1es the chan+e in the rotor im(edance /ith the rotatin+ of the shaft.

The +enerated emf of the s*nchro transmitter is a((lied as in(ut to the stator coils control transformer. The rotor shaft is connected to the load /hose (osition has to )e maintained at the desired value. De(endin+ on the current (osition of the rotor and the a((lied emf on the stator' an emf induced on the rotor /indin+. This emf can )e measured and used to drive a motor so that the (osition of the load is connected.

RESULT: Thus the construction and /or-in+ (rinci(le of s*nchros /as studied.

TABULAR COLUMNI S.No. Position Transmitter An+le Out(ut ,olta+e>volts? Receiver An+le J Error
,s!.,s% ,s%.,s= ,s=.,s!

MODEL "RAPH:

OUTPUT VOLTA"E 3V5

AN"LE 3 5

B.STUDY OF CLOSED LOOP SYSTEMS 3DC S*'=( P(s.$.( C( $'(- S;s$*15 AIM: To stud* the /or-in+ of DC Servo (osition closed loo( s*stem. APPARATUS RE&UIRED: DC Servo Position #it Patch cards THEORY: The s*stem out(ut is controlled )* var*in+ the in(ut 7uantit*' then the s*stem is called Controlled S*stem. &t can )e classified into t/o t*(es' !? O(en loo( s*stem %? Closed loo( s*stem

The main dra/)ac- of o(en loo( s*stem is' the chan+es in out(ut due to eLternal distur)ance are not corrected automaticall*. This dra/)ac- is overcome )* closed loo( s*stem are relia)le and accurate. The out(ut 7uantit* has effect u(on the in(ut 7uantit*' then the s*stem is called Closed loo( s*stem. Pere feed)ac- si+nals are used. The com(onents of closed loo( s*stems are controller' am(lifier' and (lant and feed)ac- element. Ne+ative feed)ac- are mostl* em(lo*ed in control s*stem. 6or eLam(le' !? %? =? @? B? DC Position Control S*stem Numerical Control S*stem Tem(erature Control S*stem Ro)ot Control S*stem Auto Pilot S*stem

CORKIN": Desire (osition is set )* the reference si+nal. The feed)ac- si+nal are sense the actual (osition of the s*stem. 6eed)ac- si+nal is send to the error detector or com(arator. The main function of error detector com(ares the t/o in(ut si+nal and (roduce the error si+nal' this error si+nal is am(lified usin+ am(lifier. The am(lifier out(ut is connected to the controller. The controller (rovides the )etter control action. The (rocess is continuin+ u(to till the re7uired (osition reached.

RESULT: Thus the /or-in+ of DC servo Position closed loo( s*stem /as studied and verified.

18. STUDY OF STEP RESPONSE OF I AND II ORDER SYSTEM AIM : To stud* the ste( res(onse of first order and second order s*stem$usin+ "AT8A9. APPARATUS RE&UIRED: !.Com(uter s*stem /ith "AT8A9 soft/are %.Po/er su((l* THEORY: "AT8A9 is soft/are (ac-a+e for hi+h (erformance numerical com(utation and visuali1ation .&t (rovides an interactin+ environment /ith hundred of )uilt in fun for technical Com(utation' +ra(hics and animation. The name "AT8A9 stands for matriL la)orator*. The user Can /rite their o/n function in the "AT8A9 lan+ua+e. "AT8A9 is a matriL$)ased s*stem for mathematical and en+ineerin+ calculation. Each varia)le is treated as a matriL /hich the onl* data t*(e handled )* it. The +ra(hical out(ut can )e o)tained )* runnin+ different set of routines.

"AT8A9 can )e used as an a((lication develo(ment )ecause of +ra(hical user interface tools. The t*(ical are in the field of mathematicsQ and com(utation develo(ment of al+oritm' modelin+ simulation and its (rotot*(in+' data anal*sis' scientific and en+ineerin+ (ro)lems' a((lication develo(ment tools. Several tool)oLes are also availa)le from the different "anufacture. Tool )oL is a +rou( of "AT8A9 function /hich are (redefined that can )e used for O)tainin+ solution in the different a((lications' control s*stems' neural net/or-' fu11* lo+ic and Di+ital si+nal (rocessin+. PRO"RAM: 3 . 5 S$*< '*s<( s* (2 2.'s$ ('!*' s;s$*1 num 0 N 4 ! OM den 0 N ! ! OM ste( >num'den ?M +rid 3..5 S$*< '*s<( s* (2 s*)( ! ('!*' s;s$*1 num 0 N 4 4 ! OM den 0 N ! 4.B ! OM ste( > num'den ?M +rid PROCEDURE : !.S/itch on the main su((l* %.O(en the "AT8A9 command /indo/ =.Create a ne/ " file .The file that is containin+ "AT8A9 lan+ua+e codes are called " file. @.T*(e the (ro+ram and chec- the error. B.After savin+ the (ro+ram 'de)u+ and run to see the out(ut .3.,erif* the out(ut /aveform o)tained throu+h "AT8A9 /ith theoretical out(ut C.Shutdo/n the com(uter D.S/itch off the su((l* OUTPUT CAVEFORM :

DESI"N :

RESULT : T>+s $>* + .$ s$*< '*s<( s* (2 , 2.'s$ ('!*' , ! s*)( ! ('!*' s;s$*1 +s. / MATLAB A*'* s$+!.*! , ! .$s )+'=*s A*'* <-($$*!.

11.STABILITY ANALYSIS OF LINEAR SYSTEM AIM: To anal*1e the sta)ilit* of linear s*stem usin+ Root locus. APPARATUS RE&UIRED: !.Com(uter s*stem /ith "AT8A9 soft/are %.Po/er su((l* THEORY: "AT8A9 is soft/are (ac-a+e for hi+h (erformance numerical com(utation and visuali1ation .&t (rovides an interactin+ environment /ith hundred of )uilt in fun for technical Com(utation' +ra(hics and animation. The name "AT8A9 stands for matriL la)orator*. The user can /rite their o/n function in the "AT8A9 lan+ua+e.

"AT8A9 is a matriL$)ased s*stem for mathematical and en+ineerin+ calculation. Each varia)le is treated as a matriL /hich the onl* data t*(e handled )* it. The +ra(hical out(ut can )e o)tained )* runnin+ different set of routines. "AT8A9 can )e used as an a((lication develo(ment )ecause of +ra(hical user interface tools. The t*(ical are in the field of mathematicsQ and com(utation develo(ment of al+oritm' modelin+ simulation and its (rotot*(in+' data anal*sis' scientific and en+ineerin+ (ro)lems' a((lication develo(ment tools. Several tool)oLes are also availa)le from the different "anufacture. Tool )oL is a +rou( of "AT8A9 function /hich are (redefined that can )e used for O)tainin+ solution in the different a((lications' control s*stems' neural net/or-' fu11* lo+ic and Di+ital si+nal (rocessin+. PRO"RAM : num 0 N 4 4 4 4 ! OM den 0 N ! !.! !4.= B 4 OM rlocus 0 >num'den? +rid

PROCEDURE : !.S/itch on the main su((l* %.O(en the "AT8A9 command /indo/ =.Create a ne/ " file .The file that is containin+ "AT8A9 lan+ua+e codes are called " file. @.T*(e the (ro+ram and chec- the error. B.After savin+ the (ro+ram 'de)u+ and run to see the out(ut .3.,erif* the out(ut /aveform o)tained throu+h "AT8A9 /ith theoretical out(ut C.Shutdo/n the com(uter D.S/itch off the su((l* OUTPUT CAVEFORM:

DESI"N :

RESULT : T>+s $>* R(($ -()+s (2 $>* s;s$*1 +s. / MATLAB A,s s$+!.*! .

D. DESI"N OF PI# PD AND PID CONTROLLER AIM : To stud* the desi+n of P&'PD and P&D Controller. APPARATUS RE&UIRED : !.O(erational Am(lifier %.9read)ord =.Resistance @.Ca(acitance B.Connectin+ .ires THEORY : &t is a device /hich (rovide the )etter control action.&t can )e classified in to four t*(es. > ! ? P Controller

> % ? P& Controller > = ? PD Controller > @ ? P&D Controller 3 1 5 P C( $'(--*' : The (ro(ortional controller is a device that (roduces an out(ut si+nal /hich is Pro(ortional to the in(ut si+nal.The (ro(ortional controller im(roves the stead* state trac-in+ Accurac* 'distur)ance si+nal reFection and relative sta)ilit*. &n P Controller' U >t? N e >t? O U >t? 0 #( e >t? Ta-in+ la(lace transform of a)ove e7uation U3S5 7 #( E3s5 3 2 5 PI C( $'(--*' : The P& controller is a device that (roduces an out(ut si+nal consistin+ of t/o terms K one Pro(ortional to the in(ut si+nal and other (ro(ortional to the inte+ral of in(ut si+nal. The introduction of P& controller in the s*stem reduces the stead* state error. &n P&$Controller' U >t? N e >t? ; e>t? dt O U >t? 0 #( e >t? ; #( e>t? Ti .here #( 0 Pro(ortional Gain or constant Ti 0 &nte+ral Time. On Ta-in+ 8a( lace Transform of e7uation' U>s? 0 #( E>s? ; #( E>s? Ti s U>s? #( ; #( 0 Ti s E3s5 3@5 PD C( $'(--*': The PD controller is a device that (roduces an out(ut si+nal consistin+ of t/o terms K one Pro(ortional to the in(ut si+nal and other (ro(ortional to the derivative of in(ut si+nal. The introduction of P& controller in the s*stem reduces the (ea- overshoot. &n PD Controller' U>t? Re>t? ; d e>t? S Dt

U>t? 0 #( e>t? ; #( Td d e>t?2dt .here #( 0 Pro(ortional +ain And Td 0 Derivative Time On Ta-in+ 8a(lace Transform of e7uation /ith 1ero initial conditions /e +et' U>s? 0 #( E>s?;#( Td s E>s? U>s? 0 #( >!;Td s? E >S? 3:5 PID C( $'(--*': The PD controller is a device that (roduces an out(ut si+nal consistin+ of three terms K one Pro(ortional to the in(ut si+nal and other (ro(ortional to the derivative of in(ut si+nal and (ro(ortional to the derivative of in(ut si+nal. &n P&D Controller' U >t? Ne>t? ; e>t? d ; d>e>t? O dt U>t? 0 #( e>t? ; #( e>t? dt ; #( T d e>t? Ti dt

.here #( 0 Pro(ortional +ain Ti 0 &nte+ral time Td 0 Derivative Time On ta-in+ transform of e7uation' U>s? 0 #( E>s? ; #( E>s? ; #(Td s E>s? Ti

MODEL "RAPH :

PROCEDURE: !.Connections are made as(er the circuit dia+ram %.&n(ut si+nal is set )* A6G =.6irst set the sinusoidal si+nal )* var*in+ the A6O @.Out(ut si+nal is ta-en from CRO B.Disconnect the circuit and s/itch off the (o/er su((l*

RESULT : Thus the desi+n of P&'PD and P&D Controller /as studied.