EXP 1:

Kit: Control system simulator (Scientech-2454)

Analysis of time domain performance for the following control systems with different
values of damping ratio at different values of resistance.

a. 1st order

b.2nd order

c.3rd order

Block Diagram:

Procedure:

1. Connect square wave output to input of I order system and CRO.

2. Connect the jumpers to the input and output of the I order block.

3. Connect the output of the I order system to the CRO.

4. Observe the square wave input and output of I order system in the two channels of the
CRO.

5. Change the value of potentiometer given in the I order block. Now observe the output of I
order system for every change of potentiometer value and also measure the potentiometer
resistance value with the help of multimeter.

6. Now connect the Resistor/Resistor-Capacitor/Resistor-Inductor-Capacitor in between the

output of squarewave and input of I-order system as shown in the above figure.

7. Now repeat the step 1-6 by changing the connections such as connect II order system in
place of I order system and observe the all waveforms in the CRO.
8. Now repeat the step 1-6 by changing the connections such as connect III order system in
place of I order system and observe the all waveforms in the CRO.

Result:
EXP 2:

Kit: Control system simulator (Scientech-2454)

Observation of steady state errors (Ess) for following type of control systems with
step/square/ramp/parabolic as input.

a. Type 0 b. Type 1 c. Type 2

Block Diagram:

Procedure:

1. Connect the square/ramp/parabolic output to the input of the buffer.

2. Connect the output of the buffer to the input of Type-0 system and serve the output of
Type-0 system by connecting it to CRO.

3. Connect the output of Type-0 system to the V0 of the error detector.

4. Connect the buffer output to the Vi of the error detector.

5.Connect the output of the error detector to the CRO and observe the steady state error (Ess).

6. Now repeat the step 1-5 by changing the connections such as replace Type-0 system with
type-1 system and observe the Ess.

7. Now repeat steps 1-5 by changing the connections such as replace Type-1system with
type-2 system and observe the Ess.

Result:
Exp:3

Kit: DC Motor speed control (Scientech-2457)

Study of the effect of loading on speed of the DC motor in open and closed loops (eddy
current brake).

Block diagram:

Procedure:

1. Connect the techbook power supply to the scientech 2457 to turn on the power.
2. Connect the motor cabinet to the scientech 2457 DC motor speed control through DIN
connector cable.
3. Turn the square wave toggle switch in the OFF position.
4. Turn the feedback toggle switch in open/ closed position respectively.
5. Connect a digital storage oscilloscope(DSO) between the test point PULSE and GND.
6. Rotate the “Variable Reference ” pot at the maximum position and observe the
waveform at the “PULSE” test point on the DSO.
7. Rotate the knob on the motor cabinet and bring the magnet closer to the rotating
wheel of the DC motor.
8. Observe the waveform on DSO the frequency of the PULSE test point will start to
decrease and speed of the motor will also start to reduce and observe the phenomenon
of the eddy current brake.

Result:
Exp:4

Kit: DC Motor speed control (Scientech-2457)

Study of the speed control of a DC motor using Variable gain error amplifier.

Block diagram:

Procedure:

1. Connect the techbook power supply to the scientech 2457 to turn on the power.
2. Connect the motor cabinet to the scientech 2457 DC motor speed control through DIN
connector cable.
3. Turn the square wave toggle switch in the OFF position.
4. Turn the feedback toggle switch in CLOSED position.
5. Connect a digital storage oscilloscope(DSO) between the test point VMOTOR and
GND.
6. Keep the variable gain error amplifier at maximum position and keep the variable
reference pot at maximum position. Observe the waveform at the DSO.
7. Connect the patch chord from “Vref” to the positive input of the digital voltmeter and
tachometer and negative input terminal to the GND.
8. Measure the voltage on the digital multimeter.
9. Now disconnect the patch chord from “Vref” and connect it to “Vfeedback” point.
Measure the feedback voltage.
10. Observe that at this moment the Vref voltage value is equal to “Vfeedback” value.
 This means there is no error between the reference value and feedback value.
11. Now rotate the “Variable Gain Error Amplifier” at the minimum position keeping the
“variable reference” pot at the maximum position.
12. Observe the waveform in DSO as the gain is reduced , the speed of the motor is also
reduced and this can also be seen by the waveform in the DSO.
13. Again measure the voltages at “Vref” and “Vfeedback” points.
14. Observe that now there exists an error between the feedback voltage and the reference
voltage. This means that we have introduced an error in the system by varying the
“Voltage Gain error Amplifier” pot.
15. Repeat the experiment by varying the “variable reference” pot at different positions
and varying the gain at those positions.

Result:
Exp:5

Kit: Study of Stepper Motor (Scientech-2458)

study of the stepper motor in different scenarios:

a) Full step and half step

b) Free running and step running
c) Single phase and two phase
d) Step angle- 0.9 degrees and 1.8 degrees

Block diagram:

Procedure:

1. Connect the techbook power supply to the scientech 2458 to turn on the power.
2. Connect the motor cabinet to the scientech 2458 stepper motor through DB9 serial
cable.
3. Put the mode switch in free running mode.
4. Put the phase switch in single phase/two phase.
5. Put the step angle switch in 0.9 degrees with full step mode.
6. Put the wobble switch in “OFF” position.
7. Turn on all switches in the DIP switch in “ON” position and press the start button.
8. For step mode the step angle controlled by pressing the step input switch.
9. The step sequence of motor can be observed with the help of LEDs provided on the
board.
10. Repeat the above procedure with step angle 1.8 degrees and observe the output.
11. To stop the operation press the Reset button.
 12. For observation of stepper motor operation in half step mode, repeat the above
procedure by selecting the half step switch on the board.

Step Sequence:
1. Two phase

Step Coil 1 Coil 2 Coil 3 Coil 4

0 1 1 0 0

1 0 1 1 0

2 0 0 1 1

3 1 0 0 1

b) Single phase

Step Coil 1 Coil 2 Coil 3 Coil 4

0 1 0 0 0

1 0 1 0 0

2 0 0 1 0

3 0 0 0 1

Result:
EXP 6:
Kit: Study of Lead Lag Compensators (Model LLN-2)
Study the frequency response of
a. Passive lag, passive lead networks
b. Active lag, active lead networks
c. Active lead-lag networks
d. Plant with and without compensator

Block Diagram: (a & b & c)

Procedure:
1. Set the function generator to sine wave with minimum frequency and amplitude at
1V.
2. Connect the function generator output to passive lag circuit.
3. Connect channel-1 of CRO to function generator and channel-2 to output of lag
circuit.
4. Vary the frequency in steps of 50Hz and measure phase difference and amplitude in
dB.
5. Tabulate the readings and plot the response.
6. Repeat the same procedure for passive lead, active lag, active lead and active lead-lag
networks.

Tabulation:
Frequency (Hz) A B Amplitude (dB) Phase=sin-1(A/B)

(d)
Block Diagram:

Procedure:
1. Set the function generator to square wave with minimum frequency and amplitude at
5V.
2. Connect the function generator output to process block.
3. Connect the error output to plant input.
4. Connect channel-1 of CRO to function generator and channel-2 to output of plant.
5. Record the response of the plant.
 6. Insert the passive lag compensation circuit between error output and plant input and
record the response.
7. Repeat the same procedure by inserting other compensation circuit.

Tabulation:
Compensation A B Amplitude (dB) Phase=sin-1(A/B)
type

Result:
Exp:7
Kit: DC motor speed control using chopper drives model PE-10 (Kuruganti)
Aim:
To perform a dc motor speed control using
a) DC voltage variation method
b) pulse width modulation method
Equipment required:
1. DC motor speed control trainer kit
2. DMM's-2 no
3. patch chords
Block diagram:

Procedure:
DC voltage variation method:
1. disconnect all the wires if already connected including connections made by any
external equipment.
2. rotate the speed control potentiometer fully anticlockwise direction.
3. connect the output of the dc voltage source circuit to the signal input terminal in
power driver unit.
4. rotate the speed control potentiometer from anticlockwise to clockwise direction.
5. observe the speed of the dc motor.
6. measure the armature voltage of the motor between motor positive and negative
terminals using DMM.
7. measure the motor speed in RPM between RPM and GND using DMM(in millivolts).
Model graph:

Tabular form:
DC control voltage in volts DC motor armature voltage Motor speed in RPM
in volts

100

200

….

1300

Pulse width modulation method:

Block diagram:
Procedure:
1. Disconnect all the wires if already connected including connections made by any
external equipment.
2. Rotate the speed control potentiometer fully anticlockwise direction.
3. Connect the pulse output terminal of the pulse width modulation block to the signal
input terminal in power driver unit.
4. Rotate the speed control potentiometer from anticlockwise to clockwise direction.
5. Observe the speed of the dc motor.
6. Measure the motor speed in RPM between RPM and GND using DMM(in millivolts).
7. Measure the armature voltage of the motor between motor positive and negative
terminals using DMM.
8. Also measure the duty cycle of the pulse waveform by connecting DSO between input
test points.

Model graph:

Tabular form:

Duty cycle in % Motor armature voltage in Speed of the motor in RPM

10

20

…..

100

Result:
EXP-8:
Kit: DC servomotor characteristics study trainer model AM-36S (Kuruganti)

Aim:
To study the dc servo motor speed characteristics
Equipment:
1. DC servo motor characteristics trainer kit.
2. DMM’s

Block diagram:

Procedure:
1. Switch off the equipment using on-off switch located on the front panel.
2. Inter connect the instrument with mechanical load setup using a 9 pin D type
connector cable.
3. Rotate the potentiometer located on the front panel fully anticlockwise and set the
square wave input knob in off position.
4. Loosen the mechanical loading arrangement such that there is no load applied on the
instrument.this experiment is performed under no load condition.
5. Rotate the error knob fully anticlockwise direction.
6. Push the feedback knob to off position. this experiment is performed under open loop
conditions.
7. Now switch on the power supply.
 8. Connect a dmm(dc) between VR and GND. and the voltage set here is same as RPM
you want to operate the DC motor.
9. Initially motor is under stall(0 rpm) condition.
10. Now apply VR by rotating potentiometer in a clockwise direction such that motor
voltage indicated on the DPM on the front panel does not exceed 6v(at this point VR
is appr.2.3v).
11. The RPM OF THE MOTOR MAYBE AROUND 2300 FOR THE ABOVE
CONDITION.
12. BY VARYING THE VR , for every 50 RPM REDUCTION UPTO 300rpm ,
,measure the observations as mentioned in above table.
13. Draw the graph and find the KM,KD,and KF.

Model Graphs:

Tabular form:

Input Motor Pulley Angular MOTOR Error Error Feedbac

2300

2250

2200

….

300

Result:
EXP-9:
Kit: Quanser Mechatronic Actuators Board for NI ELVIS III

Aim:
To study the fundamentals of Mechatronics with Quanser actuator board on NI ELVIS III
Equipment :
1. NI ELVIS III
2. Quanser Mechatronic Actuators Board
Block diagram:

Platform: NI ELVIS III

Hardware: Quanser Mechatronic Actuators Board

Procedure:

(a) Brushed DC Motors

1. Open the project Mechatronics Actuators Board.lvproj, and under ELVIS III >
Labs, open Brushed DC Motors.vi.
2. Run the VI, ensuring the DC voltage command is set to 0 V.
3. Gradually increase the voltage applied by the amplifier until the brushed DC motor
starts to continuously rotate. Record the voltage.
 4. Repeat the process in the opposite direction by setting the command voltage to 0 V
and gradually decreasing the voltage. Record the voltage.
5. Set the command voltage to a value higher than that found in step 3 where the motor
begins to turn.
6. Slowly decrease the applied voltage until the motor stops moving. Record the voltage
at which this occurs.
7. Repeat steps 5 and 6 in the opposite direction using negative voltages.
8. Starting at 0 V increase the command voltage in 0.1 V increments up to 1 V and then
in 0.5 V increments to 5 V. Record the resulting motor speed at each voltage.
9. Repeat step 8 in the opposite direction using negative voltages.

(b) Brushless DC Motors

Figure: Hall effect sensor states

1. Open the project Quanser Mechatronics Actuators Board.lvproj, and under

ELVIS III > Labs, open Brushless DC Motor.vi.
2. Using Figures 2-3 and 2-4, determine the appropriate control sequence to rotate the
motor clockwise and record this sequence in table 2-1. For each hall sensor reading,
record which of the motor phases should be High, Low, and Off (neutral).

Table: Brushless DC motor control sequence

Sensor A B C

001

101

100

110

010

011
3. Open the block diagram and open the subVI Brushless DC IO.vi by double clicking
on the subVI block.
4. Open the block diagram for the subVI and find the case structure labelled Coil
Activation Logic. Each state in this case structure relates to a possible hall-effect
sensor output.
5. For each of the sensor states in Table 2-1, copy the coil activation values from the
table to the appropriate case in the case structure. The output values for the phase
states are H (High), L (Low), and Z (Neutral). Note: you can ignore the default case
since that is an error state where all three coils should be neutral.
6. Run the VI.
7. Increase the commanded PWM duty cycle and ensure that the motor rotates as
expected. If it does not, stop the VI and verify that the coil activation states agree with
Table 2-1 and that those states are correct.
8. Starting with the commanded duty cycle of 0%, gradually increase the applied voltage
until the motor begins to rotate. Record the minimum duty cycle required to move the
motor.
9. Once the motor is spinning, reduce the duty cycle until the motor stops moving.
Record the duty cycle at which the motor stops.
10. Starting at a duty cycle of 0%, increase the duty cycle in 2% increments until you
reach 20% duty cycle, then increase in 10% increments to 100%. Record the resulting
motor speed at each duty cycle setting.
11. Stop the VI.
(c) Stepper Motor

Figure: Excitation modes of a 4-phase unipolar stepper motor

1. Complete the following tables for Wave, Full, and Half-step excitation. Record your
answers for later use. Each column represents the excitation state of a single phase,
and each row represents the state of all phases at a given point in the pattern. Design
your patterns such that phase B follows phase A.
2. Open the project Mechatronics Actuators Board.lvproj, and under Quanser
ELVIS III > Labs, open Stepper Motor.vi.
3. Ensure that Enable Microstepping is set to false and that the Step Period is set to
100 ms.
4. Run the VI.
 A B C D A B C D A B C D

ON OFF OFF OFF ON ON OFF OFF ON OFF OFF OFF

Half step
Wave step Full step

5. Enter a single row in the Coil Activation Pattern table. In this row, set coil A to be
ON and all other coils to be OFF. This will cause the application board to hold a
constant activation state. This is how a stepper motor holds a desired position.
6. Manually rotate the stepper motor through one full rotation. Record your observations
of the behavior of the motor.
7. Modify the Coil Activation Pattern so that both coils A and B are constantly active.
8. Repeat your observations from step 6, this time paying specific attention to the
strength of the resistance torque that you encounter.
9. Enter the wave step excitation pattern you created in step 1 in the Coil Activation
Pattern table. Note that the VI will iterate through every row which has a value in it
(that is, not greyed out), so if you enter too many lines in the table, right click on a
row and select Delete Row from the data operations submenu. If you wish to start
over, you can also use the Empty Table operation in the same menu.
10. Observe the stepper motor. If the motor is not rotating continuously in one direction,
you may need to adjust your commanded coil activations. You may use the Coil
Activation State indicator to help with this.
11. Record the number of steps required for the motor to complete a rotation. You may
need to increase the Step Period to make it easier to count the steps.
12. Make a note of the level of vibration caused by the motor
13. Physically hold the motor and keep it from rotating. Record your observations of the
changes in torque applied to your hand over time.
14. Adjust the Step Period down incrementally until it reaches 2 ms. Record your
observations.
15. Return the Step Period to 100 ms and repeat step 14 while holding the motor to keep
it from rotating. Record your observations about the torque applied by the motor.
 16. Update the Coil Activation State so it implements the Full Step pattern from step 1.
17. Repeat steps 14 and 15 with the full step pattern.
18. Update the Coil Activation State table so that it implements the Half Step pattern
from step 1. Note that you only need to click in a row to extend the active part of the
table to that row.
19. Repeat steps 11 to 14 with half-stepping implemented.
20. Set the Microstep Quantization to 100 and enable microstepping. This means that
every step equals 1/100th of a complete sinusoidal coil activation cycle.
21. Make observations about both the motor vibration and the stall torque of the motor
22. Adjust the Microstep Quantization gradually down until it is below 10. Record the
effect this has on the speed, vibration, and torque.
23. Stop the VI

(d) Servo Motors

1. Open the project Mechatronics Actuators Board.lvproj, and under ELVIS III >
Labs, open Servo Motor.vi.
2. Run the VI
3. The Servo Angle is multiplied by the Scaling Factor and added to the Offset to
generate a pulse duration in milliseconds. This value is then passed to the FPGA,
which generates a pulse of the required length every 20 ms.
4. With the settings Scaling Factor = 1 and Offset = 0, try adjusting the commanded
angle. Record your observations.
5. Given that the servo requires a pulse in the 0.9-2.1 ms range, calculate the offset
required such that a command of zero degrees will put the servo in the middle of its
range.
6. Enter your calculated Offset and command zero degrees. Note the “zero” position of
the cog wheel, as the arrow may not be pointing in a specific direction.
7. Command a large negative value and measure the resulting angle using a protractor.
Repeat with a large positive angle. Record the total range of the servo.
8. Given the total range of the servo, calculate a scaling factor such that a commanded
angle will be scaled to a suitable pulse length.
9. Experiment with several command angles and record the resultant output angles.
10. Adjust the Command Angle smoothly across a wide range of angles. Record your
observations.
11. Experimentally measure the smallest change in Command Angle which results in a
noticeable reaction from the servo.
12. Stop the VI.
EXP-10:
Kit: Quanser QUBE SERVO 2

Aim:
To understand Quanser QUBE SERVO 2 DC motor on ELVIS II+ for following applications:
(a) Bump Test
(b) Balance Control
(c) Swing Control

Equipment:
1. NI ELVIS II+
2. Quanser QNET 2.0 DC motor
(a) Bump Test
Block diagram:

Procedure:
1. Run the VI to apply a 2 V step to the servo. The response should be similar to Figure
2.2.
2. Plot the motor speed response and the input voltage. For example, you can right-click on
any of the waveform charts and select Export | Export Simplified Image to save the
measured load/disk speed and motor voltage to a bitmap image file and attach that to your
report.
3. Find the steady-state gain using the measured step response.
Hint: Use the Cursor palette in the XY Graph to measure points off the plot.
4. Find the time constant from the obtained response.
5. To check if your derived model parameters K and τ are correct, modify the VI to
include a Transfer Function block with the first-order model in Equation 1.1, as
shown in Figure 2.3. Display both the measured and simulated QUBE-Servo 2
responses in one waveform chart. Run the VI. Attach a figure displaying both the
measured and simulated response in one plot, as well as in the input voltage.
6. Did you derive the model parameters K and τ correctly? Explain.
7. Click on the Stop button to stop the VI.
Output Waveform:

(b) Balance Control

Block diagram:

Procedure:
1. Using the VI you made in the Pendulum Moment of Inertia laboratory experiment,
construct the controller shown in Figure:

• The Counts to Angles subsystem contains the same blocks used in the Pendulum
Moment of Inertia laboratory experiment to convert encoder counts to radians.
Make sure you use the inverted pendulum angle.
• To find the velocity of the rotary arm and pendulum, add the high-pass filters
100s/(s + 100) similarly to the Filtering laboratory experiment.
 • Add the necessary Sum and Gain blocks to implement the PD control given in
Equation 1.1.
• The controller should only be enabled when the pendulum is ±10◦ about the
upright vertical position (or
±0.175 rad). Add Absolute Value, Constant Comparison and Selector
blocks to implement this.

2. Set the PD gains as follows: kp,θ = −2 V/rad, kp,α = 30 V/rad, kd,θ = −2

V/(rad/s), and kd,α = 2.5 V/(rad/s).
3. Make sure the pendulum is not perturbed in the downward position before starting the
controller. Run the VI.
4. Manually rotate the pendulum in the upright position until the controller engages. The
waveform charts should read something similar as shown in Figure 2.2. Attach response
of the rotary arm, pendulum, and controller voltage.
5. As the pendulum is being balanced, describe the responses in the Rotary Arm (deg) and
the Pendulum Angle(deg) waveform chart.
6. Locate the Summation block that precedes kp_theta. Vary the Constant block that is
connected to the positive input of the Sum block. Do not set the value too high, keep
it within ±45 to start. Observe the response in the Arm Angle (deg) waveform chart.
What variable does this represent in the balance control?

7. Click on the Stop button to stop the VI.

Output Waveform:
(c) Swing up Control

Block diagram:

Procedure:
1. Open QUBE-Servo 2 ROTPEN Swing-Up.vi.

2. To turn the swing-up control off, set mu to 0.

3. Run the VI.

4 . Manually rotate the pendulum at different levels and examine the pendulum angle and
energy in the Pendulum
(deg) and Pendulum Energy (mJ) charts.

5. What do you notice about the energy when the pendulum is moved at different positions?
Record the energy when the pendulum is being balanced upright. Does this reading
make sense in terms of the equations developed in the Background section of this lab?

6. Click on the Stop button to bring the pendulum down to the initial, downward position.

7. Set the swing-up control parameters (Constant and Gain blocks connected to the inputs
of the Swing-Up Control
subsystem) to the
following values:

• mu (m/s2 /J) = 50
• Er (mJ) = 10.0
• u_max (m/s2 ) = 6
 8. If the pendulum is not moving, gently perturb the pendulum with your hand from the
downward position.

9. Vary the reference energy, Er, between 10.0 mJ and 20.0 mJ. As it is changed, examine
the pendulum angle and energy response in Pendulum (deg) and the Pendulum Energy
(mJ) charts and the control signal in the Motor Voltage (V) chart. Attach the responses
showing how changing the reference energy affects the system.

10. Fix Er to 20.0 mJ and vary the swing-up control gain mu between 20 and 60 m/s2 /J.
Describe how this changes the performance of the energy control.

11. Click on the Stop button to stop the VI.

Output Waveform: