EE2257 CONTROL SYSTEM LABORATORY 0032

1. Determination of transfer function of DC Servomotor 2. Determination of transfer function of AC Servomotor. 3. Analog simulation of Type - 0 and Type 1 systems . Determination of transfer function of DC !enerator ". Determination of transfer function of DC #otor $. Sta%ility analysis of linear systems &. DC and AC position control systems '. Stepper motor control system (. Digital simulation of first systems 10. Digital simulation of second systems P = 45 Total = 45 Detailed Sylla%us 1. Determ !at o! o" Tra!#"er $%!&t o! Parameter# o" a DC Ser'o Motor Am To derive t)e transfer function of t)e given D.C Servomotor and e*perimentally determine t)e transfer function parameters

E(er& #e
1. Derive t)e transfer function from %asic principles for a separately e*cited DC motor. 2. Determine t)e armature and field parameters %y conducting suita%le e*periments. 3. Determine t)e mec)anical parameter %y conducting suita%le e*periments. . +lot t)e fre,uency response. E)% *me!t 1. DC servo motor

- field separately e*cited loading facility

2. 3. . 2.

Tac)ometer #ultimeter Stop /atc)

varia%le voltage source - 1 .o - 1 .o - 2 .os - 1 .o

Determ !at o! o" Tra!#"er $%!&t o! Parameter# o" AC Ser'o Motor Am

To derive the transfer function of the given A.C Servo Motor and experimentally determine the transfer function parameters
E(er& #e 1. Derive t)e transfer function of t)e AC Servo #otor from %asic +rinciples. 2. 0%tain t)e D.C gain %y operating at rated speed. 3. Determine t)e time constant 1mec)anical2 . +lot t)e fre,uency response

E)% *me!t 1. AC Servo #otor 2. 3. . 3. Tac)ometer Stop/atc) 3oltmeter

- #inimum of 100/ necessary sources for main /inding and control /inding 1 .o - 1 .o - 1 .o - 1 .o

A!alo+ S m%lat o! O" T,*e-0 A!. T,*e-1 S,#tem Am

To simulate the time response characteristics of I order and II order, type 0 and type- systems.

E(er& #e
1. 0%tain t)e time response c)aracteristics of type 0 and type-14 5 order and 55 order systems mat)ematically. 2. Simulate practically t)e time response c)aracteristics using analog rigged up modules. 3. 5dentify t)e real time system /it) similar c)aracteristics. E)% *me!t 1. 6igged up models of type-0 and type-1 system using analog components. 2. 3aria%le fre,uency s,uare /ave generator and a normal C60 - 1 .o 1or2 DC source and storage 0scilloscope - 1 .o

4.

Determ !at o! o" Tra!#"er "%!&t o! o" DC /e!erator Am

To determine the transfer function of !C generator

E(er& #e
1. 0%tain t)e transfer function of DC generator %y calculating and gain E)% *me!t 1. DC !enerator 2. Tac)ometer 3. 3arious meters . Stop /atc) 5. Determ !at o! o" Tra!#"er "%!&t o! o" DC Motor

Am

To determine the transfer function of !C motor

E(er& #e
1. 0%tain t)e transfer function of DC motor %y calculating and gain E)% *me!t 1. DC #otor 2. Tac)ometer 3. 3arious meters . Stop /atc) 0. Sta1 l t, A!al,# # o" L !ear S,#tem#

Am
To analyse t)e sta%ility of linear systems using 7ode 8 6oot locus 8 .y,uist plot E(er& #e

. "rite a program to o#tain the $ode plot % &oot locus % 'y(uist plot for the given system
2. Access t)e sta%ility of t)e given system using t)e plots o%tained 3. Compare t)e usage of various plots in assessing sta%ility

E)% *me!t
1. 7. System /it) #AT9A7 8 #AT:CAD 8 e,uivalent soft/are - 3 user license DC a!. AC *o# t o! Co!trol #,#tem

Am

To study the AC and !C position control system and dra) the error characteristics #et)een setpoint and error.

E(er& #e 1. To study various positions and calculate t)e error %et/een setpoint and output. position
2. To measure outputs at various points 1%et/een stages2

E)% *me!t
1. 2. 3. 2. AC and DC position control ;it /it) DC servo motor. +o/er transistor Adder

Ste**er Motor Co!trol S,#tem

Am

To study the )or*ing of stepper motor

E(er& #e 1. To verify t)e /or;ing of t)e stepper motor rotation using microprocessor.

E)% *me!t
1. 2. 3. . 3. Stepping motor #icroprocessor ;it 5nterfacing card +o/er supply

D + tal S m%lat o! o" $ r#t or.er S,#tem

Am

To digitally simulate the time response characteristics of first -order system

E(er& #e
1. <rite a program or %uild t)e %loc; diagram model using t)e given soft/are. 2. 0%tain t)e impulse4 step and sinusoidal response c)aracteristics. 3. 5dentify real time systems /it) similar c)aracteristics. E)% *me!t 1. System /it) #AT9A7 8 #AT:CAD 1or2 e,uivalent soft/are - minimum 3 user license. 10. D + tal S m%lat o! o" Se&o!. or.er S,#tem# Am

To digitally simulate the time response characteristics of second -order system

E(er& #e
1. <rite a program or %uild t)e %loc; diagram model using t)e given soft/are. 2. 0%tain t)e impulse4 step and sinusoidal response c)aracteristics. 3. 5dentify real time systems /it) similar c)aracteristics. =,uipment System /it) #AT9A7 8 #AT:CAD 1or2 e,uivalent soft/are - minimum 3 user license.

MANUAL
Expt. No: 1. a)DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF FIELD CONTROLLED DC SERVO MOTOR AIM: To determine the transfer function of field controlled DC servo motor APPRATUS REQUIRED: 1. DC servo motor trainer kit 2. DC Servo motor 3. Di ital Multi meter FORMULE USED: 1. !ield resistance"#f in $ %f1 & 'f1 2.Armature resistance"#a in $ %a & 'a 3. !ield 'nductance"Lf in ($ )Lf & 2f *here )Lf in $ +,f2 - #f2. ,f in $ %f2 & 'f2 /. 0o*er a1sor1ed" 23 in *atts $ %a 'a 4. Stra5 loss" 2 in *atts $ 23 6 7 t2 & +t18t2. 9 *here 23 is 0o*er a1sor1ed in *atts t2 is time taken on load in secs t1 is time taken on no load in secs :. Moment of inertia ; in < m2 & rad $ 2 6 +:= & 2.2 6 dt&dN N 2here 2 is stra5 loss in *atts dt is chan e in time on no load in secs dN is chan e in s>eed on no load is r>m N is rated s>eed in r>m ?. !rictional co8efficient" @ in N8m & +rad & sec . $ 2 & +2N & := .2

*here 2 is stra5 loss in *atts N is rated s>eed in r>m A. Transfer function +s. & %f +s. $ <m & s +1BsTf. +1BsTm. *here Motor ain constant <m $ <tf & #f @ TorCue constant <tf in N8m & A $ T & 'f TorCue T in N8m $ D.44 E1 'a & N @ack EM! E1 in volts $ % - 'a #a % $ E6citation volta e in volts !ield time constant Tf $ Lf & #f Mechanical time constant Tm $ ; & @ THEORY: FDC Servo motor is 1asicall5 a torCue transducer *hich converts electrical ener 5 into mechanical ener 5 't is 1asicall5 a se>aratel5 e6cited t5>e DC motor. The torCue develo>ed on the motor shaft is directl5 >ro>ortional to the field flu6 and armature current"T m $ <m 'a. The 1ack emf develo>ed 15 the motor is E1 $ <1 m 'n a field controlled DC Servo motor" the electrical si nal is e6ternall5 a>>lied to the field *indin . (ence current throu h field *indin is controlled in turn controllin the flu6. 'n a control s5stem" a controller enerates the error si nal 15 com>arin the actual o&> *ith the reference i&>. Such an error si nal is no enou h to drive the DC motor. (ence it is am>lified 15 the servo am>lifier and a>>lied to the field *indin . 2ith the hel> of constant current source" the armature current is maintained constant. 2hen there is chan e in volta e a>>lied to the field *indin " the current throu h the field *indin chan es. This chan es the flu6 >roduced 15 field *indin . This motor has lar e L f & #f ratio" so time constant of this motor is hi h and it can3t ive ra>id res>onses to the Cuick chan in control si nals. CIRCUIT DIAGRAM 1. For !"#$ %o&tro##"$ 'otor

PROCEDURE: 1. To !&$ F!"#$ R"(!(ta&%") R 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. 0ut the selector 1utton in field mode. /. @lock the rotor *ith full load. 4. Leave the armature terminal in o>en. :. Check the >osition of the >otentiometer in minimum >oint. ?. S*itch on the MC@" var5 the >ot and take volta e %f1 and current 'f1 readin s. A. Calculate field resistance #f $ %f1 & 'f1 *. To !&$ Ar'at+r" R"(!(ta&%") Ra 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. 0ut the selector 1utton in armature mode. /. @lock the rotor *ith full load. 4. Leave the field terminal in o>en. :. Check the >osition of the >otentiometer in minimum >oint. ?. S*itch on the MC@" var5 the >ot and take volta e %a and current 'a readin s. A. Calculate armature resistance #a $ %a & 'a ,. To !&$ F!"#$ I&$+%ta&%") L 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram

3. @lock the rotor *ith full load. /. S*itch on the MC@ and take volta e %f2 and current 'f2 readin s. 4. Calculate field inductance Lf. -. To !&$ 'o'"&t o !&"rt!a) a&$ r!%t!o&a# %o." !%!"&t) / 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. 0ut the selector 1utton in armature mode and D0DT s*itch in >o*er circuit >osition. /. Check the >osition of the >otentiometer in minimum >oint. 4. S*itch GN the MC@ and var5 the >ot from min to ma6 and adHust the motor to run at rated s>eed. :. Chan e the D0DT s*itch from >o*er circuit side to load side. ?. Note do*n the time taken 15 the motor to come to rest. This value is t1 and set the >ot to min >osition. A. Chan e the D0DT s*itch in >o*er circuit >osition. D. Connect 4== & 1A load in load >osition. 1=. %ar5 the >ot to run the motor at rated s>eed and chan e the D0DT s*itch >osition from >o*er circuit side to load side and note do*n the volta e %a and current 'a at the instant of chan in the s*itch. Also note do*n the time ast2 and from %a and 'a find avera e volta e and current. 0. To !&$ t1" tra&( "r +&%t!o& para'"t"r( 1. Check the MC@ >osition in G!! condition. 2. 0ress the reset 1utton to reset the over s>eed. 3. 0atch the circuit as >er the >atchin dia ram. /. 0ut the selection 1utton in the field control mode. 4. Check the >osition of the >otentiometer in minimum >oint. :. Connect the armature of DC servo motor to fi6ed DC source. ?. Connect the field of DC servo motor across the voltmeter. A. S*itch on the MC@. D. %ar5 the >ot and in turn var5 the s>eed. 1=. A>>l5 rated volta e of 22= % to armature and 14= % to field. 11. Note do*n the field current" field volta e and s>eed.

12. !ind the transfer function +s. & %f +s. $ <m & s +1BsTf. +1BsTm.. Not": 'f the voltmeter and ammeter in the trainer kit is found not *orkin res>ective ran e can 1e connected in that >lace. TA/ULAR COLUMN: 1. For !"#$ r"(!(ta&%" R S.No %f1 +%. 'f1 +A. #f +. e6ternal meters of

*. For ar'at+r" r"(!(ta&%" Ra S.No %a +%. 'a +A. #a+.

,. For !"#$ !&$+%ta&%" S.No %f2 +%. 'f2 +A. ,f +.

-. For tra&( "r +&%t!o& para'"t"r( S.No %f +%. 'f +A. 'a +A. N +r>m. T +N8m. Tf Tm <tf

MODEL CALCULATION:

VIVA QUESTIONS: 1. 2hat are the main >arts of a DC servo motorI 2. 2hat are the t*o t5>es of servo motorI 3. 2hat are the advanta es and disadvanta es of a DC servo motorI /. Jive the a>>lications of DC servomotorI 4. 2hat do 5ou mean 15 servo mechanismI :. 2hat do 5ou mean 15 field controlled DC servo motorI

REFERENCE: 1. NAJ#AT( K JG0AL" LControl S5stemsM. RESULT: The Transfer function of field controlled DC servomotor is determined as

Expt. No: 1.2) DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF ARMATURE CONTROLLED DC SERVO MOTOR AIM: To determine the transfer function of armature controlled DC servo motor APPRATUS REQUIRED: 1. DC servo motor trainer kit 2. DC Servo motor 3.Di ital Multi meter FORMULA: 1.Armature resistance"#a in $ %a1 & 'a1 2.Armature 'nductance"La in ($ )La & 2f *here )La in $ +,a2 - #a2. ,a in $ %a2 & 'a2 3. 0o*er a1sor1ed" 23 in *atts $ %a 'a /. Stra5 loss" 2 in *atts $ 23 6 7 t2 & +t18t2. 9 *here 23 is 0o*er a1sor1ed in *atts t2 is time taken on load in secs t1 is time taken on no load in secs

4.Moment of inertia ; in < m2 & rad $ 2 6 +:= & 2 .2 6 dt&dN N 2here 2 is stra5 loss in *atts dt is chan e in time on no load in secs dN is chan e in s>eed on no load is r>m N is rated s>eed in r>m :. !rictional co8efficient" @ in N8m & +rad & sec. $ 2 & +2N & :=.2 *here 2 is stra5 loss in *atts N is rated s>eed in r>m ?. Transfer function +s. & %a +s. $ <t *here TorCue consant <t $ T & 'a TorCue T in N8m $ D.44 E1 'a & N @ack EM! E1 in volts $ % - 'a #a % $ E6citation volta e in volts +22= %. @ack emf constant <1 $ %a & O An ular velocit5 in rad& sec $ 2PN & := THEORY: DC Servo motor is 1asicall5 a torCue transducer *hich converts electrical ener 5 into mechanical ener 5 't is 1asicall5 a se>aratel5 e6cited t5>e DC motor. The torCue develo>ed on the motor shaft is directl5 >ro>ortional to the field flu6 and armature current"T m $ <m Q 'a. The 1ack emf develo>ed 15 the motor is E1 $ <1 Q Om. 'n an armature controlled DC Servo motor" the control si nal availa1le from the servo am>lifier is a>>lied to the armature of the motor.This si nal is 1ased on the feed1ack information " su>>lied to the controller.Due to this armature current chan es *hich in turn chan es the torCue >roduced. The field *indin is su>>lied *ith constant current hence the flu6 remains constant. Therefore these motors are called as constant ma netic flu6 motors. CIRCUIT DIAGRAM 1. For ar'at+r" %o&tro##"$ DC S"r3o'otor #a@ & s N+1BsTa. +1BsTm . B<1 <t &#a@

PROCEDURE: 1. To !&$ Ar'at+r" R"(!(ta&%") Ra 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. 0ut the selector 1utton in armature mode. /. @lock the rotor *ith full load. 4. Leave the field terminal in o>en. :. Check the >osition of the >otentiometer in minimum >oint. ?. S*itch on the MC@" var5 the >ot and take volta e %a and current 'a readin s. A.Calculate armature resistance #a $ %a & 'a *. To !&$ ar'at+r" !&$+%ta&%") La 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. @lock the rotor *ith full load. /. S*itch on the MC@ and take volta e %a2 and current 'a2 readin s. 4. Calculate armature inductance La. ,.To !&$ 'o'"&t o !&"rt!a) a&$ r!%t!o&a# %o." !%!"&t) / 1. Check the MC@ >osition in G!! condition. 2. 0atch the circuit as >er the >atchin dia ram 3. 0ut the selector 1utton in armature mode and D0DT s*itch in >o*er circuit >osition. /. Check the >osition of the >otentiometer in minimum >oint. 4. S*itch GN the MC@ and var5 the >ot from min to ma6 and adHust the motor to

run at rated s>eed. :. Chan e the D0DT s*itch from >o*er circuit side to load side. ?. Note do*n the time taken 15 the motor to come to rest. This value is t1 and set the >ot to min >osition. A. Chan e the D0DT s*itch in >o*er circuit >osition. D. Connect 4== & 1A load in load >osition. 1=. %ar5 the >ot to run the motor at rated s>eed and chan e the D0DT s*itch >osition from >o*er circuit side to load side and note do*n the volta e %a and current 'a at the instant of chan in the s*itch. Also note do*n the time ast2 and from %a and 'a find avera e volta e and current. -. To !&$ t1" tra&( "r +&%t!o& para'"t"r( 1. Check the MC@ >osition in G!! condition. 2. 0ress the reset 1utton to reset the over s>eed. 3. 0atch the circuit as >er the >atchin dia ram. /. 0ut the selection 1utton in the armature control mode. 4. Check the >osition of the >otentiometer in minimum >oint. :. Connect the field of DC servomotor to fi6ed DC source. ?. Connect the armature of DC servomotor across the voltmeter. A. S*itch on the MC@. D. %ar5 the >ot and in turn var5 the s>eed. 1=. A>>l5 rated volta e of 22= % to armature. 11. Note do*n the armature current" armature volta e and s>eed. 12. !ind the transfer function +s. & %a+s. $ <t#a@& sN+1BsTa.+1BsTm . B<1 <t &#a@ Not": 'f the voltmeter and ammeter in the trainer kit is found not *orkin res>ective ran e can 1e connected in that >lace. TA/ULAR COLUMN: 1. For ar'at+r" r"(!(ta&%" Ra S.No %a +%. 'a +A. #a+. e6ternal meters of

*. For ar'at+r" !&$+%ta&%" La S.No %f2 +%. 'f2 +A. ,f +.

,. For tra&( "r +&%t!o& para'"t"r( S.No %a +%. 'a +A. E1 +%. N +r>m. T +N8m. rad&sec <1 <t

MODEL CALCULATION:

VIVA QUESTIONS: 1. Define transfer functionI 2. 2hat is DC servo motorI 2hat are the main >artsI 3. 2hat is servo mechanismI

/. 's this a closed loo> or o>en loo> s5stem .E6>lainI 4. 2hat is 1ack EM!I

REFERENCE: 1. NAJ#AT( K JG0AL" LControl S5stemsM.

RESULT: The Transfer function of armature controlled DC servomotor is determined as

Expt. No: * AIM:

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF AC SERVO MOTOR

To derive the transfer function of the iven A.C Servo Motor and e6>erimentall5 determine the transfer function >arameters from a. TorCue S>eed Characteristics 1. Control %olta e characteristics APPRATUS REQUIRED: 1. 2 AC servomotor s>eed control and transfer function trainer 2. S>eed sensor. FORMULAE USED: 1. Motor transfer function " Jm +s. $ <m & +1B sm. 2here Motor ain constant" <m $ < & !G B ! 2here < is T & C !G is T & N

TorCue" T is D.A1 ) r +S1 S2. # is radius of the rotor in m !rictional co8efficient" ! $ 2 & +2N & :=.2 !rictional loss" 2 is 3= R of constant loss in *atts Constant loss in *atts $ No load i&> - Co>>er loss No load i&> $ % +'#B'C. % is su>>l5 volta e" % '# is current throu h reference *indin " A 'C is current throu h control *indin " A Co>>er loss in *atts $ 'C2 #C #C $ 1?/ N is rated s>eed in r>m 2here Motor time constant" m $ ; & !G B ! 2here moment of inertia ; is d/l# S & 32 d is diameter of the rotor $ =.=3D4m l# is len th of the rotor $=.=?:m S is densit5 $ =.?A < m& m THEORY CONSTRUCTIONAL DETAILS The AC servo motor is 1asicall5 a t*o >hase induction motor *ith some s>ecial desi n features. The stator consists of t*o >ole >airs +A8@ and C8D. mounted on the inner >eri>her5 of the stator" such that their a6es are at an le of D= o in s>ace. Each >ole >air carries a *indin " Gne *indin is called reference *indin and other is called a control *indin . The e6citin current in the *indin should have a >hase dis>lacement of D= o. The su>>l5 used to drive the motor is sin le >hase and so a >hase advancin ca>acitor is connected to one of the >hase to >roduce a >hase difference of D=o. The stator constructional features of AC servo motor are sho*n in fi .1. The rotor construction is usuall5 sCuirrel ca e or dra 8cu> t5>e. #otor construction of AC servomotor is sho*n in fi .2. The sCuirrel ca e rotor is made of laminations. The rotor 1ars are >laced on the slots and short8circuited at 1oth ends 15 end rin s. The diameter of the rotor is ke>t small in order to reduce inertia and to o1tain ood acceleratin characteristics. The dra cu> construction is em>lo5ed for ver5 lo* inertia a>>lications. 'n this t5>e of construction the rotor *ill 1e in the form of hollo* c5linder made of aluminium. The aluminium c5linder itself acts as short8circuited rotor conductors. Electricall5 1oth the t5>es of rotor are identical.

4OR5ING PRINCIPLE AS AN ORDINARY INDUCTION MOTOR The stator *indin s are e6cited 15 volta es of eCual rms ma nitude and D= o >hase difference. This result in e6citin currents i1 and i2 that are >hase dis>laced 15 D=o and have eCual rms values. These currents ive rise to a rotatin ma netic field of constant ma nitude. The direction of rotation de>ends on the >hase relationshi> of the t*o currents +or volta es.. The e6citin current >roduces a clock*ise rotatin ma netic field and >hase shift of 1A=o in i1 *ill >roduce an anticlock*ise rotatin ma netic field. This rotatin ma netic field s*ee>s over the rotor conductors. The rotor conductor e6>erience a chan e in flu6 and so volta es are induced rotor conductors. This volta e circulates currents in the short8circuited rotor conductors and currents create rotor flu6. Due to the interaction of stator K rotor flu6" a mechanical force +or TorCue. is develo>ed on the rotor and so the rotor starts movin in the same direction as that of rotatin ma netic field. ADVANTAGES OF AC SERVOMOTOR 1 Control of AC servomotor is so easier than induction motor" 1ecause of controllin onl5 the control >hase *indin volta e of ma nitude 12% or 2/% and not main *indin volta e of 23=%. 2 Direction of motor reversal is also o1tained 15 interchan in the control >hase *indin volta e. DISADVANTAGES OF AC SERVOMOTOR 1 The characteristics are Cuite non8linear and are more difficult to control es>eciall5 for servomechanism APPLICATIONS 2 AC servomotors are 1est suited for lo* >o*er a>>lication such as instrument servo +e. . control of >en in 685 records. and com>uter related eCui>ment +Disk" ta>e drives" >rinters etc.. /LOC5 DIAGRAM OF SERVOMOTOR

PROCEDURE: 1. DETERMINATION OF FRICTIONAL CO6EFFICIENT) F 1. Check the MC@ >osition in G!! condition and >atch the circuit usin the >atchin dia ram. 2. Measure the control *indin current" reference *indin current and su>>l5

volta e. 3. !ind the frictional co8efficient" ! $ 2 & +2N & :=. 2 * DETERMINATION OF TORQUE SPEED CHARACTERISTICS AND FO 1. Check the MC@ >osition in G!! condition and >atch the circuit usin the >atchin dia ram. 2. Set the s>eed control >ot in minimum >osition and load in free condition 3. A>>l5 rated volta e to the reference >hase *indin and control >hase *indin . /. Note do*n the no load s>eed. 4. A>>l5 load in ste>s. !or each ste> note do*n s>eed and load a>>lied and calculate the TorCue as T $ D.A1 ) r ) +S1 S2.. :. #educe the load full5 and allo* the motor to run at rated s>eed. ?. #e>eat ste>s /" 4 for ?4 R and 4= R of control *indin volta e levels and ta1ulate readin . A. Dra* the ra>h 1et*een s>eed and torCue and from the ra>h find T and N and calculate !G as T & N DETERMINATION OF TORQUE CONTROL VOLTAGE CHARACTERISTICS 7 1. Check the MC@ >osition in G!! condition and >atch the circuit usin the >atchin dia ram. 2. A>>l5 rated %olta e to #eference >hase *indin . A>>l5 a certain volta e to the Control >hase *indin and make the motor run at rated s>eed. 3. Load the motor raduall5 and the s>eed of the motor *ill decrease. 'ncrease the Control *indin volta e till the s>eed o1tained at no load is reached. Note do*n control volta e and load readin s. /. #e>eat the a1ove >rocedure for various s>eeds and ta1ulate. 4. Calculate the TorCue as T $ D.A1 ) r )+S1 S2. and >lot the ra>h 1et*een torCue and control *indin volta e. !ind T and C and then find <. TORQUE SPEED CHARACTERISTICS N Rp' V%1 8 S1 S* 59 59 T N.' N Rp' V%* 8 S1 S* 59 59 T N.' N Rp' V%, 8 S1 S* 59 59 T N.'

,. 5

MODEL GRAPH

TORQUE N.'

SPEED :RPM) TORQUE ;CONTROL VOLTAGE CHARACETERISTICS N1 8 V% V N* 8 S* V% 59 V N, 8 S* V% 59 V

S1 59

S* 59

T N.'

S1 59

T N.'

S1 59

T N.'

MODEL GRAPH

TORQUE N.'

Co&tro# 3o#ta9" :Vo#t() Jiven" @ $ =.=1A?4 ) 1=83 N8m & #>m ; $ =.=42 ) 1=83 < m2 VIVA QUESTIONS

1. 2hat are the main >arts of an ac servo motorI 2. 2hat are the advanta es and disadvanta es of an AC servo motorI 3. Jive the a>>lications of Ac servomotorI /. 2hat do 5ou mean 15 servo mechanismI REFERENCE 1. NAJ#AT( K JG0AL" LControl S5stemsM. 2. La1 Manual - Transfer !unction Derivation of AC Servo motor S5stem RESULT: !rom the TorCue8S>eed characteristics and Control8volta e Characteristics the transfer function of AC servomotor is determined as

Expt No. , AIM:

ANALOG SIMULATION OF TYPE ; < a&$ TYPE ; 1 SYSTEM

To stud5 the time res>onse of first and second order t5>e -= and t5>e8 1 s5stems. APPARATUS REQUIRED: 1. Linear s5stem simulator kit 2. C#G FORMULAE USED:

1. Dam>in ratio" $ +ln M0. 2 & +2 B +ln M0. 2. 2here M0 is >eak >ercent overshoot o1tained from the res>onse ra>h 2. Undam>ed natural freCuenc5" n $ & t> +1 8 2. 2here t> is >eak time o1tained from the res>onse ra>h 3. Closed loo> transfer function of t5>e8= second order s5stem is C+s. & #+s. $ J+s. & 1BJ+s. 2here J+s. $ < <2 <3 & 7+1BsT1. +1 B sT2.9 < is the ain <2 is the ain of the time constant - 1 1lock $1= <3 is the ain of the time constant - 2 1lock $1= T1 is the time constant time constant - 1 1lock $ 1 ms T2 is the time constant time constant - 2 1lock $ 1 ms /. Closed loo> transfer function of t5>e81 second order s5stem is C+s. & #+s. $ J+s. & 1BJ+s. 2here J+s. $ < <1 <2 &7s +1 B sT1.9 < is the ain <1 is the ain of 'nte rator $ D.: <2 is the ain of the time constant - 1 1lock $1= T1 is the time constant of time constant - 1 1lock $ 1 ms Theoretical %alues of n and can 1e o1tained 15 com>arin the co8efficients of the denominator of the closed loo> transfer function of the second order s5stem *ith the standard format of the second order s5stem *here the standard format is C+s. &#+s. $ n 2 & s2 B 2ns Bn 2 THEORY: The t5>e num1er of the s5stem is o1tained from the num1er of >oles located at ori in in a iven s5stem. T5>e - = s5stem means there is no >ole at ori in. T5>e - 1 s5stem means there is one >ole located at the ori in. The order of the s5stem is o1tained from the hi hest >o*er of s in the denominator of closed loo> transfer function of the s5stem The first order s5stem is characteriTed 15 one >ole or a Tero. E6am>les of first order s5stems are a >ure inte rator and a sin le time constant havin transfer function of the form <&s and <& +sTB1.. The second order s5stem is characteriTed 15 t*o >oles and u>to t*o Teros. The standard form of a second order s5stem is C+s. &#+s. $ n2 & +s2 B 2ns B n2. *here is dam>in ratio and n is undam>ed natural freCuenc5. /LOC5 DIAGRAM: 1. To !&$ (t"a$= (tat" "rror o t=p". 1 (=(t"'

2. To !&$ (t"a$= (tat" "rror o t=p". < (=(t"'

,. To !&$ t1" %#o("$ #oop r"(po&(" o T=p".1 ("%o&$ or$"r (=(t"'

-. To !&$ t1" %#o("$ #oop r"(po&(" o T=p".< ("%o&$ or$"r (=(t"'

PROCEDURE: 1. To !&$ t1" (t"a$= (tat" "rror o t=p" ; 1 !r(t or$"r (=(t"' 1. The 1locks are connected usin the >atch cords in the simulator kit. 2. The in>ut trian ular *ave is set to 1 % >eak to >eak in the C#G and this is a>>lied to the #E! terminal of error detector 1lock. The in>ut is also connected to the )8 channel of C#G. 3. The out>ut from the s5stem is connected to the U8 channel of C#G. /. The e6>eriment should 1e conducted at the lo*est freCuenc5 so kee> the freCuenc5 kno1 in minimum >osition to allo* enou h time for the ste> res>onse to reach near stead5 state. 4. The C#G is ke>t in )8U mode and the stead5 state error is o1tained as the vertical dis>lacement 1et*een the t*o curves. :. The ain < is varied and different values of stead5 state errors are noted. *. To !&$ t1" (t"a$= (tat" "rror o t=p" ; < !r(t or$"r (=(t"' 1. The 1locks are connected usin the >atch cords in the simulator kit. 2. The in>ut sCuare *ave is set to 1 % >eak to >eak in the C#G and this is a>>lied to the #E! terminal of error detector 1lock. The in>ut is also connected to the )8 channel of C#G. 3. The out>ut from the s5stem is connected to the U8 channel of C#G. /. The C#G is ke>t in )8U mode and the stead5 state error is o1tained as the vertical dis>lacement 1et*een the t*o curves. 4. The ain < is varied and different values of stead5 state errors are noted. ,. To !&$ t1" %#o("$ #oop r"(po&(" o t=p" ; < a&$ t=p". 1 ("%o&$ or$"r (=(t"' 1. The 1locks are connected usin the >atch cords in the simulator kit. 2. The in>ut sCuare *ave is set to 1 % >eak to >eak in the C#G and this is a>>lied to the #E! terminal of error detector 1lock. The in>ut is also connected to the )8 channel of C#G. 3. The out>ut from the s5stem is connected to the U8 channel of C#G. /. The out>ut *aveform is o1tained in the C#G and it is traced on a ra>h sheet. !rom the *aveform the >eak >ercent overshoot" settlin time" rise time" >eak time are measured. Usin these values n and are calculated. 4. The a1ove >rocedure is re>eated for different values of ain < and the values are

com>ared *ith the theoretical values. TA/ULAR COLUMN: 1. To !&$ t1" (t"a$= (tat" "rror o t=p" ; 1 !r(t or$"r (=(t"' S.No. Ga!& )5 St"a$= (tat" "rror "(( :V)

*. To !&$ t1" (t"a$= (tat" "rror o t=p" ; < !r(t or$"r (=(t"' S.No. Ga!& )5 St"a$= (tat" "rror "(( :V)

,. To !&$ t1" %#o("$ #oop r"(po&(" o t=p" ; < ("%o&$ or$"r (=(t"' S.No. Ga P"a> !&) p"r%"&t 5 O3"r(1oot) ?MP R!(" t!'") tr :("%) P"a> t!'") tp :("%) S"tt#!&9 t!'")t( :("%) Grap1!%a# Da' U&$a'p"$ p!&9 &at+ra# rat!o r"@+"&%=) & :ra$A("%) T1"or"t!%a# Da' p!&9 rat!o U&$a'p"$ &at+ra# r"@+"&%=) &:ra$A("%)

-. To !&$ t1" %#o("$ #oop r"(po&(" o t=p" ; 1 ("%o&$ or$"r (=(t"'

S.No. Ga!&) P"a> 5 p"r%"&t O3"r(1oot) ?MP

R!(" t!'") tr :("%)

P"a> S"tt#!&9 Grap1!%a# t!'") t!'")t( Da' U&$a'p"$ tp :("%) p!&9 &at+ra# :("%) rat!o r"@+"&%=) & :ra$A("%)

T1"or"t!%a# Da'p!& U&$a'p"$ 9 rat!o &at+ra# r"@+"&%=) &:ra$A("%)

MODEL GRAPH:

MODEL CALCULATION:

RESULT: The time res>onse of first and second order t5>e8 = and t5>e8 1 s5stems are studied.

E6>t. NoV :.a. STA@'L'TU ANALUS'S G! L'NEA# SUSTEMS+@ode 0lot.

A'M To o1tain the 1ode >lot for the iven s5stem *hose transfer function is iven as 2/2+sB4. s+sB1.+s2B4sB121. and to find out *hether the s5stem is sta1le or not. APPARATUS REQUIRED MATLA@ Soft*are THEORY A Linear Time8'nvariant S5stems is sta1le if the follo*in t*o notions of s5stem sta1ilit5 are satisfied 2hen the s5stem is e6cited 15 @ounded in>ut" the out>ut is also a @ounded out>ut. 'n the a1sence of the in>ut" the out>ut tends to*ards Tero" irres>ective of the initial conditions. The follo*in o1servations are eneral considerations re ardin s5stem sta1ilit5 and are 'f all the roots of the characteristic eCuation have ne ative real >arts" then the im>ulse res>onse is 1ounded and eventuall5 decreases to Tero" then s5stem is (ta2#". 'f an5 root of the characteristic eCuation has a >ositive real >art" then s5stem is +&(ta2#". 'f the characteristic eCuation has re>eated roots on the HO8a6is" then s5stem is +&(ta2#". 'f one are more non8re>eated roots of the characteristic eCuation on the HO8a6is" then s5stem is +&(ta2#". J+S.$

/ODE PLOT : Consider a Sin le8'n>ut Sin le8Gut>ut s5stem *ith transfer function C+s. $ #+s. a= sn B a1sn81 B WWBan 2here m X n. R+#" 1 A s5stem is sta1le if the >hase la is less than 1A=Y at the freCuenc5 for *hich the ain is unit5 +one.. R+#" * A s5stem is sta1le if the ain is less than one +unit5. at the freCuenc5 for *hich the >hase la is 1A=Y. The a>>lication of these rules to an actual >rocess reCuires evaluation of the ain and 1= sm B 11 sm81 B WWB 1m

>hase shift of the s5stem for all freCuencies to see if rules 1 and 2 are satisfied. This is o1tained 15 >lottin the ain and >hase versus freCuenc5. This >lot is called /ODE PLOT. The ain o1tained here is op"& #oop 9a!&. The sta1ilit5 criteria iven a1ove re>resent L!'!t( o Sta2!#!t=. 't is *ell to desi n a s5stem *ith a mar in of safet5 from such limits to allo* for variation in com>onents and other unkno*n factors. This consideration leads to the revised sta1ilit5 criteria" or more >ro>erl5" a Mar in of Safet5 >rovided to each condition. The e6act terminolo 5 is in terms of a Ga!& Mar9!& and P1a(" Mar9!& from the limitin values Cuoted. 'f the >hase la is less than 1/=Y at the unit5 ain freCuenc5" the s5stem is sta1le. This then" is a /=Y P1a(" Mar9!& from the limitin values of 1A=Y. 'f the ain is 4d@ 1elo* unit5 +or a ain of a1out =.4:. *hen the >hase la is 1A=Y" the s5stem is sta1le. This is 4d@ Ga!& Mar9!&. ALGORITHM 1. 2rite a 0ro ram to +or usin S'MUL'N<. o1tain the @ode >lot for the iven s5stem. 2. Access the sta1ilit5 of iven s5stem usin the >lots o1tained. PROGRAM R@GDE 0LGT G! T(E SUSTEMR REnter the numerator and denominator of the transfer function num$7= = = 2/2 121=9Z den$71 : 12: 121 =9Z s5s$tf+num"den. RS>ecif5 the freCuenc5 ran e and enter the command *$lo s>ace+82"/"1===.Z 1ode+s5s"*. 6la1el+[!reCuenc5[. 5la1el+ [ 0hase an le in de rees Ma nitude of J+s.[. title+[@ode 0lot of the s5stem 2/2+sB4.&s+sB1.+s\2B4]sB121.[. RTo determine the Jain Mar in"0hase Mar in" Jain crossover freCuenc5 and R0hase cross over freCuenc5 7 Jm" 0m" 2c>" 2c 9$ mar in +s5s. PROCEDURE TO O/TAIN /ODE PLOT 1. #e*rite the sinusoidal transfer function in the time constant form 15 re>lacin s 15 HO 2. 'dentif5 the corner freCuencies associated *ith each factor of the transfer function. 3. <no*in the corner freCuencies dra* the as5m>totic ma nitude >lot. This >lot

consists of strai ht line se ments *ith line slo>e chan in at each corner freCuenc5 15 B2=d1&decade for a Tero and 82=d1&decade for a >ole. !or a com>le6 conHu ate Tero or >ole the slo>e chan es 15 B /=d1&decade. /. Dra* a smooth curve throu h the corrected >oints such that it is as5m>totic to the line se ments. This ives the actual lo 8ma nitude >lot. 4. Dra* >hase an le curve for each factor and add them al e1raicall5 to et the >hase >lot. MANUAL CALCULATIONS i.The sinusoidal transfer function J +HO. is o1tained 15 re>lacin s 15 HO in the iven s domain transfer function 2/2+HO B4. HO +HO B1.+ HO 2B4 HO B121. Gn com>arin the Cuadratic factor of J+s. *ith standard form of Cuadratic factor " ^ and On can 1e evaluated. s2B4sB121 $ s2B2^Ons B On2 Gn com>arison On2 $ 121 2^On$ 4 On $11 rad&sec ^ $ =.22? J+HO.$ 1=+1B=.2HO. HO +1BHO.+ 1B=./ HO 8=.==A3O 2. J+HO.$

ii.CG#NE# !#E_UENC'ES The corner freCuencies are Oc1$1rad&sec Oc2$ 4 rad&sec and Oc3$11rad&sec Choose a lo* freCuenc5 Ol such that OlX Oc1 and choose a hi h freCuenc5 Oh` Oc3. Let Ol$=.4 rad&sec and Oh$1== rad&sec Term 1= HO 1 +1BHO. +1B=.2HO. 1 + 1B=./ HO 8=.==A3O 2. Corner !reCuenc5 rad&sec aa 1 4 11 Slo>e d1&dec 82= 82= 2= 8/= Chan e in slo>e d1&dec aa 82=82=$ 8 /= 8/=82= $ 82= 8/=82= $ 8:=

iii.MAJN'TUDE 0LGTS

Calculate A at Ol" Oc1" Oc2" Oc3" and Oh Let A$ b J+HO.b in d1 At O$ Ol A$ 2= lo +1=&=.4.$2:.=3d1 O$ Oc1 " A$2=lo +1=&1.$2=d1 O$ Oc2 A$ 8/=lo +4&1.B2=$8?.D: d1 O$ Oc3 A $ 82=lo +11&4. 8 ?.D: $ 81/.A= d1 O$ Oh A $ 8:=lo +1==&11.81/.A= $ 8 ?2.3 d1 These values are >lotted in the semilo ra>h sheet takin freCuenc5 alon the lo arithmic scale and ma nitude in d1 alon the linear scale iv.0(ASE 0LGT The >hase an le of J+HO. as a function of O is iven 15 Q $ cJ+HO. $ tan81 =.2O 8D= - tan81 O - tan81 =.=/O&+1 - =.==A3O2. d tan81 =.2O tan81 O tan81 N=.=/O& Q $ cJ+HO. 2 +1 - =.==A3O .e =.4 4=? 2:.4: 1.14 8112 1 11.3 /4 2.31 812:.=1 4 /4 ?A.D: 1/.=/ 813A 1= :3./3 A/.2D :3.// 81?/.3 11 :4.4 A/.A A4.A 81D4./ 2= ?4.D: A?.1/ 1A=81D.DA$1:= 82:1.1A 4= A/.3 AA.A4 1A=8:$1?/ 82:A.44 1== A?=1/ AD./3 1A=82.D$1??.1 82:D.3 These values are >lotted in the semilo ra>h sheet takin the same freCuenc5 as 1efore alon the lo arithmic scale and >hase an le in de rees alon the linear scale. OUTPUT : ro' (!'+#at!o&) 2/2 s B 121= 88888888888888888888888888888 s\/ B : s\3 B 12: s\2 B 121 s Jm $ 2.=2?3

0m $ /1.A2?= 2c> $ 1=.=D:1 2c $ 3.:322 OUTPUT : ro' 9rap1) O c$ Q c$3.1rad&sec 0hase mar in f$1A=B Q c $ 1A=813/ $ /: de rees Jain Mar in $ 12 d1 O>c $ 1=.1 rad&sec

/ODE PLOT

VIVA QUESTIONS: 1. 2. 3. /. 4. :. ?. A. D. Define sta1ilit5 of Linear Time 'nvariant S5stem. Jive the sta1ilit5 conditions of s5stem usin 0ole8,ero >lot. Define @ode 0lot. 2hat is the use of @ode 0lotI 2hat are the conditions of sta1ilit5 in 1ode >lotI Define Sta1ilit5 criteria. Define Limits of sta1ilit5. Define safe re ions in sta1ilit5 criteria. Define 0hase mar in and Jain mar in.

REFERENCE 1. 2. 3. /. 4. NAJ#AT( K JG0AL"M Control S5stemsM. MATLA@ User Manual . Control S5stems 15 Na oor ani Control s5stem En ineerin 15 S .0 .Eu ene )avier and ;.;ose>h C5ril 1a1u. Control s5stem En ineerin 15 #.Ananda NataraHan and 0.#amesh 1a1u.

RESULT: i+The $ode plot is dra)n for the given transfer function using MAT,A$ and verified manually ii+ The system is sta#le

Expt. No: 6. b)

STABILITY ANALYSIS OF LINEAR SYSTEMS

+#oot Locus 0lot.

AIM To o1tain the #oot locus >lot for the iven s5stem *hose transfer function is iven as J+S.$ < s+sB3.+s2B3sB11.24.

APPARATUS REQUIRED Mat la1 Soft*are THEORY ROOT LOCUS PLOT : The characteristic of the transient res>onse of a closed8loo> s5stem is related to the location of the closed loo> >oles. 'f the s5stem has a varia1le loo> ain" then the location of the closed8loo> >oles de>end on the value of the loo> ain chosen. A sim>le techniCue kno*n as L#oot Locus TechniCueM used for stud5in linear control s5stems in the investi ation of the traHectories of the roots of the characteristic eCuation. This techniCue >rovides a ra>hical method of >lottin the locus of the roots in the s8>lane as a iven s5stem >arameter is varied over the com>lete ran e of values+ma5 1e from Tero to infinit5.. The roots corres>ondin to a >articular value of the s5stem >arameter can then 1e located on the locus or the value of the >arameter for a desired root location can 1e determined form the locus. The root locus is a >o*erful techniCue as it 1rin s into focus the com>lete d5namic res>onse of the s5stem . The root locus also >rovides a measure of sensitivit5 of roots to the variation in the >arameter 1ein considered. This techniCue is a>>lica1le to 1oth sin le as *ell as multi>le8loo> s5stems. PROCEDURE: 1. 2rite a 0ro ram to +or usin S'MUL'N<. o1tain the #oot locus >lot for the iven s5stem. 2. Access the sta1ilit5 of iven s5stem usin the >lots o1tained. PROGRAM R#GGT LGCUS G! T(E SUSTEMR num$7= = = = 19 den$71 : 2=.24 33.?4 =9 s5s$tf+num"den. rlocus+s5s. v$781="1="8A"A9Z

a6is+v. 6la1el+[#eal A6is[. 5la1el+['ma inar5 A6is[. title+[#oot Locus of the s5tem [. title+[#oot Locus 0lot of the s5stem <&s+sB3.+s\2B3sB11.24..[. MANUAL CALCULATIONS 1. Num1er of >oles $/" Teros $ =" num1er of root locus 1ranches $/. Startin >oints s$=" 83 K 1.4B H3. 2. 0ole - Tero >lot is as follo*s Section 1et*een = and 83 is >art of root locus. Gne 1reak*a5 >oint is 1et*een s$= and s$8 3. 3. An le of as5m>totes are /4"134"224 and 314 de rees /. Centroid $ 81.4 4. Three @reak*a5 >oints are 81.4"81.4 B H 1.A3?1 :. 'ntersection *ith ima inar5 a6is s$ B H2.3?. ?. An le of de>arture 8D=" BD=. A. #oot locus is >lotted. D. Sta1ilit5 for =X <XA2.2: s5stem is sta1le. <$A2.2: s5stem is mar inall5 sta1le. <`A2.2: s5stem is unsta1le OUTPUT num $ = = = = 1 den $ 1.==== :.==== 2=.24== 33.?4== Transfer functionV 1 888888888888888888888888888888888 s\/ B : s\3 B 2=.24 s\2 B 33.?4 s GRAPH: ro' S!'+#at!o&)

VIVA QUESTIONS 1. Define root locus techniCue. 2. 2hat are the conditions of sta1ilit5 in root locus criteria. 3. 2hat is the advanta e of root locus techniCue. /. 2hich method of sta1ilit5 anal5sis is more advanta eousI 4. (o* the sta1ilit5 of unsta1le is im>rovedI :. 2hat are the methods to im>rove the sta1ilit5. ?. 2hat is the use of com>ensators. A. 2hat do 5ou mean 15 #oot8LociI D. 2hat is com>lementar5 #oot LociI 1=. 2hat are contoursI 11. State the 1asic >ro>erties of #oot Locus. 12. (o* *ould 5ou find the num1er of 1ranches of #oot LociI

13. (o* are the 1reak a*a5 >oints of the root locus determinedI 1/. (o* is the >oint of intersection of the as5m>totes *ith real a6is found out.

REFERENCE 1. 2. 3. /. 4. NAJ#AT( K JG0AL"M Control S5stemsM. MATLA@ User Manual . Control S5stems 15 Na oor ani Control s5stem En ineerin 15 S .0 .Eu ene )avier and ;.;ose>h C5ril 1a1u. Control s5stem En ineerin 15 #.Ananda NataraHan and 0.#amesh 1a1u.

RESULT: Thus the #oot Locus >lot is dra*n for the iven transfer function usin matla1 and verified manuall5.

E6>t. NoV : c.

STA@'L'TU ANALUS'S G! L'NEA# SUSTEMS +N5Cuist 0lot.

AIM To o1tain the N5Cuist >lot for the iven s5stem *hose transfer function is iven as J+S.$ 4= +sB/.+s2B3sB3. and to find out *hether the s5stem is sta1le or not. APPARATUS REQUIRED Mat la1 Soft*are THEORY POLAR PLOTS OR NYQUIST PLOTS:

The sinusoidal transfer function J+HO. is a com>le6 function is iven 15 J+HO. $ #e7 J+HO.9 B H 'm7J+HO.9 or J+HO. $ gJ+HO. g hJ+HO. $ M hQ 88888888888+1. !rom eCuation +1." it is seen that J+HO. ma5 1e re>resented as a >hasor of ma nitude M and >hase an le Q. As the in>ut freCuenc5 varies from = to i" the ma nitude M and >hase an le Q chan es and hence the ti> of the >hasor J+HO. traces a locus in the com>le6 >lane. The locus thus o1tained is kno*n as POLAR PLOT. The maHor advanta e of the >olar >lot lies in sta1ilit5 stud5 of s5stems. N5Cuist related the sta1ilit5 of a s5stem to the form of these >lots. 0olar >lots are referred as NYQUIST PLOTS. NYQUIST (ta2!#!t= %r!t"r!o& of determinin the sta1ilit5 of a closed loo> s5stem 15 investi atin the >ro>erties of the freCuenc5 domain >lot of the loo> transfer function J+s. (+s.. N5Cuist sta1ilit5 criterion >rovides the information on the a1solute sta1ilit5 of a control s5stem as similar to #outh8 (ur*itT criterion. Not onl5 ivin the a1solute sta1ilit5" 1ut indicates BD"9r"" o Sta2!#!t=C i.e L#elative Sta1ilit5M of a sta1le s5stem and the de ree of insta1ilit5 of an unsta1le s5stem and indicates ho* the s5stem sta1ilit5 can 1e im>roved. The N5Cuist sta1ilit5 citerion is 1ased on a Cauch53s #esidue Theorem of com>le6 varia1les *hich is referred to as the Bpr!&%!p#" o ar9+'"&tC. Let _+s. 1e a sin le -valued function that has a finite num1er of >oles in the s8>lane. Su>>ose that an ar1itrar5 closed >ath jC is chosen in the s8>lane so that the >ath does not o throu h an5 one of the >oles or Teros of _+s.Z the corres>ondin jC locus ma>>ed in the _+s. >lane *ill encircle the ori in as man5 times as the difference 1et*een the num1er of the Teros and the num1er of >oles of _+s. that are encircled 15 the s8>lane locus jC. The >rinci>le of ar ument is iven 15 N$ , 8 0 2here N - num1er of encirclemnts of the ori in made 15 the _+s. ->lane locus jC. , - num1er of Teros of _+s. encircled 15 the s8>lane locus jC in the s8>lane. 0 8 num1er of >oles of _+s. encircled 15 the s8>lane locus jC in the s8>lane. ALGORITHM 1. 2rite a 0ro ram to +or usin S'MUL'N<. o1tain the N5Cuist >lot for the iven s5stem. 2. Access the sta1ilit5 of iven s5stem usin the >lots o1tained. PROGRAM RNU_U'ST 0LGT REnter the numerator and denominator of the transfer function num$7= = = 4=9 den$71 ? 12 129 s5s$tf+num"den. RS>ecif5 the freCuenc5 ran e and enter the command n5Cuist+s5s. v$783 4 8? ?9 a6is+v. 6la1el+[#eal A6is[.Z

5la1el+['ma inar5 A6is[.Z title+[N5Cuist 0lot of the s5tem 4=&+sB/.+s\2B3sB3.[. RTo determine the Jain Mar in"0hase Mar in" Jain crossover freCuenc5 and R>hase cross over freCuenc5 7Jm"0m"2c>"2c 9$mar in +s5s. v$ 83 4 8? Jm $ 1.//=2 0m $ 11.1:/2 2c> $ 3./:/3 2c $ 2.D433 ?

MANUAL CALCULATIONS: NYQUIST PLOT

VIVA QUESTIONS

1. 2. 3. /.

2hat is >olar >lotI 2hat is N5Cuist >lotI Define the conditions of sta1ilit5 in >olar >lot. 2hat is the use and advanta e of >olar >lot.

REFERENCE 1. NAJ#AT( K JG0AL"M Control S5stemsM. 2. MATLA@ User Manual . 3. Control S5stems 15 Na oor ani RESULT: Thus the N5Cuist >lot is dra*n for the iven transfer function usin matla1 and verified manuall5

Expt. No: D

DC POSITION CONTROL SYSTE M

To stud5 the characteristics of a dc >osition control s5stem. APPARATUS REQUIRED: i. ii. THEORY: A >air of >otentiometers acts as error8measurin device. The5 convert the in>ut and out>ut >ositions into >ro>ortional electric si nals. The desired >osition is set on the in>ut >otentiometer and the actual >osition is fed to feed1ack >otentiometer. The difference 1et*een the t*o an ular >ositions enerates an error si nal" *hich is am>lified and fed to armature circuit of the DC motor. 'f an error e6ists " the motor develo>s a torCue to rotate the out>ut in such a *a5 as to reduce the error to Tero. The rotation of the motor ste>s *hen the error si nal is Tero" i.e." *hen the desired >osition is reached. DC >osition control kit and Motor unit Multimeter

PROCEDURE: 1. The in>ut or ref >otentiometer is adHusted nearer to Tero initiall5. 2. The command s*itch is ke>t in continuous mode and some value of for*ard ain < a is

selected. -. !or various >ositions of in>ut >otentiometer +r. the >ositions of the res>onse >otentiometer +=. is noted. Simultaneousl5 the reference volta e measured 1et*een % r K E and the out>ut volta e measured 1et*een %G K E are noted. .. A ra>h is >lotted *ith = alon 58a6is and r alon 68a6is.

Ta1ular Column S.ENo Fr $"9r"" FO $"9r"" Vr !& Vo#t( VO !& Vo#t(

MODEL GRAPH:

O+tp+t Po(!t!o& :D"9)

I&p+t Po(!t!o& :D"9)

VIVA QUESTIONS: 1. 2. 2hat is the difference 1et*een re ulator K servomechanismI 2hat are the 1asic com>onents of control s5stemI

3. /. 4. :. ?. RESULT

2hat are the G>en loo> and closed loo> control s5stemsI Jive the advanta es of closed loo> control s5stems. 2hat is tacho eneratorI 2hat do 5ou mean 15 feed1ack and *hat are the t5>es of feed1ackI 'n this e6>eriment *hat t5>e of feed1ack is usedI 2h5I

Thus the dc >osition control s5stem characteristics are studied and corres>ondin

ra>hs are dra*n.

Expt. NoG:

DIGITAL SIMULATION OF FIRST ORDER SYSTEMS

A'M To di itall5 simulate the time res>onse characteristics of a linear s5stem *ithout non linearities and to verif5 it manuall5. APPARATUS REQUIRED A 0C *ith MATLA@ >acka e THEORY The time characteristics of control s5stems are s>ecified in terms of time domain s>ecifications. S5stems *ith ener 5 stora e elements cannot res>ond instantaneousl5 and *ill e6hi1it transient res>onses" *henever the5 are su1Hected to in>uts or distur1ances. The desired >erformance characteristics of a s5stem of an5 order ma5 1e s>ecified in terms of transient res>onse to a unit ste> in>ut si nal. The transient res>onse characteristics of a control s5stem to a unit ste> in>ut is s>ecified in terms of the follo*in time domain s>ecifications Dela5 time td #ise time tr 0eak time t> Ma6imum overshoot M> Settlin time ts PROCEDURE: 1. 'n MATLA@ soft*are o>en a ne* model in simulink li1rar5 1ro*ser. 2. !rom the continuous 1lock in the li1rar5 dra the transfer function 1lock. 3. !rom the source 1lock in the li1rar5 dra the ste> in>ut. /. !rom the sink 1lock in the li1rar5 dra thesco>e. 4. !rom the math o>erations 1lock in the li1rar5 dra the summin >oint. :. Connect all to form a s5stem and ive unit5 feed1ack to the s5stem. ?. !or chan in the >arameters of the 1locks connected dou1le click the res>ective 1lock. A. Start simulation and o1serve the results in sco>e. D. !rom the ste> res>onse o1tained note do*n the rise time" >eak time" >eak overshoot and settlin time. 1=. !or the same transfer function *rite a matla1 >ro ram to o1tain the ste> res>onse and verif5 1oth the results. 0#GJ#AM RThis is a MATLA@ >ro ram to find the ste> res>onse num$7= = 249Z den$71 : 249Z s5s $ tf +num"den.Z ste> +s5s.Z

PLOT

RESULT The time res>onse characteristics of a linear s5stem *ithout non linearities is simulated di itall5 and verified manuall5.