07e509 Control Engineering Lab Manual MPM, SPD

07E509 CONTROL ENGINEERING LABORATORY
0
1.
Determination of transfer function of armature controlled DC motor
2.
Determination of transfer function of field controlled DC motor
3.
Determination of transfer function of AC servo motor
4.
Analog and Digital simulation of Type-0 and Type-1 system
5.
Time response analysis simulation
6.
a) Characteristics of synchros
0 3 2
b) Study of stepper motor

7.
Digital simulation of systems with nonlinearity
8.
Frequency response analysis simulation
9.
Performance evaluation of P, PI and PID controllers
10.
Stability analysis of linear systems simulation
11.
Compensator design simulation
12.
Mini-project
http://annauniversitystudymaterials.blogspot.in/
Page 1
Experiment No: 1
Date:
TRANSFER FUNCTION OF ARMATURE CONTROLLED DC

MOTOR
OBJECTIVE:
To find the Transfer function of DC Motor with the control signal applied to
Armature.
THEORY:
A DC machine can run as a motor, when a DC supply is given to its field winding
to produce magnetic flux while the same DC source is used to supply current to the
armature. Now the armature becomes a current carrying conductor and as it is kept in a
magnetic field, it develops mechanical force. The direction of the force is given by
Flemings Left Hand Rule. DC motor in control applications is used for delivering
mechanical power to control elements while taking electrical control signal as input.
Electrical input to DC motor is called control signal and that can be applied in two
ways. In one method, the control signal is applied to the field winding while fixed voltage
is applied to armature winding. This method is called Field controlled motor. In another
method, control signal is applied to armature winding and constant voltage is applied to
field winding. This method is called Armature controlled motor. Here the transfer
function of armature controlled motor is to be found out.
DERIVATION OF TRANSFER FUNCTION:
According to Kirchhoffs Voltage Law (KVL),
V a ia R a La
The expression for back emf is
dia
eb
dt
(1)
e b (t) P Z n/A
Where n = speed of the shaft in revolutions per second

Hence
eb (t) (t )
Page 2
e b (t) K b (t ) K b dt
Substituting eqn.(2) for
eb in eqn.(1)
Va ia R a La
d ia
d
Kb
dt
dt
I a (s)[R a s L a ] K b s (s) V a (s)

Torque in a motor
(2)
(3)
T(t) (t) i a ( t)
Here control signal is applied to the armature and field is constant excited
Hence
T(t) ia ( t)
T(t) K a ia ( t)
(4)
This torque rotates the armature with inertia J and Friction Coefficient B , hence
d 2
J
dt
d
T(t)
dt
(5)
Multiplying eqn.(3) by Ka, we get
Ka Ia(s) [Ra sLa] Ka Kb s (s) Ka Va(s)
(6)
Substituting eqn.(5) for KaIa in eqn.(6)
(Js 2 Bs) (s) (Ra sLa) Ka Kb s (s) Ka Va(s)
[(Js2 Bs)(Ra sLa) Ka Kb s] (s) Ka Va(s)
Page 3
(s)
Ka
2
Va(s) (Js Bs)(Ra sLa) Ka Kb s
Ka
Ra Bs[(1
J
La
Ka Kb
s)(1 s)
]
B
Ra
Ra B
Ka
Ra B
s[(1 sTm)(1 sTa)
Ka Kb
]
Ra B
where La/Ra = Armature Time Constant, Ta

J/B = Mechanical Time Constant , Tm
PROCEDURE:
1. Determination of Ka
Power developed in d.c motor
2N
)T
60
K b (t ) I a (t )T
eb I a (
Since for armature controlled motor, torque T = Ka Ia
K b (t ) I a (t ) K a I a
Hence
Ka Kb
The connections are made as shown in the circuit diagram 1 for the determination
of back emf of the d.c motor for different speeds. Initially 100 ohms resistance is
connected in series with the armature. Field winding rheostat is kept at its
minimum. When supply for the motor is given, there will be tendency for the
Page 4
armature current to increase to a high value as back emf is zero at starting. But the
current is limited by the 100 ohms armature rheostat. When the motor has started
the armature resistance is gradually cut down completely to increase the motor
speed. Further to bring the motor speed to rated value, resistance in field rheostat
is increased so that motor reaches rated speed. This excitation is called rated or
normal excitation and it is not disturbed.
Once again the armature resistance is included to the maximum 100 ohms
while keeping the field excitation undisturbed. Now the slow speed at full
armature resistance is noted and correspondingly the voltage across the armature
is noted down. The speed is increased in steps by cutting the armature resistance
each time noting the speed and voltage across the armature. By measuring the
armature resistance back emf for each speed can be calculated. The readings are
tabulated as in Table 1.
Graph: Back emf , eb
vs
angular speed, w rad/sec
2. Measurement of Ra
Connections are made as per the circuit diagram 2 where armature of the d.c
motor is connected in series with low resistive load having current capacity equal to
full load current of the armature. A voltmeter is connected across the armature and an
ammeter is connected in series with the armature. First keeping the maximum
resistance in the armature supply is given. The voltmeter reading and ammeter
reading are noted down. Then armature resistance is decreased so that the armature
current becomes half the rated value. The readings are taken. Again the armature
resistance is further decreased so that the armature current is rated value. Again the
readings are taken and tabulated.
Table 1
Sl.No Va Ia Ra = Va/ Ia
Page 5
Table 2
Sl.No Voltage Across Armature
armature , Va
Speed in w, rad/sec Eb= V - IaRa
Current, Ia Rpm, N
3. Measurement of Time constant of the motor, Tm

The connections are made as shown in the circuit diagram 1. The experiment is no
load test on the motor. The armature of the d.c motor is kept at maximum resistance by
connecting a 100 ohms rheostat in series with the armature. The field rheostat is kept in
its minimum position. The motor is started and armature resistance is cut slowly so that
the motor is allowed to pick up speed. After fully cutting the armature resistance, motor
field resistance is increased to a position so that motor reaches rated speed. The field
current of the motor at this position is called rated excitation. This field rheostat position
is maintained for rated excitation.
Before starting the experiment, once again armature resistance of the motor is
brought to the maximum value of 100 ohms without disturbing the rated field excitation.
Now the supply for the motor is given and sufficient time is allowed so that the motor
reaches a steady speed, Ns whose value is noted. From this steady speed, 0.632 times of
the steady speed is calculated which is equal to 0.632 Ns. Let the mechanical Time
constant of the motor with 100 ohms armature resistance be T mh. The Time constant Tmh
is the time taken for the motor to reach 0.632 Ns from starting. To find out Tmh the
supply is disconnected and the motor is restarted with switching on a stop watch. The
time taken by the motor to reach 0.632 Ns is T mh. The actual motor time constant Tm
Page 6
without the external resistance of 100 ohms will be much lower and it is calculated as
follows.
Tm R a
T mh R a R ex
Tm R a
T mh R a R ex
T m T mh (
Ra )
R a R ex
(7)
The actual Time constant, Tm of the motor will be a fraction of a second and difficult
to measure. Hence the higher Time constant with 100 ohms included in the armature, Tmh
is measured . From which Tm is found out by equation (7)
4. Determination of La
The connections are made similar to the circuit diagram 2 except 230V ac is applied
instead of dc. The voltmeter and ammeter are ac meters of appropriate range. The
experiment is repeated as was done for measurement of armature resistance.
Armature time constant , Ta = La/Ra
1. What is meant by Time constant?

2. Define armature Time constant.
3. Define Mechanical Time constant.
4. Prove Ka = Kb
Page 7
5. How inductance is encountered in d.c motor?

6. What is the significance of back emf?
7. How do you determine armature Time constant?
8. How do you determine Mechanical Time constant?
9. Why motor Time constant is measured by including large resistance in the
armature?
TRANSFER FUNCTION OF FIELD CONTROLLED DC MOTOR

OBJECTIVE:
To find the Transfer function of DC Motor with the control signal applied to
Field.
THEORY:
A DC machine can run as a motor, when a DC supply is given to its field winding
to produce magnetic flux while the same DC source is used to supply current to the
armature. Now the armature becomes a current carrying conductor and as it is kept in a
magnetic field, it develops mechanical force and the direction of the force is given by
Flemings Left Hand Rule. DC motor in control applications is used for delivering
mechanical power to control elements for electrical control signal as input.
Electrical input to DC motor is called control signal and that can be applied in two
ways. In one method, the control signal is applied to the field winding while fixed voltage
is applied to armature winding and hence mechanical power is developed and that
depends totally on the magnitude of the control signal applied to field. This method is
called Field controlled motor. In another method, control signal is applied to armature
winding and constant voltage is applied to field winding. The mechanical power
Page 8
developed here depends on the control signal that goes to armature. This method is called
Armature controlled motor.
DERIVATION OF TRANSFER FUNCTION:

According to Kirchoff Voltage Law(KVL)
R f If ( t) Lf
dif
Vf ( t)
dt
If(s)[Rf sLf] Vf(s)
(1)
T(t) if (t)
T(t) K f if (t)
T(s) K f if (s)
(2)
d 2
d
J
B
T(t)
2
dt
dt
(Js 2 Bs) (s) T(s)
(3)
Multiplying eqn.(1) by Kf
K f if (s) [R f s Lf ] K f V f (s)
substituting
Kf If(s) (Js2 Bs) (s)
(4)
in eqn.(4),
(Js 2 Bs) (s) [Rf sLf] Kf Vf(s)

Page 9
(s)
Kf
Vf(s) (Js2 Bs)Rf sLf
Kf
sJs BRf sLf
Kf
Rf B
J
Lf
s(1 ( )s)(1 ( )s)
B
Rf
Km
s(1 sTm)(1 sTf)
where Km = Motor Gain Constant

Tf = Field Time Constant
Tm = Mechanical Time Constant
PROCEDURE:
1. Measurement of Time constant of the motor, Tm
The connections are made as shown in the circuit diagram. The
experiment is no load test on the motor. The armature of the d.c motor is kept at
maximum resistance by connecting a 100 ohms rheostat in series with the
armature. The field rheostat is kept in its minimum position. The motor is started
and armature resistance is cut slowly so that the motor is allowed to pick up
speed. After fully cutting the armature resistance, motor field resistance is
increased to a position so that motor reaches rated speed. The field current of the
motor at this position is called rated excitation. This field rheostat position is
maintained for rated excitation.
Page 10
Before starting the experiment, once again armature resistance of the

motor is brought to the maximum value of 100 ohms without disturbing the rated
field excitation. Now the supply for the motor is given and sufficient time is
allowed so that the motor reaches a steady speed, Ns whose value is noted. From
this steady speed, 0.632 times of the steady speed is calculated which is equal to
0.632 Ns. Let the mechanical Time constant of the motor with 100 ohms armature
resistance be T mh. The Time constant Tmh is the time taken for the motor to reach
0.632 Ns from starting. To find out Tmh the supply is disconnected and the motor
is restarted with switching on a stop watch. The time taken by the motor to reach
0.632 Ns
is Tmh. The actual motor time constant Tm without the external
resistance of 100 ohms will be much lower and it is calculated as follows.
Tm R a
T mh R a R ex
Tm R a
T mh R a R ex
T m T mh (
Ra )
R a R ex
(5)
The actual Time constant, Tm of the motor will be a fraction of a second

and difficult to measure. Hence the higher Time constant with 100 ohms included
in the armature, Tmh is measured . From which Tm is found out by equation (5)
2. Determination Of Field Resistance of the Motor, Rf

The motor field resistance is measured by passing known current through the field
winding. The voltage across the field winding is measured using a appropriate voltmeter.
The connections are made as shown in circuit diagram 2. Normally resistance of the field
winding of d.c machine will be around 200 ohms. Hence an external variable resistance
Page 11
of 350 ohms/1.1 amps rheostat shall be connected in series with the field winding of the
motor. The rated 220 volts d.c shall be applied to the field winding of the motor in series
with the 350 ohms/1.1 amps rheostat kept at its maximum resistance. An ammeter is
connected in series with the field winding to measure the current and a voltmeter across
the winding to measure the voltage drop in the winding.
Keeping the resistance of the 350 ohms/1.1 amps rheostat in its maximum value,
the ammeter and voltmeter readings are noted. The resistance of the rheostat is reduced in
steps each time noting the ammeter and voltmeter readings. Three sets of readings are
taken and the average of the three resistances measured is the motor field resistance.
Sl.no Voltmeter
Ammeter
Rf = V/I
Reading, V Reading ,I
1.
2.
3.
Average field resistance, Rf
3. Determination of Field winding inductance, Lf

The connections are made as shown in circuit 3 which is almost similar to circuit2
except a.c voltage is applied instead of d.c voltage. The ammeter and voltmeters are also
a.c meters of appropriate range. Three sets of readings are taken . The ratio of voltage to
current gives the impedance, Zf. The average of the impedances measured gives the
impedance of the field winding, Zf.
Sl.No Voltmeter
Ammeter
Field impedance,
Reading, Vac Reading, Iac Z
Average field impedance
Page 12
Z2 = Rf2 + Xf2
Xf = (Z2 - Rf2)1/2
Lf = (Z2 - Rf2)1/2 / 2
4. Determination of Kf
T(t) = Ka Ia(t)
= Kf If (t)
Kb Ia = Kf If
Torque = Kf If = Ka Ia (rated)
Kf = Ka Ia (rated) / If(rated)
1. What is meant by Time constant of a device?

2. Define field Time constant of the motor.
3. Define Mechanical Time constant of the motor.
4. How field torque constant Kf is determined?
5. How inductance is encountered in d.c motor?
6. How Mechanical Time constant is determined?
7. Why high resistance is included in the armature to determine the mechanical Time
constant?
Page 13
Experiment No: 3
Date:
DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF

AC SERVO MOTOR
AIM:
To derive the transfer function of the given AC servo motor and
experimentally determine the transfer function parameters of field controlled DC
motor.
APPARATUS / INSTRUMENTS USED:
S.NO
1
2
3
ITEM
Two phase AC Servo Motor Speed Control and Transfer
Function Study Trainer Kit
Patch Chards
AC Voltmeter (0-20)V
QUANTITY
1
As required
1
THEORY:
An AC Servomotor is basically a two phase induction motor except for certain
special design features. It differs in the following two ways from a normal induction
motor.
The rotor of the servomotor is built with high resistance, so that its X/R ratio is
small which results in linear speed torque characteristics where for normal
induction motors the X/R ratio is large.
Page 14
The excitation voltage applied to two stator windings should have a phase
difference of 90o.
Construction:
The stator consists of two pole pairs mounted on the inner periphery of the stator,
such that their axes are at angle of 90o in space. Each pole pair carries one winding. One
is called reference winding and the other is called a control winding. The exciting current
in the winding should have phase displacement of 90o. The supply used to drive the
motor is single phase and so a phase advancing capacitor is connected to one of the phase
to produce a phase difference of 90o.
The rotor construction is usually a squirrel cage or drag-cup type. The squirrel
cage rotor is made up of laminations. The rotor bars are placed on slots and short
circuited at both ends by end rings. The diameter of the rotor is kept small in order to
reduce inertia and to obtain good accelerating characteristics. The drag-cup type
construction is employed for very low inertia applications. The rotor will be in the form
of hollow cylinder made of aluminium, which acts as short circuited rotor conductors.
Working Principle:
The stator winding are excited by voltages of equal rms magnitude and 90o phase
difference. This results in exciting currents i1 and i2 that are displaced by 90o and have
equal rms values. These current give rises to a rotating magnetic field of constant
magnitude. The direction of rotation depends on the phase relationship of the two
currents (or voltages). The rotating magnetic field sweeps over the rotor conductors. The
rotor conductors experience a change in flux and so voltages are induced in rotor
conductors.Hence a circulating current is produced in the short circuited rotor and the
currents create rotor flux. Due to the interaction of stator and rotor flux, a mechanical
force (torque) developed on the rotor and it starts moving in the same direction as that of
rotating magnetic field.
The block schematic of an AC servo motor with control system components is
shown in Fig 1. The reference winding is excited by a constant voltage source with
frequency 50 Hz. The speed of the motor is controlled by controlling the control voltage.
The error output of error detector is fed to PI controller. Due to the error, controller takes
control action by giving control voltage to the firing circuit. The firing circuit generates
the pulses to rotate the motor at the required speed.
Torque (T) in Nm
The characteristics of AC servo motor are similar to three phase induction motor.
At no load, induction motor will run nearly at synchronous speed. When the motor gets
loaded, the torque will increase to supply the load with the proportional decrease of speed
and the torque reaches the maximum value at a particular speed. When the speed falls
beyond the limit, both the speed and torque fall as shown in Fig 1.
Synchronous
speed
Speed (N) in rpm
Page 15
Fig 1. Speed - Torque Characteristics of 3- Induction Motor
Torque (T) in Nm
This part of the characteristics is not suitable for control applications. The
required characteristics for control applications is when the torque increases, the speed of
the motor should fall from synchronous speed to zero speed. Practically this
characteristic curve can be obtained by including more resistance in the rotor of the
induction motor. The same is true for two phase induction motor. When more resistance
is included in the rotor of the two phase induction motor, the characteristic curve
becomes linear as shown in Fig. 2.
V3
V2
V1
Speed ( rad/sec)
Fig 2. Speed - Torque Characteristics of AC Servo Motor

Two phase induction motor has two windings main winding (or) running winding and
starting winding or control winding. Besides these, two phase AC servo motor has large
resistance in the rotor. The control voltage is applied to the control winding and
fixed AC voltage having a phase difference of 90 o with respect to control winding voltage
is applied to the running winding. The control voltage results in the development of the
motor torque. Unless the control winding is applied with AC voltage, the motor will not
develop torque. The torque speed characteristic curve shown in Fig. 2 is a straight line
and the torque applied by the motor will be increased with supply voltage.
Hence the torque of the AC servo motor can be expressed as
T(t) = f(Vc,)
(1)
By Taylors series expansion
T=
T
T
Vc(t)
(t)
Vc
Vc
(2)
Page 16
Where Vc = AC voltage signal applied to control winding in Volts

= Angular speed of the motor in rad/sec
T = Torque developed by the motor in Nm
T
T
The partial derivative
is denoted by Kc and
is denoted by Km. The
Vc
factors Kc and Km can be determined by simple load test.

Derivation of Transfer Function:
As we know,
T(t) =
T
T
Vc(t)
(t)
Vc
Vc
(3)
T(t) = KcVc(t) + Km (t)

(4)
The developed torque used to rotate the load on the shaft with inertia J and friction
coefficient B, with an angular speed of (t ) is given by
d ( t )
T(t) = J
B (t)
(5)
dt
Taking Laplace Transformation for equations (4) and (5) and equating them
KcVc(s) + Km (s) = (Js + B) (s)
The input to the motor is control signal Vc(s) and the resulting mechanical output is (s) .
Re-arranging the above equation
(Js + B - Km) (s) = KcVc(s)
Transfer function = (s)
V c (s)
Kc
Js B - K m
(6)
In the transfer function (B - Km) should be always positive otherwise the system
with AC servomotor becomes unstable. Fortunately the drooping characteristic gives
negative value for Km and hence B - Km is always positive.
(s)
K c /(B - K m ) where Mechanical Time Constant T =
(1 sT)
V c (s)
J
(B - Km)
If friction is assumed zero the transfer function becomes
(s)
K ( K m )
(1 sT )
V c (s)
PROCEDURE:
The AC servo motor needs two phase supply for its operation. In a three phase
supply, the voltage between terminals R and N will be in quadrature with voltage
between Y and B as per the vector diagram. Thus, two phase ac voltages obtained.
Page 17
1.
2.
3.
4.
5.
6.
7.
G1K1 of pulse isolation output is connected to G1K1 of SCR1.

G2K2 of pulse isolation output is connected to G2K2 of SCR1.
Switch S1 is used to choose the control mode of operation.
9-pin D-Connector is connected to backside of the trainer.
Speed indicator switch is kept in P.V mode.
The voltmeter is connected across the control winding C1 & C2.
230 V AC Supply is switched on at which the running winding is applied
with rated voltage.
8. Pulse ON / OFF Switch S2 is switched on.
9. Rated voltage is applied (12 V) to the control phase winding by using
control voltage (C.V) pot.
10. The motor is loaded with known weights in steps.
11. For each step, the speed N in rpm is observed and angular speed
in rad/sec = 2**N/60 is calculated.
12. The procedure is continued till the motor reaches 0 rpm.
13. All the loads are removed and the control voltage pot is adjusted to 3/4th of
the rated voltage.
14. The same procedure is repeated and the readings are observed and
tabulated.
15. For each load, torque is calculated using the formula
T = 9.81*r*S*10-3 (in Nm)
Where r is the radius of the shaft in m
S is the applied voltage in kg
16. The graph Angular Speed, (rad/sec) Vs Torque, T (Nm) is plotted for the
two control voltages.
T
17. The slope of any one of the characteristics
gives the motor constant
Km.
18. Kc can be found from the characteristics as follows:
A vertical line to represent constant is drawn from axis to
meet the characteristics of both control voltages.
From the intersecting points of the characteristics by the vertical
axis for two known control voltages, a horizontal line towards the
torque axis is drawn.
T
The ratio of change in torque to the change in control voltage
Vc
is calculated which gives the value of Kc.
INFERENCE:
RESULT:
REVIEW QUESTIONS:
Page 18
10. What type of motor is used as AC servomotor? Why?

11. What improvements are made in the servomotor characteristics?
12. How voltage constant Kc and speed constant Km are determined?
13. Does the negative value of speed constant affect stability of the element?
14. How two phase AC voltage is obtained from three phase AC?
15. Does the motor run when control winding voltage is zero?
16. Plot the frequency response of the above system and comment on stability.
17. Obtain Bode plot of the above system using MATLAB and give your comments.
18. A closed loop control system uses a two phase AC motor. The error signal is
amplified by an amplifier and its output is connected to the motor. The amplifier
gain is 20 V/V and tachogenerator used in the feedback path has a gain constant
Km = 0.2 V/(rad/sec). The moment of inertia and the coefficient of viscous friction
referred to motor shaft side are respectively 1.5 x 10 -4 kg-m2 and 1 x 10-4
Nm/(red/sec). The motor has a stall torque of 0.12 Nm at 100 V input and the
torque decreases by 50 % when the speed increases to 2000 rpm. Draw the block
diagram and determine the transfer function of the system.
TABULATION:
Radius r = 0.0175 m
Control Voltage VC1 =
Sl.No.
Speed
N in rpm
Angular
Velocity
in rad/sec
Load
S in grams
Torque
T = 9.81*r*S*10-3 (Nm)
Control Voltage VC2 =
Sl.No.
Speed
N in rpm
Angular
Velocity
in rad/sec
Load
S in grams
Torque
T = 9.81*r*S*10-3 (Nm)
Page 19
MODEL CALCULATIONS:
kg/cm2
Moment of Inertia J =
Friction Coefficient B =
Nm/rad/sec
For Control Voltage VC1 =

Speed N =
V:
rpm
Angular Velocity = 2**N/60 =

Load S =
rad/sec
grams
Torque T = 9.81*r*S*10-3 =
Nm
From the charactersitics,

KC =
T
=
Vc
Motor Constant Km =
Nm/rad/sec
T
=
Nm/rad/sec
Therefore, Transfer function of AC servo motor
(s)
Kc
=
(
s
)
Js
B
K
m
V c
Page 20
Mechancial Time Constant T =
J
=
(B - Km)
seconds
Torque (T) in Nm
MODEL GRAPH:
VC2
VC1
Speed ( rad/sec)
Experiment No: 4
Date:
STUDY OF SYNCHROS
AIM:
To study the characteristics of synchros as error detector.
S.NO
ITEM
1
Synchronous Transmitter and Receiver
2
Patch Chards
3
Multimeter
QUANTITY
1 Set
As required
1
THEORY:
A synchro is an electromagnetic transducer commonly used to convert converting
angular position difference between output shaft and input command dial into a
proportional AC voltage.
The basic synchro is usually called a synchro transmitter. Its construction is
similar to that of a three phase alternator. The stator (stationary member) is of laminated
silicon steel and is slotted to accommodate a balanced three phase winding which is
usually of concentric coil type (three identical coils are placed in the stator with their axis
Page 21
120o apart) and is star connected. The rotor is a dumb bell construction and wound with a
concentric coil.
The rotor winding is applied with an AC supply voltage through slip rings and
this rotor is held fixed in a desired angular position say r (i.e. input or reference).
Let the AC voltage applied to the rotor of the transmitter be
Ei(t) = Em sin (2 f t)
(1)
This voltage causes a flow of magnetizing current in the rotor coil which produces a
sinusoidally time varying flux directed along its axis and distributed nearly sinusoidally
in the air gap along stator periphery. Because of transformer action, voltages are induced
in each of the stator coils. As the air gap flux is sinusoidally distributed, the flux linking
any stator coil is proportional to the cosine of the angle between rotor and stator coil axis
and so is the voltage induced in each stator coil.
The stator coil voltages are of course in time phase with each other. Thus the
synchro transmitter acts like a single phase transformer in which rotor coil is the primary
and the stator coil form three secondaries.
Let e1n, e2n and e3n be the voltages induced in the stator coils S1, S2 and S3
respectively with respect to neutral. Then for the rotor position of the synchro transmitter
shown in figure, the rotor axis makes an angle 0 with the axis of the stator coil S 1. Thus
for r = 0o, the corresponding voltage induced by transformer section across the stator
winding 1n is given by,
e1n = K Em sin (2 f t) cos r
= K Em sin (2 f t) cos 0
= K Em sin (2 f t)
(2)
where K is the constant of proportionality. As the stator windings 2n and 3n are 240 and
120 apart (angle measured as positive in anti-clockwise direction) with respect to the
winding 1n, the voltages induced across them are,
e2n = K Em sin (2 f t) cos (r + 240)
= K Em sin (2 f t) cos (0 + 240)
= K Em sin (2 f t) cos (240)
= -0.5 K Em sin (2 f t)
e3n = K Em sin (2 f t) cos(120)
= K Em sin (2 f t) cos(r + 120)
= K Em sin (2 f t) cos(120)
= -0.5 K Em sin (2 f t)
(3)
(4)
Equations (2), (3) and (4) indicate that three voltages e1n, e2n and e3n are single
phase voltages of same frequency and have same phase but their magnitudes depend on
rotor position.
Page 22
Now, if the rotor of the synchro transmitter shifts in anti-clockwise direction

through an angle , the voltages in the stator coils are,
e1n = K Em sin (2 f t) cos r
e2n = K Em sin (2 f t) cos(240 - r)
e3n = K Em sin (2 f t) cos(120 - r)
(5)
(6)
(7)
Equations (5), (6) and (7) reveal that magnitudes of the voltages e1n, e2n and e3n
vary sinusoidally with respect to r as shown in figure .
It is seen that when r = 0o, the maximum voltage is induced in the stator coil S1.
This position of rotor is defined as electrical zero of the transmitter and is used as
reference for specifying the angular position of the rotor. Hence it is inferred that the
synchro transmitter is the angular position of its rotor shaft and the output is a set of three
single phase voltages. The magnitude of these voltages are functions of a shaft position.
The classical synchro system consists of two units:
1. Synchro Transmitter
2. Synchro Receiver
The synchro receiver is having almost the same constructional features. The two
units are connected as shown in the figure 2. . The locations of transmitter and receiver
can be away from each other. The rotor of synchro transmitter is salient pole type and
that of synchro receiver is cylindrical type.
The rotor of the synchro receiver is coupled to the output shaft of the control
system. If the position of the output shaft is indicated as o this results in an angular error
e = (r - o) between the positions of the input (reference) and the output shafts.
Initially the winding S2 of the stator transmitter is positioned for maximum coupling with
rotor winding. Suppose its voltage is V, the coupling between S1 and S2 of the stator and
primary (rotor) winding is a cosine function. Therefore the effective voltages in these
windings are proportional to 60o or they are V/2 each. So long as the rotors of the
transmitters and receivers remain in this position, no current will flow between the
windings because of voltage balance.
When the rotor transmitter is moved to a new position, the voltage balance is
distributed. Assume the rotor of the transmitter is moved through 30o, the stator winding
voltages will be changed to zero, 0.866 V and 0.866 V respectively. Thus there is a
voltage imbalance between the windings cause a currents to flow through the close circuit
producing a torque that tends to rotate the rotor of the receiver to a new position where
the voltage balance is again restored. This balance is restored only if the receiver turns
through the same angle as the transmitter and also the direction of the rotation is the same
as that of transmitter.
The transmitter and receiver pair thus serves to transmit information regarding the
angular position at one point to a remote point.
The magnitude of the output induced voltage eo developed across the rotor of the
receiver is given by the following relation:
eo = Kr sin (r - o)
(8)
Page 23
where Kr is a constant of proportionality.

In control systems the angular error, i.e. (r - o) is usually small and expressed in
radian, therefore,
sin (r - o) (r - o) radian
Hence,
eo = Kr (r - o)
(r - o) is expressed as e (angular error)
eo = Kr e (radian)
where Kr is expressed in V/rad.
The above equation indicates that angular error is converted into a proportional
voltage. Laplace transform of the above equation
Eo(s) = Kr e(s)
The Transfer function is given by
Eo(s)
e (s)
Kr
(9)
Where Kr is known as the sensitivity or the gain of synchro-error detector.

PRECAUTIONS:
The pointers for both rotors are to be handled gently.

The pointers should not pulled out
The rotor and stator terminals should not be shorted.
PROCEDURE:
To obtain the Input Output characteristics of Synchro Transmitter:
19. The main supply to the system is connected with the help of cable
provided (the interconnections S1 , S2 and S3 to S1, S2 and S3 should not
be made).
20. The mains supply to the unit is switched ON.
21. The supply to the rotor transmitter is also switched ON. The magnitude of
the AC voltage supplied to the rotor is fixed as 40 V.
22. The magnitude of the AC voltage of between each of the stator terminals
VS1S2, VS2S3 and VS3S1 are measured and tabulated for different rotor
positions at equal intervals.
23. The graph, angular position Vs rotor voltages for all the three phases are
plotted as shown in figure 3.
To obtain the Input Output characteristics of Synchro Transmitter & Receiver
pair:
Page 24
1. The mains supply cable is connected.

2. The terminals of transmitter S1, S2 and S3 are connected to S1, S2 and S3
of receiver using patch cords respectively.
3. The mains supply is switched ON.
4. The rotor supply of both transmitter and receiver are also switched ON.
5. The rotor of receiver is tightly held at 0o.
6. The rotor position of synchro transmitter (pointer) is moved in steps of 10 o
and the new rotor position of receiver is observed.
7. The output voltage is also observed and it varies sinusoidally with angular
error.
8. The plot input angular position in degrees Vs output angular position in
degrees is plotted as shown in figure 4.
INFERENCE:
RESULT:
REVIEW QUESTIONS:
1.
2.
3.
4.
5.
What is the principle of synchro?

How synchro is a Zero order device?
What is synchro torque transducer?
How synchro is used as error detector?
Why rotor of synchro receiver is cylindrical in shape?
TABULATION:
Rotor Voltage = 40 V
Sl.No.
Angular Displacement of
Rotor in degrees
VS1S2
in Volts
VS2S3
in Volts
Angular Displacement of Rotor in degrees

Sl.No.
t
VS3S1
in Volts
Output Voltage
in Volts
Page 25
Study of DC stepper Motor

Aim:
By conducting the suitable experiment study the construction and working
principle of a DC stepper motor
Theory:
The stepper motor is a special type of synchronous motor which is designed to
rotate through a specific angle for each electrical pulse received from its control unit
In recent years, the growth of computer industry induced a wide-spread demand for
stepper motor can be controlled directly by computers, microprocessors and
programmable controllers.
The stepping motor ideally suited for precision positioning of an object or
precision control of speed without using a closed loop feed back. The shaft of the stepper
motor rotates in a series of discrete angular intervals or steps, one step being taken each
time a command pulse is received. When a definite number of pulses are supplied, the
shaft turns through a definite known angle this makes the motor well suited for open loop
position control because no feedback is required from the shaft. The only moving part in
a stepping motor its rotor which has no winding, commutator or brushes.
STEP ANGLE
The angle through which the motor shaft rotates for each command pulse is called
step angle . Smaller the step angle, greater the number of steps / revolution and higher
the resolution or accuracy of positioning obtained. The step angle can be as small as
0.72 degrees or as large as 90 . But most common step sizes are 1.8 , 2.5 , 7.5 &
15 . The value of step angle can be expressed either in terms of a rotor and stator poles
(teeth) Nr and Ns
respectively or in terms of the number of stator phases (m) and
number of rotor teeth (Nr).
Page 26
NS ~ Nr
360
NS Nr
OR
360
360
m Nr No.of Stator Phases No. of rotor Teeths
Resolution is the number of steps needed to complete one revolution.

Resolution =
No. of Steps 360 No. of Pulses
Revolution
Revolution
The stepper motor has the extraordinary ability to operate at very high stepping rate of
20,000 steps per second in some motors. Operation at very high speed is called slewing.
When in the slewing range, the motor generally emits an audible whine having a
fundamental frequency equal to stepping rate .if f is the stepping frequency (or) pulse rate
in pulse per second and is step angle then the motor shaft speed is given by
No. of pulse
Revolution
f
, n
and
f
Second
Second
n
Rps.
Where
No. of pulse
360
360
Resolution
revolution
Second
Stepping motors are designed to operate for long periods with the rotor held in a fixed
position and with the rated current flowing in the stator winding for other motors this will
result in collapse of back emf and very high current which can lead to quick burn out the
stator winding.
Permanent-Magnet Stepping Motor

Construction: It has a wound stator poles and the rotor is made of permanent
magnet material like magnetically hard ferrite. As shown in the Fig.1, the rotor has
projecting poles but the rotor is cylindrical and has radially magnetized permanent
magnets. The operating principle of such a motor can be understood with the help of
Fig.1 (a) where the rotor has two poles and the stator has four poles. Since two stator
poles are energized by one winding, the motor has two windings or phases marked A and
B. The step angle of this motor = 360/mNr = 360 / 2 x 2 = 90 or =(4 - 2) x 360 /2
x 4 = 90.
Working: When a particular stator phase is energized, the rotor magnetic poles move
into alignment with the excited stator poles. The stator windings A and B can be excited
with either polarity current. Fig.1 (a) shows the condition when phase A is excited with
positive current. Here, = 0. If excitation is now switched to Phase B as in Fig.1 (b), the
rotor rotates by full step of 90 in the clockwise direction. Next, when phase A is excited
with negative current, the rotor turns through another 90 in CW direction as shown in
Fig. 1 (c). Similarly, excitation of phase B with negative current further turns the rotor
through another 90 in the same direction as shown in Fig. 1 (d). After this, excitation of
Page 27
phase A with positive current makes, the rotor turn through one complete revolution of
360. It will be noted that in a permanent-magnet stepper motor, the direction of rotation
depends on the polarity of the phase currents.
A
1
0
0
0
1
A
0
0
1
0
0
B
0
1
0
0
0
B
0
0
0
1
0
0
90
180
270
0
1-Phase-On Mode
Table No. 1
A
1
0
0
1
1
A
0
1
1
0
0
B
1
1
0
0
1
B
0
0
1
1
0
45
135
225
315
45
2-Phase-On Mode
Table No. 2
A
1
1
0
0
0
0
0
1
1
A
0
0
0
1
1
1
0
0
0
B
0
1
1
1
0
0
0
0
0
B
0
0
0
0
0
1
1
1
0
0
45
90
135
180
225
270
315
0
Fig. 2
1-Phase-On Mode &

Truth tables for three possible current sequences for producing clockwise
rotation
2-Phase-On
Modeare
given in Fig.2. Table No.1 applies when only one phase is energized at a Table
time inNo.
I-phase3
ON mode giving step size of 90. Table No.2 represents 2-phase-ON mode when two
phases are energized simultaneously. The resulting steps are of the same size but the
effective rotor pole positions are mid way between the two adjacent full-step positions.
Table No.3 represents half-stepping when 1-phase-ON and2-phase-ON modes are used
alternately. In this case, the step size becomes half of the normal step or one-fourth of the
pole-pitch (i.e. 90 / 2 = 45 or 180/4 = 45). Micro step can also be employed which
will give further reduced step size there by increasing the resolution
The specification of the Stepper Motor:

1.
2.
3.
4.
5.
Permanent magnet stepper motor

Number of phases =2
Step per revolution = 200
Step angle = 1.8 0.1 Non-cumulative.
Holding Torque = 2.8 Kg. cm. to 84 Kg. cm. covered in different frame size
(1 Kg. cm. =0.1 N.m)
Procedure:
1. Select the stepping rate by patching on the top panel to either 100 Hz or 10 Hz or
1 Hz pulse output
2. Set the direction control toggle switch to CCW rotation.
3. Set the CON/OSC toggle switch to the CON position.
4. Connect the motor by plugging the socket on to the controller unit.
5. Switch on the AC main supply then the stepper motor will start stepping in the
CCW direction on the continuous basis.
6. Repeat the above procedure at different stepping rate selectable by the patch card
connection.
Page 28
7. Repeat the above procedure for CW direction of rotation.

8. Repeat the above procedure for OSC mode of operation.
9. Repeat the above procedure for single step operation by linking the step rate
socket to ground and single pulse command given through the push switch
marked MONO.
10. Observe the wave forms of the control logic and driver stage circuitry on a high
input impedance oscilloscope (10 M or more) and the plot the wave forms.
11. Measure the frequency of pulse output at socket marked 100 Hz and measures the
rotation speed of the shaft with a non contact digital tachometer. The rotational
speed related to the pulse frequency as per the following expression.
1.8 f 60
Speed n
R.P.M.
360
Inference:
Experiment No: 8
Date:
PERFORMANCE EVALUATION OF P, PI AND PID

CONTROLLERS
AIM:
To study the tuning process of P, PI & PID controller using first order system.
S.NO
1
2
ITEM
Level Trainer
PC
QUANTITY
1
1
THEORY
PROPORTIONAL CONTROLLER
In proportional mode, a smooth linear relationship exists between the controller
output and the error. Each value of error has a unique value of controller output and has
Page 29
one to one correspondence. The range of error covering 0% to 100% controller output is
called proportional band.
P = Kp + Po
Kp = Proportional Gain , Po = Controller Gain
[Controller output P = Error * 100/ proportional Band]
If error is zero, the output is constant and equal to Po. For every 1% of error a
convection of Kp % is added or subtracted from P.
INTEGRAL CONTROLLER
In this mode, there will be a infinite signal change in the rate of controller output
with infinitesimal change in the error. This mode is often referred to as reset action.
dp/dt = Ki ep
dp/dt = rate of controller output change
Ki = constant relating the rate of the error
The inverse of Ki is called the integral time Ti(=1/Ki). If we integrate the above
equation, we can find the actual controller output at any time as
where Po is the controller output at t = 0. This equation shows that the present controller
output P(t) decreases on the history of error from the time when observation has started at
t=0. From the equation di/dt =Ki ep, if the error doubles, the rate of controller output
change also doubles. If the error is zero, the output stays fixed at a value. It is equal to
what it was when the error is zero. If the error is not zero, the output will begin to
increase or decrease at a rate of Ki % per second for every 1% of error.
DERIVATIVE CONTROLLER
In this mode, the controller output depends on the rate of change of error. This
mode is also known as rate of anticipating control. This mode cannot be used alone
because when the error is zero or constant, the controller has no output. The expression
for the derivative controller is given by
P = Kd dep /dt
Kd = derivative gain constant
dep /dt = rate of change of error
PROPORTIONAL INTEGRAL CONTROLLER
The expression for the controller output is given by
Page 30
In this mode, the one-to-one correspondence of proportional mode is available

and the integral mode eliminates the inherent offset. The proportional gain by design
changes the net integration mode gain but Ki can be independently adjusted.
PROPORTIONAL INTEGRAL-DERIVATIVE CONTROLLER
One the most powerful but complex controller mode operation combines the
proportional, integral and derivative modes. This system can be used for virtually any
process conditions. The analytical expression is
This mode eliminates the offset of the proportional mode and still provides fast response.
PROCEDURE
1. Connections are given as per circuit diagram.
2. Before the controller can be used, the parameters must be programmed. The
program mode is selected with the key operated switch.
3. DPC 5010 displace the prompt and the currently set values of each parameter.
Press ENTER if you dont wish to change the present values.
4. Enter the new value, most significant digit as follows.
5. Press , digits starts increasing.
6. Press , for entering new value.
7. If all the digits have been entered, go to step 10.
8. Press selected digits are shifted to left. Repeat from step 6 for the next digit.
9. Press shift +Enter to enter the value in program memory.
10. Vary the parameters and analyze the system performance.
INFERENCE
RESULT
OBSERVATION
S.No
Controller
Constant
Kp Kd
Ki
Settling
Time
Maximum Steady
Peak Over State
Shoot
error
Rise
Time
(sec)
Page 31
PI
PID
BLOCK DIAGRAM OF LEVEL CONTROLLER
Page 32
Page 33
POWER
SUPPLY
DAC
ADC
SCR
CONTROL
UNIT
CONTROLLER
PUMP
TRANSMITTER
WATER
RESERVOIR
PROCESS TANK
Experiment No: 7
Date:
DIGITAL SIMULATION OF NON-LINEAR SYSTEMS

AIM:
To digitally simulate the time response characteristics of a linear
system with simple non-linearities like saturation and dead zone.

S.NO
ITEM
1
PC with MATLAB Software
QUANTITY
1
PROCEDURE:
1. Derivation of transfer function of the given SISO linear system:
Apply Kirchhoffs voltage law or Kirchhoffs current law to form
the differential equations describing electrical circuits comprising
of resistors, capacitors, and inductors.
Apply Newtons Laws to form the equations of motion for lumped

parameter mechanical systems (Translational and rotational)
comprising of masses, springs, and dampers.
Form transfer
equations.
functions
from
the
describing
differential
2. Digital simulation of time response characteristics of the above system:
Write MATLAB script and build the block diagram for the above
system using SIMULINK blocks.
Plot the time response characteristics by simulating the system

for step, impulse and sinusoidal inputs.
Determine the time domain specifications analytically and verify

with the simulated results.
Identify real systems with similar characteristics.
3. Digital simulation of time response characteristics of the above system

with simple non-linearity:
Page 34
In the SIMULINK Block of the above linear system, include

simple
non-linearities like saturation and dead zone.
Plot the time response characteristics by simulating the system

for step, impulse and sinusoidal inputs.
Discuss the effect of non-linearity.
EXAMPLE:
INFERENCE:
RESULT:
REVIEW QUESTIONS:
19. What are non-linear systems?
20. How to analyse non-linear systems?
21. Give some examples of non-linearities?
22. What is linearization of non-linear systems?
23. List the methods of analyzing non-liner systems.
24. What are limit cycles?
(Important Note: The simulated results are to be neatly pasted in the

Observation and Record Note Books)
Page 35
Experiment No: 9
Date:
DIGITAL SIMULATION OF FIRST AND SECOND ORDER

SYSTEM
AIM
To digitally simulate the time response characteristics of first and second order
linear system for different input signals
S.NO
1
ITEM
QUANTITY
1
THEORY:
First Order System
From the general equation of transfer function for a first order system,
substitute the value of time constant(T) and obtain the time response characteristics
by manually and through simulation process for different type of input signals.
Second Order System

Undamped System
Assign damping factor, =0 in the general transfer function of the second
order system. Perform the simulation process and obtain the time response
characteristics for different input signals and verify the same by manually.
Underdamped System
Assign 1 in the general transfer function of the second order system.
Perform the simulation process and obtain the time response characteristics for
different input signals and verify the same by manually.
Critically damped System
Assign = 1 in the general transfer function of the second order system.
Page 36
Over damped System

Assign 1 in the general transfer function of the second order system.
PROCEDURE:
Digital simulation of time response characteristics of the given system:
Write MATLAB script and build the block diagram for the above
system using SIMULINK blocks.
Plot the time response characteristics by simulating the system for step,
impulse and sinusoidal inputs.
Determine the time domain specifications analytically and verify with

the simulated results.
INFERENCE:
RESULT:
Experiment No: 10
Date:
STABILITY ANALYSIS USING MATLAB/SIMULINK

Page 37
AIM:
To digitally simulate the frequency response characteristics of the given system
and analyse the stability of the system by
(i)
Routh Hurwitz Method
(ii)
Root Locus Method
(iii)
Drawing Bode Plot
(iv)
Drawing Nichols Plot
S.NO
1
ITEM
QUANTITY
1
THEORY:
Routh Hurwitz Criterion
This criterion represents a method of determining the location of poles of a
characteristics equation with respect to the left and right half of the s-plane without
actually solving the equation. By the location of the poles, the stability of the system can
be analysed whether it is stable or unstable.
Bode Plot
Magnitude and phase of the frequency response can be plotted directly on linear
scale. It consists of two parts of graph. The magnitude is expressed in gain as decibels
against logarithmic values of frequency called Magnitude plot. Phase angle in degrees
against logarithmic values of frequency called phase plot.
Root Locus Method
This is the graphically method in which movement of poles in S plane are
sketched when a particular parameter of a system is varied from zero to infinity. But for
root locus method, gain is assumed to be a parameter which is to be varied from zero to
infinity.
Nichols Plot
The Nichols chart consists of curves that are maps of constant M and N circles on
a new coordinate system. The coordinate system plots gain in dB versus phase angle in
degrees. When the transfer function parameters are transformed to M and N circles to log
magnitude and phase angle coordinates, the resultant plot is Nichols Plot. It is very useful
in determining closed loop response from open loop response. It gives more information
by graphically relating open loop and closed loop information on single plot. It consists
Page 38
of M and N circles that repeat every 3600. Note down that both M and N circles are
symmetry about 1800.
PROCEDURE:
Write the Matlab script for the given system.

Plot the root locus by simulating the system.
Plot Bode and Nichols plot for the given transfer function by simulating the
system.
Find the frequency domain specifications by all the methods mentioned above
and analyze the system either stable or unstable.
INFERENCE:
RESULT:
Experiment No: 12
Date:
Page 39
FREQUENCY RESPONSE ANALYSIS SIMULATION
AIM:
To determine the frequency response of a system with a given specifications using
lead network
S.NO
1
ITEM
QUANTITY
1
THEORY:
If the performance of a control system is not up to expectations as per desired
specifications then it is evident that some change in the system is needed to obtain the
desired performance. The change can be obtained by inserting a compensating device in
the control system.
Introducing compensation network in a control system after the error signal
results in reshaping the original transfer function and adjustment of time constant of
compensation network enables to obtain the system performance as per desired
specification.
A phase lead network gives the output voltage that leads the input voltage for
sinusoidal inputs. The transfer function of the lead network is given by
E0/Es = (1+js)/(1+j s)
<1
The pole-zero configuration of the lead network reveals that the zero is nearer to
the origin as compared to the pole; hence the effect of zero is dominant. Therefore the
lead network when introduced in series with forward path of a transfer function the phase
shift is increased. It also allows passing high frequencies and low frequencies are
attenuated. As the gain is reduced at low frequencies, additional gain is needed in the
system to account for the reduction in gain.
Page 40
The phase lead compensation network in a control system shifts the gain
crossover frequency point to a higher value and therefore, the bandwidth is increased thus
improving the speed of response and overshoot is reduced but the state error does not
show much improvement.
PROCEDURE:
Write a M-file to draw the Bode plot.
Calculate the Phase margin and Gain margin values.
If the specifications are not matched with the desired value, a suitable
compensation network should be designed based on the required value.
Find the transfer function of the compensating network.
Draw the Bode plot for the compensated network and verify the result with the
desired value.
INFERENCE:
RESULT:
Page 41

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07E509 CONTROL ENGINEERING LABORATORY

Determination of transfer function of armature controlled DC motor

Determination of transfer function of field controlled DC motor

Determination of transfer function of AC servo motor

Analog and Digital simulation of Type-0 and Type-1 system

Time response analysis simulation

b) Study of stepper motor

Digital simulation of systems with nonlinearity

Frequency response analysis simulation

Performance evaluation of P, PI and PID controllers

Stability analysis of linear systems simulation

Compensator design simulation

TRANSFER FUNCTION OF ARMATURE CONTROLLED DC

Where n = speed of the shaft in revolutions per second

I a (s)[R a s L a ] K b s (s) V a (s)

Multiplying eqn.(3) by Ka, we get

Ka Ia(s) [Ra sLa] Ka Kb s (s) Ka Va(s)

Substituting eqn.(5) for KaIa in eqn.(6)

(Js 2 Bs) (s) (Ra sLa) Ka Kb s (s) Ka Va(s)

[(Js2 Bs)(Ra sLa) Ka Kb s] (s) Ka Va(s)

s[(1 sTm)(1 sTa)

where La/Ra = Armature Time Constant, Ta

Since for armature controlled motor, torque T = Ka Ia

Graph: Back emf , eb

angular speed, w rad/sec

Speed in w, rad/sec Eb= V - IaRa

3. Measurement of Time constant of the motor, Tm

1. What is meant by Time constant?

5. How inductance is encountered in d.c motor?

TRANSFER FUNCTION OF FIELD CONTROLLED DC MOTOR

DERIVATION OF TRANSFER FUNCTION:

If(s)[Rf sLf] Vf(s)

(Js 2 Bs) (s) T(s)

Kf If(s) (Js2 Bs) (s)

(Js 2 Bs) (s) [Rf sLf] Kf Vf(s)

Vf(s) (Js2 Bs)Rf sLf

where Km = Motor Gain Constant

Before starting the experiment, once again armature resistance of the

is Tmh. The actual motor time constant Tm without the external

resistance of 100 ohms will be much lower and it is calculated as follows.

The actual Time constant, Tm of the motor will be a fraction of a second

2. Determination Of Field Resistance of the Motor, Rf

3. Determination of Field winding inductance, Lf

Reading, Vac Reading, Iac Z

Average field impedance

1. What is meant by Time constant of a device?

DETERMINATION OF TRANSFER FUNCTION PARAMETERS OF

Speed (N) in rpm

Fig 1. Speed - Torque Characteristics of 3- Induction Motor

Fig 2. Speed - Torque Characteristics of AC Servo Motor

Where Vc = AC voltage signal applied to control winding in Volts

factors Kc and Km can be determined by simple load test.

T(t) = KcVc(t) + Km (t)

G1K1 of pulse isolation output is connected to G1K1 of SCR1.

10. What type of motor is used as AC servomotor? Why?

Control Voltage VC2 =

For Control Voltage VC1 =

Angular Velocity = 2**N/60 =

From the charactersitics,

Therefore, Transfer function of AC servo motor

Mechancial Time Constant T =

Now, if the rotor of the synchro transmitter shifts in anti-clockwise direction

where Kr is a constant of proportionality.