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1. TEMPERATURE CONTROL SYSTEM
APPARATUS:
CERCUIT DIAGRAM:
2
PROCEDURE:
1. Keep switch ‘S1’ to ‘WAIT’, ‘S2’ to ‘SET’ and open ‘FEED BACK’.
2. Connect potentiometer (p) output to driver i/p and switch on the
unit.
3. Set potentiometer ‘P’ to 0.5 which gives Kp = 10 adjust reference
potentiometer to read 5 on the dmm.
4. Put switch ‘S2’ to the measure position and note down the room
temperature.
5. Put switch ‘S1’ to run position and note down the room
temperature readings every 30 seconds till the temperature
becomes almost constant.
6. Plot temperature time curve on a graph paper calculate T1 and T2
hence write the transfer function of the oven including it’s driver
as
1. starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect ‘P’ to output to the driver i/p keep R, D, and I o/p’s
disconnected short ‘ FEED BACK’ terminals.
2. Set up potentiometer to the above calculated value of ‘Kp’
keeping in mind that maximum gain is 10.
3. Plot the observation on a linear graph paper and observe the rise
time, study state error and output overshoot.
III. P – I CONTROLER:
3
1. Starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P & I output to the driver i/p and disconnect R, D. o/p’s
short ‘FEED BACK’ terminals.
2. Set P and I potentiometer to the above values of KP and K
respectively select and set the desired temperature to say 60
keep switch ‘S2’ to ‘RUN’ position and record temperature plot
the observation on graph.
3. Starting with a cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P, I, and D o/p’s to driver i/p keep ‘R’ output
disconnected short feed back terminals.
4. Set P, I & D potentiometer according to calculated values.
IV. P ID CONTROLER:
1. Starting with cool oven, keep switch ‘S1’ to ‘WAIT’ position &
connect P & I output to the driver i/p and disconnect R, D. o/p’s
short ‘FEED BACK’ terminals.
2. Set P, I, D according to the above calculated values of KP, KI (or)
KD keeping in mind that there is a maximum value are 20, 0.0245
and 23.5 respectively.
3. Select & set the desired temperature time readings.
4. Plot the response on a graph paper and observe Tr Steady state
error and percentage over shoots.
OBSERVATIONS:
P – CONTROLER:
4
P I– CONTROLER:
PID – CONTROLER:
EXPETED GRAPH:
5
RESULT:
The performance of various types of controllers i.e., P, PI and PID
controllers to control the temperature of an oven are studied.
VIVA VOCE:
6
2. TRANSFER FUNCTION OF A DC MOTOR
AIM:
To study the torque – speed characteristics and determine the
transfer function of a Dc motor.
APPARATUS:
CIRCUIT DIAGRAM:
7
PROCEDURE:
8
3. Shift the ‘Motor’ switch to ‘ON’ measure armature in put (Ea),
motor current (Ia) & motor speed in rpm record the readings.
4. Set the ‘LOAD’ switch to 1, 2. . 5 and take readings as above.
5. Complete the table motor voltage Ea = 6 volts; Ra = 4.42Ω.
6. Plot torque VS speed cures on a graph paper.
7. Complete ‘B’ from the slope of torque – speed curve and average
Kb from the table.
8. Repeat above for Ea = 8v, 10v, 12v and record the average
values of motor parameters B and Kb
STEP RESPONSE:
OBSERVATION:
9
S.No Ea Ia N Eg
(volts) (mA) (rpm) (volts)
STEP RESPONSE:
EXPETED GRAPH:
10
FORMULAE USED:
CALCULATIONS:
RESULT:
The transfer function of a DC motor is derived.
11
VIVA VOCE:
12
3. BODE PLOT USING MATLAB
OBJECTIVE:
To obtain the Bode Plot for the given transfer function and to
verify it using MATLAB.
50 ( s + 2)
G(s) =
( s +1)( s + 3)( s + 4)
APPARATUS:
PC with MATLAB software.
THEORY:
13
The command log space (d1, d2) generates 50 points between
10d1 and 10d2, w=log space (1, 2) generates 50 points between 10-1 and
102 i.e., and 100 rad/sec. but if we have to generate 100 points use the
command, w=log space (-1, 2, 100).
50 ( s + 2)
G(s) =
( s +1)( s + 3)( s + 4)
THEORETICAL CALCULATIONS:
PROGRAM:
NUM = INPUT(‘ENTER NUMERATOR OF THE TF’);
DEN = INPUT(‘ENTER DENOMINATOR OF THE TF’);
SYS=TF (NUM, DEN);
DISP(SYS);
BODE (SYS)
[GM, PM, Wgc, Wpc] =MARGIN (SYS)
GMDB=20*LOG10(GM)
IF((PM>0)& (GMDB>0))
DISP(‘GIVEN SYSTEM IS STABLE’);
ELSE
IF((PM= =0)& (GMDB= =0))
DISP(‘GIVEN SYSTEM IS MARGINALLY STABLE’);
ELSE
DISP(‘GIVEN SYSTEM IS STABLE’)
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END
END
GRID
RESULT:
The Bode plot for the given transfer function has been obtained
and verified it by using MATLAB.
VIVA VOCE:
• Explain bode plot.
• Give the advantages of bode plot over Nyquist plot.
• Define gain cross over frequency.
• Define phase cross over frequency.
15
4. PID CONTROLLER
AIM:
To study the performance characteristics of an analog PID
controller using simulated system.
APPARATUS:
1. PID Controller
2. Connecting wires
3. C R O
4. Digital voltmeter.
CIRCUIT DIAGRAM:
16
PROCEDURE:
Controller Response:
1. Apply a square wave signal of 100 mv, P-P at the in put of the
error detector connect P I and D o/p s to the summer and
display controller O/P on the CRO.
2. With P-potentiometer set to zero obtain maximum value of
P-P Square wave O/P P-P Square wave
o/p
Kc = --------------------------------- =
-----------------------------
P-P square wave I/P 0.1
17
3. with I - potentiometer set to maximum and P, D
potentiometer to zero , a ramp will be seen on C R O .maximum
value of K is then given by
4 x f x (P-P) triangular curve O/P ramp in
K I (max) = -------------------------------------------------------
P-P square wave amplitude in volts
Where ‘ f ’ is the frequency of I/P
4. Set D - potentiometer to maximum and P and I potentiometers to
zero. A series of sharp pulses will be seen on C R O. this is
obviously not suitable for calibrating the D -potentiometer
applying a triangular wave at the I/P of the error detector a
square wave is seen on the C R O
P-P Square wave O/P
Kd(max) = -------------------------------------
4 x f x (P-P) Triangular wave I/P
5. Set all the three potentiometers = P, I and D to maximum values
and apply a square wave I/P of 100 mv (P-P). Observe and
trace the stop response of P I D controller, identify the effects of
P, I and D controls individually on the shape of this response.
EXPETED GRAPH:
18
CALCULATIONS:
(a) P- control:
(b) I - control:
T=?
19
F = 1/T
(c). D - Control:
Time =?
F =1/t
RESULTS:
The performance characteristics of analog controller using
simulated system
VIVA VOCE:
20
5. STATE SPACE MODEL FOR CLASSICAL
TRANSFER FUNCTION USING MATLAB –
VERIFICATION
OBJECTIVE:
To obtain the state space model for the given transfer function
and verifying it using MATLAB.
s 2 + 3s + 3
T ( s) =
s 3 + 2 s 2 + 3s + 1
THEORETICAL CALCULATIONS:
PROGRAM:
NUM = [1 3 3]
DEN = [1 2 3 1]
[A, B, C, D] = TF2SS(NUM, DEN)
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RESULT:
The state space model of the given transfer function has been
verified using
MATLAB.
-2 -3 -1 1
A= 1 0 0 B= 0 C=1 3 3 D=
0
0 1 0 0
OBJECTIVE:
To obtain the transfer function for the given state space model
and Verifying it using MATLAB.
-2 1 0 1
A= -3 0 1 B= 3 C=1 0 0 D=0
-1 0 0 3
THEORETICAL CALCULATIONS:
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PROGRAM:
A = [-2 1 0; -3 0 1; -1 0 0]
B = [1; 3; 3]
C = [1 0 0]
D = [0]
[NUM, DEN] = SS2TF (A, B, C, D)
RESULT:
The Transfer Function of the given state space model has been
verified using
MATLAB.
s 2 + 3s + 3
T ( s) =
s 3 + 2 s 2 + 3s + 1
VIVA VOCE:
23
6. DC SERVO MOTOR SPEED TORQUE
CHARACTERISTCS
AIM:
To study dc servo motor speed torque characteristics
APPARATUS:
DMM 2 no s
Connecting wires
DC Servo Motor
THEORY:
PROCEDURE:
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2) Ensure the pot ‘P’ (speed control) is in maximum and
anticlockwise position.
3) Switch on the supply and slightly press the control knob in anti
clock wise direction so that self start relay is turned ON and
armature voltage is applied to the armature from zero onwards.
4) Connect the digital or analog millimeter across the terminal
marked armature voltage in the range o to 35 volts
5) Adjust P so that Va = 10v and P2 so that Vf = 20v
6) Note down T1 ,T2 and speed and enter the result in the table
1
7) Keeping Va= 10v, adjust T1 up to 500 gm in suitable steps to get
a set of readings.
8) Now for Va= 15, 20v repeat step 6.
9) Plot speed torque characteristics.
10) You may repeat above steps for various values of field Vg
by controlling pot P2.
OBSERVATION:
TYPICAL READINGS: A
Pulley R=3.5cms
25
VF=20V
S.N T1 T2 T1- Torque =T Speed[R Ia
o gm gm T2 3.5 cms PM] [amps
]
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VF=20V
S.N T1 T2 T1- Torque =T Speed[R Ia
o gm gm T2 3.5 cms PM] [amps
]
EXPECTED GRAPH:
PRECAUTIONS:
1) The speed control knob should be always in the most anti clock
wise position before switching ON the equipment
2) In order to increase Va, rotate the knob in the clock wise
direction in a gentle fashion.
3) In order to increase the load on servo motor adjust the spring
balance in a care full fashion.
RESULT:
The speed torque characteristics of DC servo motor are verified.
VIVA VOCE:
27
1. What is meant by servo motor?
2. How it is different from DC motor?
3. Explain the advantages of servo motor.
4. Draw the characteristics of servo motor
OBJECTIVE:
To plot the Root locus for the given transfer function and to
verify it using MATLAB.
k ( s +1)
G (s) =
s ( s + 1)( s 2 + 2 s + 5)
APPARATUS:
28
PC with MATLAB software.
THEORY:
ROOT LOCUS:
29
THEORETICAL CALCULATIONS:
PROGRAM:
NUM = INPUT(‘ENTER NUMERATOR OF THE TF’);
DEN = INPUT(‘ENTER DENOMINATOR OF THE TF’);
SYS=TF (NUM, DEN)
RLOCUS (SYS)
[R,K]=RLOCUS(SYS);
[M,N]=SIZE(R);
I=1:N;
J=1:M;
IF REAL(R(J,I))>0
STR1=STRCAT(‘SYSTEM IS UNSTABLE FOR K= ‘);
NUM2STR(K(I));
DISP(STR1);
BREAK;
END
END
GRID
RESULT:
The Root locus for the given transfer function has been obtained
and verified by using MATLAB.
VIVA VOCE:
1. Define root locus plot.
2. Give the advantages of root locus over bode plot.
3. Is root locus plot drawn on open loop or closed loop system?
4. What are the different types of feed backs and explain?
30
8. EFFECT OF FEED BACK ON A GIVEN DC
MOTOR
AIM:
To study the effect of feed back on given DC motor.
31
APPARATUS:
Trainer kit
Tachometer generator
Connecting wires
THEORY:
CIRCUIT DIAGRAM:
PROCEDURE:
1. Set VR = 1V and KA = 5
32
2. Record the speed ‘N’ in rpm and the techo generator voltage ‘V’T’
and steady state error ESS = VR - VT.
3. Repeat the above procedure for different values of ‘KA’.
4. Compare in each case, the steady state error computed using
the formula.
1. Set VR = 1V and KA = 3.
2. Record the speed ‘N’ in rpm and the tacho generator output ‘V’T’.
3. Repeat the same with VR = 1V and KA = 4, 5, 6, 7 . . . 10 &
tabulate the measured motor voltage (VM = VRKA) steady state
motor speed ‘N’ in rpm and tacho generator out put ‘VT’.
4. Plot N VS VM and VTVSN obtain KM from the linear regain of the
speed in rad/sec. WSS/motor voltage tacho generator gain
KT = VT, volt – sec / Wss rad
5. Apply square wave signal and find the time constant using
formula given below.
6. Obtain the motor transfer using,
G(s) = Km / STm+1
OBSERVATION:
33
CLOSED LOOP PERFORMANCE:
EXPECTED GRAPH:
THEORETICAL FORMULAE:
RESULT:
34
Effect of feed back on a given control system is verified.
VIVA VOCE:
OBJECTIVE:
To obtain the Nyquist plot from the given state model and to
verify it using MATLAB.
0 1 0
A= -3 -4 B= 1 C = 10 0 D=0
THEORETICAL CALCULATIONS:
PROGRAM:
A = [0 1;-3 -4]
B = [0;1]
C = [10 0]
D = [0]
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[NUM, DEN] = SS2TF (A, B, C, D)
NYQUIST (TF (NUM, DEN))
TITLE (‘NYQUIST PLOT’);
GRID
RESULT:
Nyquist plot for the given state model has been obtained and
verified it using MATLAB.
VIVA VOCE:
1. Define the term “state”.
2. Define the term “state variable”.
3. Is state space model unique, explain?
36
10. TIME RESPONSE OF SECOND ORDER
SYSTEM
OBJECTIVE:
To determine the time response specifications of a second order
system using MATLAB.
81
G(s) =
s + 4 s + 81
2
APPARATUS:
PC with MATLAB software
THEORY:
37
(i) Delay Time: It is the time taken to reach 50% of its final value.
td = (1+0.7ζ )/ wn
(ii) Rise Time: It is the time taken to rise from 10% to 90% for over
damped system.
It is the time taken for the system response to rise from
0 to 100% for under
damped system.
It is the time taken for the system response to rise from
5% to 95% for the
critically damped system.
(iii) Peak Time: It is the time taken for the response to reach peak
value for the first attempt.
tp = π /wd
(iv) Settling Time: It is the time taken to reach and stay within the
tolerable limit (2-5%).
ts = 4/(ζ wn)
THEORETICAL CALCULATIONS:
PROGRAM:
NUM=[0 0 81];
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DEN=[1 4 81];
STEP(NUM,DEN)
TITLE(‘STEP RESPONSE’);
OBSERVATION TABLE:
RESULT:
VIVA VOCE:
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