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CONTROL SYSTEM
LIST OF EXPERIMENTS
S.
NO
1.
PAGE
NO.
2.
11
3.
15
4.
18
5.
21
6.
23
7.
26
8.
31
9.
10.
35
37
11.
39
12.
42
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AC
servomotor
PMDC
motor
Electronic
Tacho Gen.
P
1
rpm
P
2
PROCEDURE: 1. Switch ON the power supply, switches ON S1. Slowly increase control P1 so that
AC servomotor starts rotating. Connect DVM across DC motor sockets (red &
black). Very the speed of servomotor gradually and note the speed N rpm and
corresponding back emf Eb across DC motor.
2. Connect DVM across servo motor control winding socked (yellow) and adjust AC
Servomotor voltage to 70V and note speed N rpm in table.
3. Switch On S2 to impose load on the motor due to which the speed of AC motor
decreases. Increase the load current by means of P2 slowly and note corresponding
speed N rpm and Ia. Calculate
P=Ia*Eb and Torque=P*1.019*10460/2.2.14Ngm/cm
OBSERVATION TABLE:TABLE-1
S.NO
1.
2.
SPEED N rpm
Eb volts
Page 4
Ia amp
Eb ( Tab 1 )
Speed N
rpm
P watt
Torque
1.
2.
3.
4.
GRAPH:-
DISCUSSION:The graph is plotted between speed and torque. As we reduce the speed of the motor
the torque goes on increasing therefore the graph starts with a low value and rises to a
high value approximately linearly .This rise in the graph is due to the rising speedtorque characteristics of AC servo motor .
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CIRCUIT DIAGRAM:-
PROCEDURE:OPEN LOOP PERFORMANCE:- Connect the main unit to the supply. Keep the gain
switch off. Set Vr = 0.7 or 0.8. connect DVM with feedback signal socket Vt. Note the
speed N rpm from display and tacho output Vt in volts from DVM. Record N rpm and Vt
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
Page 7
OBSERVATION TABLE:S.NO.
GAIN(Ka)
Vt (volts)
N(rpm)
Vm=VrKa
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DISCUSSION:The graph is plotted between N (RPM) and Vt (techo voltage) and N(rpm) & Vm (motor
voltage).the tacho voltage increases linearly as the RPM of DC servo motor increases.
Similarly the motor voltage increases with RPM .in open loop. The slope is less but in
close loop the slope is sharp and this is due to the feed back gain.
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EXPERIMENT 2
AIM: - To study the stepper motor and to execute microprocessor computer based
control of the same by changing number of steps, the direction of rotation
and speed.
APPARATUS USED: - Stepper Motor Kit, P Kit, Interface Cord and Connecting
Leads.
THEORY:- The stepper motor is a special type of motor which is designed to rotate
through a specific angle called step for each electrical pulse received from its control
unit. It is used in digitally controlled position control system in open loop mode. The
input command is in form of a train of pulses to turn the shaft through a specified angle.
the main unit is designed to interface with P 8085 kit. The stepper motor controller card
remains active while the pulse sequence generator disabled as given plug is connected
with p interface socket . The following programme enables the stepper motor to run
with p 8085 kit. For two phases four winding stepper motor only four LSB signals are
required.
CIRCUIT DIAGRAM:-
DIRECTION
CW
CCW
PHASE
PULSE
and
PHASE
12 V
FIELD
STEPPER
MOTOR
ROTOR
SEQ
DRIVER
GEN.
Y GRD TRIG
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PROCEDURE:Connect the stepper motor with p 8085 kit as shown in fig. press EXMEM key to enter
the address as given then press NEXT to enter the data .
ADDRESS
DATA
2000
2002
2004
2006
2008
3E 80 MVI A, 80
D3 03 OUT 03
3E F9 Start MVI
D3 00 OUT 00
CD 3020 call delay
200B
3E F5 MVI A, F6
200d
200F
2012
2014
2016
2019
201B
201D
2020
D3 OO OUT OO
CD 3020 Call delay
3E F6 MVI A, F5
D3 OO OUT OO
Output code for step 2.
CD 3020 calls delay between two steps.
3E FA MVI A, F9.
D3 OO OUT
OO Output code for step 3.
CD 3020 call delay
delay between two steps.
C3 04 20 JMP START Start.
Press FILL key to store data in memory area. This will complete the pulse sequence
generation. To delay programme route, first press EXMEM to start, a dot sign will appear
in address field then enter the start address. Press NEXT to enter data.
ADDRESS
2030
2033
2036
2039
203C
DATA
Press FILL to save data to execute the programmed press the key GO .The above
programme is to rotate the motor at a particular as defined by the given address.
Changing the following contents will change the motor speed.
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DATA
11 00 20 AND 2036 TO SIMILAR 11 00 20
11 00 10 TO
11 00 10
11 00 05 TO
11 00 05
11 00 03 TO
11 00 03.
The motor direction depends upon codes FA, F6 ,F5 AND F9.Change in following codes
will change the motor direction.
ADDRESS
2005
200C
2012
2019
3E
3E
3E
3E
DATA
F9
F5
F6
FA
TO
TO
TO
TO
3E FA
3E F6
3E F5
3E F9.
OBSERVATION TABLE:-
Sr
No.
No. of Pulses
Displacement
Step Angle
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EXPERIMENT NO. 3
AIM: To study LEAD LAG compensator and to draw magnitude and phase plots.
APPRATUS REQUIRED: lead lag compensator kit, CRO, and connecting leads.
THEORY:
Compensation network are often used to make improvement in transient response and
small change in steady state accuracy. The set up is divided in to three parts. Signal
source: It has sine wave of 10-1200 Hz. Of 0-8 Vpp, Square wave of 20, 40 and 80 Hz of
0-2 Vpp. Trigger is available for trigger of CRO in external trigger mode. The amplitude
is 1.2 Vpp. There are three compensation circuits as lag, Lead and Lag-Lead with transfer
function. The set up has two DC regulated power supply for signal source and systems.
CIRCUIT DIAGRAM
Error Detector
GAIN 1
GAIN 2
Process
Trig wave
SQ. wave
Sine wave
Lag Compensator
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A Vpp
B Vpp
GAIN dB
PHASE ANGLE
GRAPH:
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EXPERIMENT NO:4
AIM: To study water level control using industrial PLC
APPARATUS REQUIRED: -Trainer kit ST2421 PLC trainer ST2401, ST2402 and
connector.
THEORY:
Water level controlling is shown with the help of LEDs. The apparatus is connected with
output of PLC. Two valves for filling and draining water are shown, for indicating
ON\OFF condition of valve LED is used. Filling of tank indicated by two sensors,
positioned to sense maximum and minimum water levels of tank.
CONNECTION DIAGRAM:-
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PROCEDURE:
1. First the valve-1 will open (LED is ON),then water level will increase (row of LEDs will glow)
2. As level reaches above sensor-1, sensor LED will glow. As water level reaches above sensor-2
valve-1 gets closed.
3. After some delay valve-2 will get ON , which will drain water. As soon as water level goes below
sensor-1, valve-2 will close. And same process will go on.
PRECAUTIONS:1.
2.
3.
4.
5.
6.
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EXPERIMENT NO. 5
AIM: - To study motion control of a conveyor belt using a industrial PLC
APPARATUS REQUIRED: - Trainer kit ST2425, Connecting wires.
THEORY:Conveyors are basically material handling equipments. Conveyors used for moving
materials over a fixed path. There is a broad range of types of conveyor systems. Wheel
conveyor, roller conveyor, chain conveyor, Magnetic conveyor, pneumatic conveyor are
the major types.
ST2425 Conveyor Control by PLC is a Flat Belt Conveyor system. It consists of two
sensors one is IR sensor and other is proximity sensor. Belt is driven by a DC motor.
Output of proximity sensor, output of IR sensor are the inputs of PLC and motor, motor
direction, buzzer are the outputs of PLC. Some additional I/Os also given for users.
PANEL DIAGRAM:-
PROCEDURE:There are two modes of operation of ST2425 one is Auto Mode and other is
Manual Mode.
Auto Mode:
1. Switch on the Trainer
2. The switch indicated by arrow should be placed in Auto mode
3. Connect +24 V & +5 V supplies
4. Connect inputs and outputs to PLC
5. Set the total count
6. Place containers on the belt randomly
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
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PROCEDURE:
To study the dynamic response of lamp:
1. A square wave signal of 5-20 Hz, is given with the main unit
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WAVEFORMS
PRECAUTIONS:
1. Use only the main cord designed for this instrument
2. To avoid fire or shock hazards, observe all the ratings.
3. Use the fuze type and the rating specified for this instrument
4. Dont operate in wet /damp conditions
5. Do not operate in an explosive atmosphere
6. Keep the product dust free, clean and dry
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EXPERIMENT NO:-7
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2.To find the steady state error of type 0 first order system
3. To find the closed loop response of type 0 & type 1 second order system
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
29
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CALCULATION:
RESULT:
Thus the time response of first and second order type- 0 and type- 1 systems
are studied.
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EXPERIMENT NO:-8
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Creation and conversion of systems Control System Toolbox supports several system
representations of linear time invariant systems. In this excercise we will use two of the
most common representations; state space models and transfer functions. Define the
system matrices A, B, C and D given above. (What is the value of D in the model?)
Create a state space description of the system using ss, and name it sys_ss. Find out how
to use ss by using the help function (help ss). At this stage, you should have obtained a
state space description of the system. Let us now create an equivalent transfer function
model of the system above.
This could, as you know, be done by using the formula G(s) = C(sIA)1B+D. However,
Matlab may also be used for the task. Use the command tf to convert the state space
model to a tranfer function and name it sys_tf. Notice that tf may be used for creation of
transfer functions as well as conversion.
Time domain analysis
Use the command step to plot the step response of the system. Relate the characteristics
of the step response to the location of the poles. If there is time, use initial and lsim to
study the system response.
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Introduction to Simulink
Simulink is a simulation program based upon Matlab. There are several ways to define a
model. One can work graphically and connect block diagrams with predefined blocks.
Alternatively one can give the mathematical description in forms of differential equations
in an mfile (the format for programs written in the Matlab programming language).
Matlab/Simulink supports both these representations as well as combinations.
Furthermore one can use descriptions that include a hierarchy of connected subsystems.
To understand how models are described and simulated using block diagrams, it is best to
run small examples on a computer.
How to Start Simulink
StartMatlab6.
Then give the command simulink in Matlab. This gives a window with blocks as shown
in fig.
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tfinal = 300;
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DRONACHARY COLLEGE OF ENGINEERING
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When you run the script, you should see a plot showing the input and the output of the
transfer function. Use the help command to learn more about how to use the simset and
sim commands.
EXPERIMENT NO:-9
EXPERIMENT: Determine transpose, inverse values of given matrix.
APPARATUS REQUIRED: Computer with MATLAB software.
THEORY: Open M-files and start performing the following:
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2
6
10
3
7
11
4
8
12
3
7
11
4
8
12
B = [ 1 2 3 4
5 6 7 8
9 10 11 12]
B =
1
5
9
2
6
10
Matrices in Matlab can be manipulated in many ways. For one, you can find the
transpose of a matrix using the apostrophe key:
C = B'
C =
1
2
3
4
5
6
7
8
9
10
11
12
1.0000
-0.5000
QUIZ:
Que1: What is MATLAB?
Ans: MATLAB is the name used to refer to the class of matrix calculator environments
derived from the first, called MATLAB
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
37
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EXPERIMENT NO:-10
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
38
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PROCEDURE:
Plot s-plane grid lines on the root locus for the following system.
Transfer function:
2 s^2 + 5 s + 1
--------------s^2 + 2 s + 3
QUIZ:
Que1: What do you understand by MATLAB software?
Ans: MATLAB is a high level language and interactive environment that enables you to
interactive environment that enables you to performcomputationally intensive tasks faster
than with traditional programming language.
Que2. What does MATLAB stands for?
Ans: matrix laborartory
Que3.Where can we use MATLAB?
Ans: It is widely used in academic and research institutions as well as industrial
enterprises.
Que4. Name some tool boxes?
Ans: Control tool boxes, fuzzy logic tool boxes.
Que5.What is system requirement for MATLAB?
Ans: 1 GB for MATLAB only,3-4 GB for a typical in typical Installation 1024 MB.
Que6. What is transfer function?
Ans. Transfer function is defined as ratio of laplace of output to the laplace of input.
Que7. What are zeros and poles in control system?
Ans: zeroes are determined by equating the numerator of the transfer function to zero
poles are determined by equating the denominator of the transfer function to zero
zeroes means the o/p at those frequencies is zero while pole means that o/p at that
frequency is infinite(or very large)
Que8: What is Root Locus?
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
39
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EXPERIMENT NO:-11
EXPERIMENT: Plot unit step response of given transfer function and find peak
overshoot, peak time.
C(s) =
R(s)
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QUIZ:
Que1: What do you understand by MATLAB software?
Ans: MATLAB is a high level language and interactive environment that enables you to
interactive environment that enables you to performcomputationally intensive tasks faster
than with traditional programming language.
Que2. What does MATLAB stands for?
Ans: matrix laborartory
Que3. What is transfer function.
Ans. Transfer function is defined as ratio of laplace of output to the laplace of input.
Que4.What is peak overshoot.
Percent overshoot, - The percent overshoot is defined as the amount that the waveform at
the peak time overshoots the steady-state value, which is expressed as a percentage of the
steady-state value.
Que 5. What is Peak time?
Ans. The peak time is the time required for the response to reach the first peak.
Que6.What is settling time
Ans. The settling time is the time required for the amplitude of the sinusoid to decay to
2% of the steady-state value.
DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING
DRONACHARY COLLEGE OF ENGINEERING
42
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EXPERIMENT NO:-12
EXPERIMENT: Write a program to find the transfer function of a given closed loop
control system.
The Transfer Fcn block models a linear system by a transfer function of the Laplacedomain variable s. The block can model single-input single-output (SISO) and singleinput multiple output (SIMO) systems.
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