Académique Documents
Professionnel Documents
Culture Documents
6EE7A
COTROL SYSTEM
LAB
DEPARTMENT OF ELECTRICAL ENGINEERING
LAB-MANUAL
VI SEM EE
Donts
1 Dont bring any external material in the lab.
2 Dont make noise in the lab.
3 Dont bring the mobile in the lab.
4 Dont enter in Faculty room without permission.
5 Dont litter in the lab.
6
We need your full support and cooperation for smooth functioning of the lab.
Matrices:
A matrix can be entered a row at a time, with a semicolon between rows:
A= [1 -2; 1 2]
A=
1 -2
1 2
The identity matrix can be formed with the function eye(n), where n is the size of
the desired matrix:
I=eye(2)
I=
1 0
0 1
We can now do mathematical manipulations of these matrices, including finding the
Inverse of the matrix (A) Recall that A*A-1=I (where A-1 is the inverse matrix of A).
Plotting functions:
MATLAB can be useful as a tool for plotting functions. For example, lets plot a sinusoidal
function. First, generate a time vector that will be used for plotting:
t=0:0.1:10;
This generates a vector t that goes from 0 to 10 seconds with an incremental value of 0.1
second. Now, lets create another vector, x1, that is the sine of time t, with a frequency of 2
rad/sec. Then we will plot it by adding the following steps:
x1=sin(2*t);
4
plot(t,x1);
grid
xlabel('Time');
ylabel('x1');
title('x1 vs time');
m-files in MATLAB:
A. Build and run a Simulink model. Apply a step signal of 10 and displays it in a scope.
B. Change the length of the simulation time to be 20 seconds and re-run it.
C. Change the input signal to a sinusoidal input signal and run the simulation. How does the
systems response differ?
D. Change the frequency of the sin signal so that it is now 10 times larger than the default value.
How does the systems response differ?
E. Generate the subsystem of the Simulink model and repeat step A.
>>clear
>>clc
>>num=[8 18 32]
num =
8
18
32
14
24
>> h=tf(num,den)
Transfer function:
8 s^2 + 18 s + 32
----------------------s^3 + 6 s^2 + 14 s + 24
>> k = -2
k=
-2
>> H = zpk(z,p,k)
Zero/pole/gain:
-2 s
-------------------(s-2) (s^2 - 2s + 2)
18
32
14
24
>> h=tf(num,den)
Transfer function:
8 s^2 + 18 s + 32
s^3 + 6 s^2 + 14 s + 24
>>step(num,den)
PROGRAM: (b)
ramp response
plot
>>clear
>>clc
>>num=[8 18 32]
num =
8
18
32
14
24
>> h=tf(num,den)
Transfer function:
8 s^2 + 18 s + 32
-----------------------
RESULT :Thus we have successfully plot step response and ramp response of a given TF.
>>den=[1 2 1]
den =
1
>> h=tf(num,den)
Transfer function:
s
-------------
s^2 + 2 s + 1
>>step(h)
RESULT :Thus we have successfully plot step response of a given 2nd order TF.
Where (xdot) is the time rate of change of the output voltage, R and C are constants, f(t) is the
forcing function (Input voltage), and x is the output voltage. We are now going to take this piece
by piece. First, we examine what is in the brackets and we notice that we are subtracting the
term x from the term f (t). If we imagine that each of these terms outputs a signal, we can model
this relationship as shown in Fig. 2 below.
However, we are interested in x, not xdot. How can we take the xdotoutput signal and get an x
output? The answer is to use an integrator block as in Fig. 4 below.
Now, we have the desired x output, but we notice that x is also an input of the system. In our
model above, the input x branch is a dead branch. In other words, there is no real signal going
in there. How can we make x both an output and input of the system? The answer is to use a
feedback loop by tapping the output x signal and feeding it back into the system at the input
point. After some manipulation of the lines, your model should look like Fig. 5 below.
Fig. 6.
block
parameters
Integrator
Now, double
the Gain block
gain to the
shown in Fig.
click
on
and set the
values
7 below.
We can easily obtain response of 1st order R-C circuits by changing input signal as ramp &
impulseinput signals in figure 5.
RESULT: Thus we have successfully designed 1st order R-C circuits and observed its response
with the following inputs and traces the curve. (a) Step (b) Ramp (c) Impulse.
Experiment No. 6
0.2000
1.0000
>>for i=1:5
num=[wn*wn];
den=[1 2*zeta(i)*wnwn*wn];
step(num,den)
hold on
set(gca, 'XLim', [0 3],'YLim', [0 2.5])
end
Response:
2.0000
RESULTS: Thus we have successfully studied of 2nd order system and got its transient response
for step input and following cases.
Negative damped system < 0
Undamped system = 0
Underdamped System. 0 < < 1
Critically damped system. = 1
Overdamped System > 1
Experiment-7
OBJECT: To Study the frequency response of following compensating Networks, plot the
graph and final out corner frequencies. (a) Lag Network (b) Lead Network (c) Lag-lead
Network.
THEORY:
Introduction to Lead-Lag Compensation
Generally the purpose of the Lead-Lag compensator is to create a controller which has has an
overall magnitude of approximately 1. The lead-lag compensator is largely used for phase
compensation rather than magnitude. A pole is an integrator above the frequency of the pole. A
zero is a derivative above the frequency of the zero.
Adding a pole to the system changes the phase by -90 deg and adding a zero changes the phase
by +90 deg. So if the system needs +90 deg added to the phase in a particular frequency band
Lead-Lag Control
This is an extension of the Lead and Lag network described above. We can always stick a gain
in front of something so reformulate above to look like this
Experiment-8
OBJECT:Plot bode plot for a 2nd order system and find GM and PM.
PROGRAM:
>>clear
>>clc
>>num=[16]
num =
16
>>den=[1 2 16]
den =
16
>> h=tf(num,den)
Transfer function:
16
-------------s^2 + 2 s + 16
>>bode(h)
RESULT: Thus we have successfully studied bode plot for a 2nd order system and find GM
and PM.
Experiment No. 9
16
>> h=tf(num,den)
Transfer function:
16
-------------s^2 + 2 s + 16
>>nyquist(h)
RESULT: Thus we have successfully studied for checking the stability of a given closed loop
system
Experiment No. 10
OBJECT:-To draw characteristics of ac servomotor.
SPEED N rpm
Eb volts
.
1.
2.
3.
4.
TABLE-2
S.NO.
1.
Ia amp
Eb ( Tab 1 )
Speed N
P watt
Torque
PROCEDURE: 1. Connect the power and select the excitation switch to DC. Keep Pot.1 to center =180.
Connect DVM to error output. Turn Pot.2 from 20 to 340 in regular steps. Note displacement
in 0=2 and output voltage E as V0. Plot graph between V0 and e= 1- 2.
2. Switch ON the power and select excitation switch to AC. Connect one of CRO input with
carrier output socket and ground. Connect other input of CRO with error output socket. Keep
pot.1 fixed at 180 and move pot.2 from 20 to 340. Note displacement in and Demodulator
voltage VDM. Plot graph between displacement and demodulator voltage.
OBSERVATION TABLE:TABLE-1
S.NO
.
TABLE-2
For DC Supply
Pot.2 position in
For AC Supply
e= 1- 2
Output Voltage =
V0
Pot.2 position in
e= 1- 2
Output Voltage =
V0
PRECAUTIONS: 1. Select the excitation switch as required, AC or DC. Wrong selection may cause error in
experiment or damage the setup.
2. Take the reading carefully.
3. Switch OFF the setup when not in use.
GRAPH:-
RESULT:The graph is plotted between displacement angle and output voltage. For DC Excitation the
output voltage increases linearly with positive displacement angle and decreases with negative
displacement angle, but for AC excitation it is reverse. The output voltage increases with
negative displacement and decreases with positive displacement angle.