Lab Manual Industrial Electronics

LAB MANUAL INDUSTRIAL
ELECTRONICS
Table of Contents
Experiment No. 01....................................................................................................................................... 8
Operation of welding plant using Transformer.........................................................................................8
1.1 Learning Objective:.................................................................................................................................. 8
1.2 Equipment’s required:.............................................................................................................................. 8
1.3 Theory:.................................................................................................................................................... 8
1.3.1 Welding:............................................................................................................................................ 8
1.3.2 Welding Transformer:........................................................................................................................ 8
1.3.3 Diagram of Welding Transformer:......................................................................................................9
ARC control of welding transformer........................................................................................................9
1.3.4 Requirements of a Welding Transformer:..........................................................................................9
1.3.5 Important Fact of Welding Transformer:............................................................................................9
1.3.6 Types of Welding Process:..............................................................................................................10
1.3.7 Arc Welding:.................................................................................................................................... 10
Arc Welding Circuit Diagram:................................................................................................................ 10
Application............................................................................................................................................ 11
1.4 Procedure:............................................................................................................................................. 11
1.5 Lab Result/ Measurement’s:.................................................................................................................. 12
1.6 Conclusion:............................................................................................................................................ 12
Experiment No. 02..................................................................................................................................... 13
Modeling and Simulation of PMDC motor...............................................................................................13
2.1 Learning Objective:................................................................................................................................ 13
2.2 Apparatus required:............................................................................................................................... 13
2.3 Theory................................................................................................................................................... 13
2.3.1 Principle:......................................................................................................................................... 13
2.3.2 Construction....................................................................................................................................... 13
2.3.3 Characteristics................................................................................................................................ 14
2.3.4 Applications of Permanent Magnet DC Motor..................................................................................14
2.3 Mathematical modeling:..................................................................................................................... 14
2.3.1 Equivalent circuit of PMDC motor:...................................................................................................14
2.3.2 Mathematical Equations and Transfer functions:.............................................................................15
2.3.3 Block Diagram of PMDC motor With Load:.....................................................................................15
2.4 Simulink Block Diagram:.................................................................................................................... 16
2.5 Procedure:......................................................................................................................................... 16
2.6 Experiment Motor Parameters:..........................................................................................................16
2.7 Lab Result/ Measurement’s:............................................................................................................... 16
2.8 Conclusion:........................................................................................................................................ 18
Experiment No. 03..................................................................................................................................... 19
Electrical Engineering MNS UET, Multan

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Speed Control of DC motor using PWM..................................................................................................19
3.1 Learning Objective:............................................................................................................................ 19
3.3 Theory:.................................................................................................................................................. 19
3.3.1 DC Motor:........................................................................................................................................ 19
3.3.2 DC Motor Principle:......................................................................................................................... 19
3.4 Parameters of Motor for Simulink model:...........................................................................................20
3.5 Simulink model Diagram:....................................................................................................................... 20
3.6 Procedure:............................................................................................................................................. 21
3.8 Conclusion:............................................................................................................................................ 23
Experiment No. 04..................................................................................................................................... 24
Speed Control of PMDC motor by using PID Controller.........................................................................24
4.1 Learning Objective:................................................................................................................................ 24
4.3 Theory:.................................................................................................................................................. 24
4.3.1 PI Controller:................................................................................................................................... 24
4.3.2 PID Controller:................................................................................................................................. 24
4.3.3 Reference:...................................................................................................................................... 25
4.4 Parameters and Values:........................................................................................................................ 25
4.5 Designing and Transfer Function:.......................................................................................................... 25
4.6 Simulink Block Diagrams:...................................................................................................................... 29
4.7 Procedure:............................................................................................................................................. 29
4.9 Conclusion:............................................................................................................................................ 32
Experiment No. 05..................................................................................................................................... 33
DC Servo Motor Modeling and Identification and Control the Torque, Speed and Position............33
5.1 Learning Objective:........................................................................................................................... 33
5.2 Equipment’s required:....................................................................................................................... 33
5.3 Theory:.............................................................................................................................................. 33
5.3.1 Servo system:................................................................................................................................. 33
What is a servo drive?................................................................................................................................. 33
5.3.2 Step1: Identification of motor parameters........................................................................................34
5.3.3 Step2: Modeling and analysis......................................................................................................... 34
5.4 Servo System Diagram:......................................................................................................................... 35
5.4.1 DC Servo Control Trainer:...............................................................................................................37
5.4.2 Servo Motor:................................................................................................................................... 38
5.4.3 ISM4803 intelligent controller:.........................................................................................................38
5.5 Procedure:............................................................................................................................................. 39
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5.6 Conclusion:............................................................................................................................................ 43
Experiment No. 06..................................................................................................................................... 44
Position Control of AC Servo Motor.........................................................................................................44
6.3 Theory:.................................................................................................................................................. 44
6.3.1 Introduction:.................................................................................................................................... 44
6.3.2 Construction of AC servo motor:.....................................................................................................44
6.3.3 Trainer Overview............................................................................................................................. 45
6.3.5 Block Diagram:................................................................................................................................ 45
3.3.7 Function:......................................................................................................................................... 46
6.4 Procedure:............................................................................................................................................. 47
6.5 Lab Result/ Measurement’s:.............................................................................................................50
Experiment No. 07..................................................................................................................................... 51
Basic Logic operations............................................................................................................................. 51
7.3 Theory:.............................................................................................................................................. 51
7.3.1 Ladder Logic:.................................................................................................................................. 51
7.4 Procedure:........................................................................................................................................ 54
7.5 Ladder Logic of Gates:...................................................................................................................... 54
7.6 Conclusion:............................................................................................................................................ 55
Experiment No. 08:.................................................................................................................................... 56
Traffic Light Control by Using PLC (a).....................................................................................................56
8.3 Theory:.................................................................................................................................................. 56
8.3.1 Programmable Control Logic:.......................................................................................................... 56
8.3.2 Traffic Lights:................................................................................................................................... 56
8.3 Procedure:........................................................................................................................................ 58
8.4 Ladder logic:..................................................................................................................................... 58
8.5 Conclusion:....................................................................................................................................... 60
Experiment No. 09..................................................................................................................................... 61
Traffic Light Control by Using PLC (b).....................................................................................................61
9.3 Procedure:........................................................................................................................................ 61
9.4 Ladder Logic:.................................................................................................................................... 61
9.5 Conclusion:............................................................................................................................................ 63
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Experiment No. 10..................................................................................................................................... 64
24 Hour Clock by Using PLC.................................................................................................................... 64
10.1 Learning Objective:.............................................................................................................................. 64
10.2 Equipment’s required:.......................................................................................................................... 64
10.3 Theory:................................................................................................................................................ 64
10.3.1 Retentive Timer............................................................................................................................. 64
10.3.2 Counter:........................................................................................................................................ 64
10.4 Procedure:........................................................................................................................................... 65
10.5 Ladder Logic:....................................................................................................................................... 66
10.5 Conclusion:.......................................................................................................................................... 66
Experiment No. 11..................................................................................................................................... 67
Temperature Control using PLC............................................................................................................... 67
11.3 Theory:.............................................................................................................................................. 67
11.3.1 Temperature sensors..................................................................................................................... 67
11.3.2 Temperature control....................................................................................................................... 67
11.4 Procedure:........................................................................................................................................... 67
Ladder Logic:............................................................................................................................................... 68
11.5 Conclusion:.......................................................................................................................................... 68
Experiment No. 12..................................................................................................................................... 69
Stepper Motor Control............................................................................................................................... 69
12.3 Theory:.............................................................................................................................................. 69
12.3.1 Introduction:.................................................................................................................................. 69
12.3.2 Classification or Types of Motor....................................................................................................69
12.3.4 Stepping modes............................................................................................................................ 69
12.3.5 PLC Inputs:................................................................................................................................... 70
12.3.6 PLC outputs:................................................................................................................................. 70
12.3.7 Connection Diagram for Stepper Motor.........................................................................................71
12.3.8 Interface:....................................................................................................................................... 71
12.4 Procedure:........................................................................................................................................ 72
12.5 Ladder Logic Program:..................................................................................................................... 72
12.6 Conclusion:....................................................................................................................................... 73
Experiment No. 13..................................................................................................................................... 74
Automatic Bottle Filling System using PLC............................................................................................74
13.1 Learning Objective:.............................................................................................................................. 74
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13.3 Theory:.............................................................................................................................................. 74
13.3.1 Introduction:.................................................................................................................................. 74
13.3.2 Level Sensor:................................................................................................................................ 74
13.3.3 Water Pump:................................................................................................................................. 74
13.3.4 Inductive Proximity Sensors:......................................................................................................... 75
13.3.5 DC motor:...................................................................................................................................... 75
13.3.6 Water solenoid valve:.................................................................................................................... 75
13.3.7 Relay:............................................................................................................................................ 75
13.3.8 Conveyor System:......................................................................................................................... 76
13.3.9 System Working:........................................................................................................................... 76
13.3.10 Uses:........................................................................................................................................... 76
13.5 Procedure:........................................................................................................................................... 76
13.6 Ladder Logic:.................................................................................................................................... 77
13.7 Conclusion:....................................................................................................................................... 77

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Table of Figures
Figure 1: Diagram of welding transformer..........................................................................................8
Figure 2: Basic Diagram of ARC Welding........................................................................................10
Figure 3: PMDC Motor Cut view.......................................................................................................12
Figure 4:shows the construction of Permanent Magnet DC Motor..................................................13
Figure 5: Characteristics of PMDC motor........................................................................................13
Figure 6: Equivalent circuit of PMDC motor.....................................................................................14
Figure 7:Block Diagram of PMDC motor With Load........................................................................15
Figure 8: Simulink Block Diagram of PMDC motor..........................................................................15
Figure 9: Subsystem in Simulation of PMDC motor.........................................................................15
Figure 10: Voltage 220 and Torque 30 Nm......................................................................................17
Figure 11: Voltage 220 and Torque 25 Nm.......................................................................................17
Figure 12: Cut view of DC motor......................................................................................................18
Figure 13: Pulse width modulation duty cycle..................................................................................19
Figure 14: Simulink model Diagram of DC motor............................................................................20
Figure 15: Sub-blocks of PWM.........................................................................................................20
Figure 16: Sub -blocks of average value sub-system......................................................................20
Figure 17: Sub-blocks of PMDC motor............................................................................................21
Figure 18: Output waveforms of PWM, its average value at duty ratio 60%...................................22
Figure 19: Average Current output waveform..................................................................................22
Figure 20: Average Speed output wave form...................................................................................22
Figure 21: Simulink model with limiter..............................................................................................30
Figure 22: Simulink model with PID Controller.................................................................................30
Figure 23: Output waveform of Speed with Limiter..........................................................................31
Figure 24: Output waveform of Speed with PI controller.................................................................32
Figure 25: Output waveform of Speed with PID controller...............................................................33
Figure 26: Output waveform of current with PID controller..............................................................33
Figure 27: Block diagram of servo system experiment....................................................................34
Figure 28 Servo System with Component Labeling.........................................................................35
Figure 29: Servo system Diagram....................................................................................................37
Figure 30: Control diagram of DC servo motor................................................................................38
Figure 31:- DC servo control trainer.................................................................................................39
Figure 32:- Structure of intelligent servo motion..............................................................................40
Figure 33:- Servo motor...................................................................................................................40
Figure 34:- Connections...................................................................................................................40
Figure 35:- ISM4803 controller.........................................................................................................41
Figure 36: Stator construction of AC servomotor.............................................................................48
Figure 37: Block Diagram AC servo motor.......................................................................................48
Figure 38: Describes the fundamental setup to be used for the position control.............................49
Figure 39: Connection diagram of Position control AC servo motor................................................50
Figure 40: NOT Gate........................................................................................................................55
Figure 41: Truth Table NOT gate......................................................................................................56
Figure 42: AND Gate........................................................................................................................56
Figure 43: Truth Table AND gate......................................................................................................56
Figure 44: NAND Gate.....................................................................................................................56
Figure 45: Truth Table NAND gate...................................................................................................57
Figure 46: OR Gate..........................................................................................................................57
Figure 47: Truth Table OR gate........................................................................................................57

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Figure 48: NOR gate........................................................................................................................57
Figure 49: Truth Table NOR..............................................................................................................58
Figure 50: XOR Gate........................................................................................................................58
Figure 51: Truth Table XOR gate......................................................................................................58
Figure 52: XNOR gate......................................................................................................................58
Figure 53: Truth Table XNOR...........................................................................................................59
Figure 54: NOT gate.........................................................................................................................59
Figure 55: AND Gate........................................................................................................................59
Figure 56: NAND Gate.....................................................................................................................59
Figure 57: OR Gate..........................................................................................................................60
Figure 58: NOR Gate........................................................................................................................60
Figure 59: XOR Gate........................................................................................................................60
Figure 60: XNOR Gate.....................................................................................................................60
Figure 61: Block Diagram of PLC.....................................................................................................61
Figure 62: Traffic Lights Indication...................................................................................................62
Figure 63: On delay timer.................................................................................................................63
Figure 64: Off Delay Timer...............................................................................................................63
Figure 65: Comparators...................................................................................................................63
Figure 66: Retentive on-delay timer timing chart.............................................................................71
Figure 67: 24-hour clock program....................................................................................................72
Figure 68: Block diagram temperature control.................................................................................74
Figure 69: Primary classification of motor........................................................................................76
Figure 70: Bipolar Stepper Motor Control Sequence:......................................................................77
Figure 71: Connection Diagram for Stepper motor..........................................................................78
Figure 72: Level Sensor...................................................................................................................81
Figure 73: DC Pump.........................................................................................................................82
Figure 74: Inductive Proximity Sensor.............................................................................................82
Figure 75: DC motor with gear box..................................................................................................82
Figure 76: Water solenoid valve.......................................................................................................83
Figure 77: Flat belt conveyor............................................................................................................83

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Experiment No. 01
Operation of welding plant using Transformer
1.1 Learning Objective:
 To perform on of the welding techniques and understand important of arc welding.
 Define the problem that occurs on the arc welding.
 Recognize the type of metal, electrode, and tools that are used in arc welding.
 Recognize types of arc welding and steps to create the arc welding.
 To know safety measure when use the welding machine along the welding process.
1.2 Equipment’s required:

 AC Supply
 Welding Transformer
 Welding Piece
 Electric Holder
 Chipping Hammer
 Wire Brush
 Hand Screen
 Hand Gloves
 Electrode
 Cables, cable connectors
 Earthing clamps
 Helmet
 Safety goggles
 Aprons
 sleeves
1.3 Theory:
1.3.1 Welding:
Welding is a fabrication or sculptural process that joins materials,
usually metals or thermoplastics, by using high heat to melt the parts together and allowing them
to cool causing fusion. Welding is distinct from lower temperature metal-joining techniques such
as brazing and soldering, which do not melt the base metal.
1.3.2 Welding Transformer:

Welding Transformers are used in AC machines to change alternating current from the
power line into a low-voltage, high amperage current in the secondary winding. A combination of
primary and/or secondary taps on the welding transformer are commonly used to provide a macro
adjustment of the welding current, as well as adjustment of secondary voltage. Transformer ratings
for AC machines are expressed in KVA (kilovolt-amperes) for a specified duty cycle. This duty
cycle rating is a thermal rating, and indicates the amount of energy that the transformer can deliver
for a stated percentage of a specific time period, usually one minute, without exceeding its
temperature rating. The RMS Short Circuit Secondary Current specification indicates the
maximum current that can be obtained from the transformer. Since heating is a function of the
welding current, this parameter gives an indication of the thickness of the materials that can be

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welded. A welding transformer is basically a step down transformer. The reason n for this is a high
current is required for the arc to be generated for the welding.
1.3.3 Diagram of Welding Transformer:
Figure 1: Diagram of welding transformer

ARC control of welding transformer
To control the Arc, various reactors are used with welding transformers. Some methods to
controls the arc are given below.
Tapped Reactor
With the help of taps on the reactor, the output current is regulated. This has limited number
of current settings.
Moving Coil reactor
A moving coil reactor is one in which the reactive distance between primary and secondary
is adjusted. The current becomes less if the distance between the coils is large.
Moving shunt reactor
A moving shunt reactor is one in which the position of the central magnetic shunt can be
adjusted. Change of the output current is obtained due to the adjustment of the shunted flux.
Continuously variable Reactor
A continuously variable reactor is one in which the height of the reactor is continuously
varied. Greater reactance is obtained due to greater core insertion and hence the output current is
less.
Saturable reactor:
To adjust the reactance of the reactor, the required DC saturation if the DC excitation
current is more. Therefore, changes of current are obtained due to the change a reactance.
1.3.4 Requirements of a Welding Transformer:
A welding transformer should satisfy the following requirements:
1. It should have a drooping static volt-ampere characteristic.
2. To avoid spatter, the surge of the welding current during a short- circuit should be limited to
the least possible above the normal arc current.
3. The open circuit voltage should not normally exceed 80 volts and in no case 100 volts.
4. The output current should be controllable continuously over the full available range.

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5. The open circuit voltage should be just sufficiently high for ready initiation of an arc and not
too high to impair the economics of welding.
1.3.5 Important Fact of Welding Transformer:
It should be noted that the welding transformers have a rather low power factor due to the
fact that they incorporate coils having high inductive reactance. Welding transformers, therefore,
must not have power ratings higher than is necessary for the performance of the assigned job. Nor
should they be run at no-load for a long time.
1.3.6 Types of Welding Process:

There are following types of welding process.
1.3.7 Arc Welding:

Arc welding is a welding process that is used to join metal to metal by using electricity to
create enough heat to melt metal, and the melted metals when cool result in a binding of the
metals. It is a type of welding that uses a welding power supply to create an electric arc between a
metal stick ("electrode") and the base material to melt the metals at the point-of-contact. Arc
welders can use either direct (DC) or alternating (AC) current, and consumable or non-
consumable electrodes. The welding area is usually protected by some type of shielding gas,
vapor, or slag. Arc welding processes may be manual, semi-automatic, or fully automated. In the
arc welding, the arc is used to create intense heat and this heat is used to join the metals together.
The arc is brought in between two metal pieces and due to the heat generated, the metals melt
and when it cools a strong welded joint is formed.

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Arc Welding Circuit Diagram:
Figure 2: Basic Diagram of ARC Welding
The following terminologies are related to arc welding:

Squeeze time.
It is the time that elapses between the electrode pressure first applied on the work and the initial
application of current.
Weld time.
It is the time, expressed in cycles of supply, during which the welding current flows through the
parts being welded.
Hold time.
It is the time during which the pressure is kept applied at the point of welding after the welding
current has ceased to flow.
OFF time.
After the weld is perfectly hardened, the time that elapses before the electrodes reclose, if the
welding machine is still energized, is the OFF time.
Application
It is the versatile welding process. It is most widely used welding process in the world
because of its simplicity and good welding efficiency. Almost in every manufacturing industry the
arc welding is used for producing strong joints. Today it remains an important process in
fabrication of steel structures and vehicles. It is most widely used in automotive industries,
construction industries, in construction of buildings, shipbuilding industries, and aerospace
industries, for the maintenance or repair works.
1.4 Procedure:
 First of all, we applied AC supply.
 After that we used step down transformer to produce low voltage and high current.
 Set the welding current, voltage according to the type of metal to be joined.
 Clean the mild steel flats to be joined with wire brush.
 Arrange the flat pieces properly providing the gap for full penetration for joint (gap ½
thickness of flat).

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 Then we placed the pieces to be weld between the electrodes that produces arc by high
electricity.
 Practice striking of arc, speed and arc length control.
 After that we used the welding stick that uses electric current to form an electric arc
between the sticks and metals to be joined.
 Strike the arc and make the tacks at the both ends to hold the piece of metal together
during the welding process.
 Lay beads along the joint maintain the proper speed and arc length (speed 100-150
minimum).
 We can used stick welding for repair work, manufacturing and construction.
 Clean the welded zone and submit.
1.5 Lab Result/ Measurement’s:

In this lab, the two mild steel plates are welded through arc welding using transformer.
Sheet Electrode Weld Weld time Hold time Electrode
thickness, force, Current, (cycles) (cycles) diameter,
t (mm) F(kN) I (amperes) d (mm)
1.6+1.6 4 10,600 16 3 7
1.8+1.8 4.5 10,900 18 3 7
2.0+2.0 5 11,200 23 4 7
1.6 Conclusion:
From this experiment we observed how to do arc welding. We also learnt about welding
transformer and working of welding transformer.

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Experiment No. 02
Modeling and Simulation of PMDC motor
 Modeling of PMDC motor
 Simulation of PMDC model on MATLAB
2.2 Apparatus required:
 MATLAB and Simulink
 Lap Top
2.3 Theory
In a PMDC motor, permanent magnets (located in stator) provide magnetic field, instead of
stator winding. The stator is usually made from steel in cylindrical form. Permanent magnets are
usually made from rare earth materials or neodymium. The rotor is slotted armature which carries
armature winding.
2.3.1 Principle:
Working principle of a DC motor. A motor is an electrical machine which converts electrical
energy into mechanical energy. The principle of working of a DC motor is that "whenever a current
carrying conductor is placed in a magnetic field, it experiences a mechanical force".
Figure 3: PMDC Motor Cut view

2.3.2 Construction
In a PMDC motor, permanent magnets (located in stator) provide magnetic field, instead of
stator winding. The stator is usually made from steel in cylindrical form. Permanent magnets are
usually made from rare earth materials or neodymium.
The image below shows the construction of Permanent Magnet DC Motor
Figure 4:shows the construction of Permanent Magnet DC Motor

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The rotor is slotted armature which carries armature winding. Rotor is made from layers of
laminated silicon steel to reduce eddy current losses. Ends of armature winding are connected to
commutator segments on which the brushes rest. Commutator is made from copper and brushes
are usually made from carbon or graphite. DC supply is applied across these brushes. The
commutator is in segmented form to achieve unidirectional torque. The reversal of direction can be
easily achieved by reversing polarity of the applied voltage.
2.3.3 Characteristics
Characteristics of PMDC motors are similar to the characteristics of dc shunt motor in terms of
torque, speed and armature current. However, speed-torque characteristics are more linear and
predictable in PMDC motors.
Figure 5: Characteristics of PMDC motor
2.3.4 Applications of Permanent Magnet DC Motor

PMDC motor is extensively used where small DC motors are required and also very effective
control is not required, such as in
 automobiles starter,
 toys,
 wipers,
 washers,
 hot blowers,
 air conditioners,
 Computer disc drives and in many more.

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2.3 Mathematical modeling:
2.3.1 Equivalent circuit of PMDC motor:
Figure 6: Equivalent circuit of PMDC motor
2.3.2 Mathematical Equations and Transfer functions:

di
v =e+ IaRa+ L (Electrical Equation)
dt
dw
Te−Tl=J +B 1 w (Mechanical Equation)
dt
The motor torque, T is related to armature current, I by a constant factor K
T= K b Ia
The Back electro motive force (emf), e is related to angular velocity by:
dθ
e=K b ω m = K b
dt
We can write the following equations based on the Newton’s law combine with the Kirchhoff’s law
2
dθ dθ
j 2 + B =K b Ia
dt dt
dIa dθ
L + IaRa=V −K b
dt dt
By taking Laplace of above equations: -
J s 2 θ(s) + Bs θ(s)=K b Ia (s)

LsIa ( s ) + IaRa ( s )=v (s )−K (s) θ( s)
V ( s )−K b ω m ( s)
Ia(s)=
Ra+ sLa
J s 2 θ(s) + Bs θ(s)=K b (v ( s)−K (s ) θ (s ) )/ Ra+ sLa
K I ( s )−T 1 ( s )
ωa ( s) = b a
B 1+ sJ
ωm (S) Kb
=T . F= 2
V (s) S ( j L a ) +S ( B1 La +J R a ) +( B1 Ra + K 2b )

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2.3.3 Block Diagram of PMDC motor With Load:
Figure 7: Block Diagram of PMDC motor With Load
2.4 Simulink Block Diagram:
Figure 8: Simulink Block Diagram of PMDC motor
Figure 9: Subsystem in Simulation of PMDC motor

2.5 Procedure:
 First, we switch on the laptop and open MATLAB software.
 After that we draw the model of DC motor by using the equations as shown above.
 Then we put all the components on the editor model.
 After that we connected all the components with each other and put the given values in them.
 At the end, we ran the simulation and note down the results
2.6 Experiment Motor Parameters:
P 5 Hp Voltage 240 V
ω 1200 rpm Ra 0.7
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Ω
Trated 30 Nm B1 1e
−3
La 0.03 H K 2
J 0.60
 Torque is fixed at Ƭ = 30 Nm and varying voltages
Serial No. Voltage, V Current, I Speed Torque
(volts) (amperes) (rpm) (Nm)
1 170 165.6 93.93 30

2 180 17.09 802.4 30
3 190 17.21 849.7 30
4 200 17.34 897 30
5 210 17.46 944.4 30
6 220 17.58 991.7 30
7 230 17.71 1039 30
8 240 17.83 1088 30
 Voltage Fixed at V= 220 and Varying torque
Serial No. Voltage, V Current, I Speed Torque
(volts) (amperes) (rpm) (Nm)
1 220 5.193 1033 5

2 220 7.671 1025 10
3 220 10.15 1017 15
4 220 12.03 1008 20
5 220 15.11 1000 25
6 220 17.88 991.7 30
 Voltage 220 and Torque 30 Nm
Figure 10: Voltage 220 and Torque 30 Nm
 Voltage 220 and Torque 25 Nm

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Figure 11: Voltage 220 and Torque 25 Nm
2.8 Conclusion:
In this experiment we summarized that how we can do modeling and simulation of PMDC
motor and observed the results of speed at different voltage and torque. When fixed the torque
speed and enhancing the voltage speed is increased. And observed the when we fixed the voltage
and enhance the torque speed is decreased.

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Experiment No. 03
Speed Control of DC motor using PWM
 Modeling and simulation of DC motor
 Speed Control of DC motor by PWM
 Lap Top
3.3 Theory:
3.3.1 DC Motor:
A DC motor is any of a class of rotary electrical machines that converts direct current
electrical energy into mechanical energy. It is one of two basic types of motors, the other type is
the alternating current or AC motor.
3.3.2 DC Motor Principle:
It is based on the principle that when a current-carrying conductor is placed in a magnetic
field, it experiences a mechanical force whose direction is given by Fleming's Left-hand rule and
whose magnitude is given by.
Figure 12: Cut view of DC motor
3.3.3 Pulse Width Modulation:

What is PWM control?
Pulse width modulation (PWM) is a powerful technique for controlling analog circuits with a
microprocessor's digital outputs. PWM is employed in a wide variety of applications, ranging from
measurement and communications to power control and conversion.
How is PWM generated?
Pulse Width Modulation (PWM) ... The PWM generates the pulses on its output in such a
way that the average value of HIGHs and LOWs is proportional to the PWM input. The duty cycle
of the signal can be varied. A PWM signal is a constant period square wave with varying duty
cycle.
What is PWM technique?

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Pulse-width modulation (PWM) is a modulation process or technique used in most
communication systems for encoding the amplitude of a signal right into a pulse width or duration
of another signal, usually a carrier signal, for transmission.
Why is PWM used?
Pulse Width Modulation (PWM) is a commonly used technique for generally controlling DC
power to an electrical device. PWM can be used to adjust the total amount of power delivered to a
load without losses normally incurred when a power transfer is limited by resistive means.
How does a PWM controller work?
In short, PWM operates like a switch which constantly cycles on and off, thereby regulating
the amount of power the fan or pump motor gains. The PWM system that is used for controlling
fans and pumps works with the motor, either getting +12V (full power) or 0V (no power). ... So, the
motor is being fed impulses of power.
3.3.4 Power Delivery and Voltage Regulation:
Pulse-width modulation (PWM) is a commonly used technique for controlling power made
practical by modern electronic power switches. The average value of voltage (and current) fed to
the load is controlled by turning the (transistor) switch between supply and load on and off at a fast
pace. The longer the (transistor) switch is on compared to the off periods, the higher the power
supplied to the load is. The PWM switching frequency has to be much faster than what would
affect the load, which is to say the device that uses the power.
Figure 13: Pulse width modulation duty cycle

3.4 Parameters of Motor for Simulink model:
P 5hp, V 240V
W 1200rpm K 2
Ra 0.70Ω La 0.03H,
J 0.60 B1 1e-3
3.5 Simulink model Diagram:
PMDC motor with PWM controlled voltage and with average value block is shown following:

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Figure 14: Simulink model Diagram of DC motor

Sub-blocks of PWM are shown following:
Figure 15: Sub-blocks of PWM
The sub -blocks of average value sub-system is shown following:
Figure 16: Sub -blocks of average value sub-system
The sub-blocks of PMDC motor are shown following:

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Figure 17: Sub-blocks of PMDC motor
3.6 Procedure:
 First of all, we turned on our laptop
 Double Click on the MATLAB Icon software open it.
 Then we opened the Simulink.
 After that by using different blocks which depicts
the mathematical model of the PMDC
motor, we make the model of PMDC in Simulink according to the parameters mentioned
following.
 Then we model PWM generator to control the speed of PMDC motor.
 Then we made a sub-system of PMDC by taking voltage and torque as inputs, speed and
current as output.
 After that we took reading by keeping the torque constant and changing duty ratio of PWM
from 10% to 80%.
 After that we changed the value of torque and again took readings by changing duty ratio.
 In the last, we observed the change in outputs by changing duty ratio of PWM generator.

 Torque is fixed at Ƭ = 30 Nm and Duty Cycle is varying
Serial No. Duty Cycle Average DC Speed AC AC
(%) (rpm) Current Voltage
Voltage (V) Current (A) (A) (V)
1 20 48 15.45 177.5 17.06 240
2 40 96 16.05 404.7 17.26 240
3 60 144 16.64 632 17.45 240
4 80 192 17.24 859.2 17.64 240
5 100 240 17.83 1086 17.83 240
 Duty Cycle fixed at = 60% and Torque is varying
Serial No. Duty Cycle Average DC Speed AC AC
(%) (rpm) Current Voltage
Voltage (V) Current (A) (A) (V)
1 60 144 4.25 673.4 5.056 240
2 60 144 6.3 665.1 7.534 240
3 60 144 9.20 656.8 10.01 240
4 60 144 11.6 648.5 12.49 240
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5 60 144 14.16 640 14.97 240
 Output waveforms of PWM, its average value at duty ratio 60%
Figure 18: Output waveforms of PWM, its average value at duty ratio 60%
 Average Current output waveform:
Figure 19: Average Current output waveform
 Average Speed output wave form:

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Figure 20: Average Speed output wave form
3.8 Conclusion:
In this experiment we observed the by increasing duty ration speed and average voltage is
increased at fixed torque and speed is decreased at fixed duty ratio.

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Experiment No. 04
Speed Control of PMDC motor by using PID Controller
 Speed control of PMDC motor using PID controller.
 Find out the Transfer function of motor, load, converter, speed and current controller.
 Designing of motor, Speed and current controller
 Lap Top
4.3 Theory:
4.3.1 PI Controller:
What is Proportional Integral (PI) Controller?
A proportional–integral–derivative controller (PID controller) is a generic control loop
feedback mechanism (controller) widely used in industrial control systems.
A PID controller calculates an “error” value as the difference between a measured process
variable and a desired set point. The controller attempts to minimize the error by adjusting the
process control inputs.
What is the purpose of PI controller?
The error signal then goes into the P.I control loop where it gets multiplied by the
proportional and integral constant. The output of the P.I control is a power value and in order to
convert it to a quantity that is comparable to that of the control signal, it goes through a power to
PWM signal converter.
What is PI in control system?
A variation of Proportional Integral Derivative (PID) control is to use only the proportional
and integral terms as PI control. The PI controller is the most popular variation, even more than full
PID controllers. The value of the controller output u (t) is fed into the system as the manipulated
variable input.
4.3.2 PID Controller:
What is a PID Controller?
The proportional-integral-derivative controller (PID controller) has been used and found to
be a source of design for many years now. Combinations of PID have found their way into many
different uses. The reason for this has been the advent of microcontrollers and the diversity of
analog control. The mechanical operation of a motor has been more reliable and useful in our daily
lives. The PID controller that uses a micro has been defined by industry and has led to additional
functions that support motors of all sizes and shapes.
PID stands for proportional, integral, derivative. These three terms describe the basic
fundamentals of a PID design. Each of these elements performs a different function and has
unique property when driving, positioning, and starting/stopping a motor.
The key to using a PID function is feedback. Instructions or commands to the controller are
used based on individual feedback signals from the motor or sensors being controlled. Their
outputs are summed up based on the PID algorithm to drive the motor backwards, forwards, stop,
speed up, or slow down.

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What is the advantage of PID controller?
PID controller combines the advantage of proportional, derivative and integral
control action. The control signal is proportional to the error signal and the proportional gain Kp. A
proportional controller will have the effect of reducing the rise time and will reduce, but never
eliminate.
What does a PID controller do?
A proportional–integral–derivative controller (PID controller or three-term controller) is
a control loop feedback mechanism widely used in industrial control systems and a variety of other
applications requiring continuously modulated control.
Why we use PID controller?
PID controllers are named after the Proportional, Integral and Derivative control modes they
have. They are used in most automatic process control applications in industry. PID
controllers can be used to regulate flow, temperature, pressure, level, and many other industrial
process variables.
How can PID controller reduce overshoot?
 General Tips for Designing a PID Controller
 Obtain an open-loop response and determine what needs to be improved.
 Add a proportional control to improve the rise time.
 Add a derivative control to reduce the overshoot.
 Add an integral control to reduce the steady-state error.
4.3.3 Reference:
Power Electronics by M H Rashid
Chapter No. 14: DC Drives
Example No.: 14.14
4.4 Parameters and Values:
Parameters Values Parameters Values
Vdc 220V Idc 6.4A
F 60Hz Rated speed (N) 1570rpm
G ω (s) 0.074 La 67mH
1+0.002 s
Ra 6.5Ω J 0.06kgm2
Kb 1.24N.m/A Bt 0.087N.m/rad/sec
Kw 0.074 Power (P) 1408 W =1.88 hP
Tw 0.002sec Speed in radians/sec 164.41
Vcm 10 V Ia(max) 20
4.5 Designing and Transfer Function:

a) Converter transfer function:
The phase Voltage is
VL 220
Vs = = = 127.02V
√3 √3

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1.35 ×V rms
Kr=
V cm
K r =29.7
V dc ( max )=¿ K r V cm =29.7 ×10=29.7 V
3
V dc ( max )= V peek
π
V peek= √ 2 ×220=311.1298
3
V dc ( max )= ×311.1298=297.10
π
As,
60/2
T r= ×(time period of one cycle)
360
1 1
T r= ×
12 f
T r=0.0013888 sec
Converter transfer function is:
Kr
Gr ( s )=T . F=
1+T r s
29.7
Gr ( s )=T . F=
1+0.001388 s
b) Current feedback gain:
The maximum safe control voltage is 7.405 V and this has to correspond to the maximum current
error:
i max=20 A
3
V dc(max) = × V peak (L−L)
π
V dc(max) =297.10 V
Now,
V dc V dc(max)
=
Vc V cm
220 297.10
=
Vc 10
V c =7.405 V
Vc
H c=
i max
V
H c =0.37025
A
c) Motor designing and Transfer function:
I K 1 ( 1+ s T m )
T . F= a =
V a ( 1+ s T 1) ( 1+ s T 2)
]√(
2
K b2−R a Bt
−1
T1
1 −1 B1 Ra
,− = +
T 2 2 J La
±
[
1 B1 Ra
+
4 J La
−
J La ) ( )
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Therefore,
−1
=−49+ 43.5967
T1
T 1 =0.1774 sec
−1
=−49−43.5967
T2
T 2 =0.0107 sec
Now,
J 0.06
T m= =
Bt 0.087
T m=0.68 sec
Also,
Bt 0.087
K 1= 2
= 2
K b + Ra B t 1.24 +6.5 ×0.087
K 1=0.041
So, the motor transfer function will be:
I ( s) K 1 ( 1+ s T m )
T . F= a =
V a (s) ( 1+ s T 1 ) ( 1+ s T 2 )
Ia 0.02788 s+0.041
T . F= =
V a 0.0189818 s 2 +0.1881 s+ 1
d) Load Transfer Faction:
Kb
ωm (s) Bt
T . F= =
I a (s) 1+ sT m
ωm ( s) 14.25
T . F= =
I a (s) 1+ 0.68 s
e) Design of Current controller:

T c =T 2=0.0107 sec
As,
T1 0.0107
K= =
2 T r 2(0.0013888)
K=63.868
K Tc 63.868 ×0.0107
K c= =
K 1 HcKrT m 0.041 ×0.37025 ×290.7 × 0.68
K c =2.229 sec
f) Current loop approximation:
I ( s) Ki
T . F= a¿ =
I a ( s) 1+s T c
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As,
Kc K r K1 T m Hc
K fi =
Tc
K fi =63.886
Also,
K fi 1
K i= ×
H c 1+ K fi
63.886 1
K i= ×
0.37025 1+63.886
K i=2.65925
Now,
T 3 =T 1 +T r
T 3 =0.1774+ 0.0013888
T 3 =0.1787 sec
Also,
T3
Ti=
1+ K fi
0.004754
Ti=
1+63.886
T i =0.002754 sec
So, the transfer function is:

I ( s) Ki
T . F= a¿ =
I a ( s) 1+s T c
I a ( s) 2.65925
T . F= ¿ =
I a (s) 0.002754 s+1
g) Speed controller design and transfer function:
T 4=T i +T ω
T 4=0.002754 +0.0013888
T 4=4.754 msec
T 4=0.00 4754 msec
And,
Ki K b Hω
K 2=
Bt T m
K 2=4.1246
And,
1
Ks=
2 K2T 4
K s =25.4993
Also,
T s=4 T 4
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T s=4(0.004754 )
T s=0.0190 sec
So, speed controller transfer function will be,
ω(s) K s ( 1+s T s )
T . F= ¿ =
ω (s) sTs
0.4844867 s+25.4993
T . F=
0.0190 s
4.6 Simulink Block Diagrams:

 Model with limiter:
Figure 21: Simulink model with limiter

 Model with PID Controller:

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Figure 22: Simulink model with PID Controller
4.7 Procedure:
 First, we turned on our laptop
 Double Click on the MATLAB Icon software open it.
 Then we opened the Simulink.
 After that by using different blocks which depicts
the mathematical model of the PMDC
motor, we make the model of PMDC in Simulink according to the parameters which we are
calculated.
 Then we place limiter, PI, PID controller to control the speed of PMDC motor.
 We observed the change in outputs by placing limiter.
 Then we observed the results by tuning PI and PID controller adjusting response time.
 At the last we done measurements.
 With Limiter:
Parameters Values
Steady state error 0.21
Peek overshoot 24.6%
Settling time 5.5 sec
Peek time 1.9 sec
Rise time 1.25 sec
Peek undershoot 4.4 sec
 Output waveform of Speed:

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Figure 23: Output waveform of Speed with Limiter

 With PI controller:
Parameters Values
Response Time 0.3314 sec
Transient behavior 0.6
Settling time 3.69 sec
Peek time 1.56 sec
Rise time 0.192 sec
Gain Margin 39.9 dB, 71.8 rad/s
Phase Margin 20.3 dB, 6.04 rad/s

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Figure 24: Output waveform of Speed with PI controller

 With PID controller:
Parameters Values
Response Time 0.2545sec
Transient behavior 0.6
Settling time 0.144sec
Peek time 1.12sec
Rise time 0.17sec
Gain Margin 30.1 dB, 1.22 rad/s
Phase Margin 69 deg, 7.86 rad/s
Figure 25: Output waveform of Speed with PID controller

 Output current waveform with PID

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Figure 26: Output waveform of current with PID controller
4.9 Conclusion:
In this experiment we observed the speed and currents waveforms by limiter, PI and PID
controller and find out the transfer functions and designed the speed and current controller .We
use PID controller to improve rise time, reduce overshoot and reduce steady state error by adding
proportional, derivative and integral control respectively.

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Experiment No. 05
DC Servo Motor Modeling and Identification and Control
the Torque, Speed and Position
 Be familiar with the measure method of DC servo motor parameters and the actual
meanings.
 Model and analyze the motor and master the method of modeling an actual system.
 Familiar with the basic principle and how to use intelligent servo controller
 Master the basic motor control principle, and the adjustment methods of current loop,
velocity loop and position loop.
 Learn to Control the Torque, speed and position.
 Computer/Lap Top
 Easy Motion Studio software
 DC servo control trainer IT-4421
 DC servo control system experiment platform
 DMM
 LCR
 Oscilloscope
5.3 Theory:
5.3.1 Servo system:
A servo system is an electro mechanical or hydraulic system that can follow a desired
position, speed or time in a closed loop fashion. A servo system consists of a motive apparatus, a
feedback sensor and logic, usually electronic but can be mechanical, that commands the motive
apparatus to a desired set point. For example, In the case of an electric motor with an encoder
and a motion controller, the servo loop creates a desired set point or even a motion profile, and the
motion controller takes the position information from the encoder and compares it to the desired
set point. If the desired and actual position is the same, it does nothing. If it is not, it drives the
motor until its position matches the desired position.
What is a servo drive?
Servo systems consist of four main components: a motor, a drive, a controller, and a
feedback device, which is typically an encoder. The controller and drive work together to
determine what the motor needs to do (the controller) and send the necessary electrical energy to
the motor to make it happen (the drive).

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Figure 27: Block diagram of servo system experiment

5.3.2 Step1: Identification of motor parameters
The main parameters of a motor include power, resistance, inductance, inertia, electromechanical
time constant, torque constant and so on. They can be measured by using the following methods
respectively.
Figure 28 Servo System with Component Labeling

1. Resistance
It is convenient to measure the resistance in the motor loop by DMM.
2. Inductance
The inductance in the motor loop can be measured by using LCR.
3. Inertia
The inertia of the system can be detected directly in the motion studio program. For the detail
please look up motion studio specification.
4. Electromechanical time constant
Electromechanical time constant is the time when velocity raises from o to the 63.2% of
stable velocity under certain armature voltage, and without any load. Thus, it can be
calculated if the motor velocity and run time is measured.
5. Torque constant
The equation of motor electromagnetic torque is:
The torque constant can be calculated when motor torque is measured under certain current.

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5.3.3 Step2: Modeling and analysis
Electric Modeling for Position Control First, we begin by modeling the electric motor, given its
values of inductance, L, and resistance, R.
To begin, we first establish the torque of the motor, which is in direct proportion to the current
running through it:
With these two differential equations, we can effectively begin solving for the state-space model.
So, to begin, we let
Solving for x’1;x’2; and x’3, we utilize the differential equations stated above to get an algebraic set
of equations.
For finding the transfer function of motor’s position and error signal, the Laplace transform
of the state-space model must be taken, eventually giving us the form

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With this transfer function, and the servo system diagram displayed below, one can model the
forward transfer function.
5.4 Servo System Diagram:
Figure 29: Servo system Diagram

1. Electric Modeling for Speed Control
2. System Modeling
According to some control principles, system model can be built. Transfer function of the
system can be got by using the motor parameters acquired in previous section. The input of the
system is reference input (generally reference voltage), and the output is the load rotation angle.
The control diagram of DC servo motor is expressed as follows:

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Figure 30: Control diagram of DC servo motor
The parameters of the motor are showed as below:
From the parameters above, calculate the needed parameter that not provided.

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5.4.1 DC Servo Control Trainer:

Servo motors plays a very important role in industry process. These servo motor can be DC
or AC depending on the requirement. The DC servo trainer IT-4421 is a closed loop DC servo
system designed in modular construction. The key concept behind this trainer system is to provide
practical working knowledge of a closed loop DC servo systems to the users by integrating basic
theories and step-by-step experiments into one subject.
Figure 31:- DC servo control trainer

The structure of the intelligent servo motion controller is shown as follow:

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Figure 32:- Structure of intelligent servo motion

5.4.2 Servo Motor:
A servomotor is a rotary actuator or linear actuator that allows for precise control of angular
or linear position, velocity and acceleration. It consists of a suitable motor coupled to a sensor for
position feedback. It also requires a relatively sophisticated controller, often a dedicated module
designed specifically for use with servomotors.
Servomotors are not a specific class of motor although the term servomotor is often used to
refer to a motor suitable for use in a control system. Servomotors are used in applications such
as robotics, CNC machinery or automated manufacturing.
Figure 33:- Servo motor
Figure 34:- Connections

5.4.3 ISM4803 intelligent controller:
ISM4803 is a high-performance intelligent servo module that combines motion controller,
drive and PLC functionality in a single compact unit. The ISM4803 module is a flexible, cost-
effective solution particularly adapted to the distributed and coordinated control of brushless, DC
or step motors of powers up to 150 W, with voltages up to 48 V. Programmable with the high-level
Techno soft Motion Language (TML), ISM4803 embeds, on a single board, advanced motion

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control and basic PLC specific functionality. Typical applications include distributed motor control
with the possibility of electronic gearing or CAM functions, optionally in a CAN network.
Figure 35:- ISM4803 controller
5.5 Procedure:
 Measure the parameters of the motor: the resistance, inductance, electromechanical time
constant, and torque constant.
 Build the mathematical model of DC servo motor by using the parameters measured above.
 Analyze the zeros and poles of the open- loop system and controllability, Bode plot and
Nyquist curves of the open- loop system.
 Analyze the open- loop response in MATLAB.
 Finish the experiment report.
 Familiar with the structure and principles of the intelligent servo controller by going through
its manual.
 Master the communication principle and methods between the intelligent servo controller
and computer.
 Familiar with programming with Motion Studio.
 Simulate the motor model and control parameter in MATLAB and record the experiment
results.
 Change the motor load, modify control parameters, observe and record experiment results.
 Download the program in ISM4803 then run the program, it will generate a “motion.out” file
in the folder “\Program Files\ Technosoft\ ESM\ Projects\ DC Servo-ESM \DC Servo”. Copy
it for the next experiments.
 Complete experiment report.
 Install easy motion software
 After installation icon of software will created on desktop
 Then double click on the icon to open the software

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 A window will open as shown in the figure
 Click on the point to open the new project. A window will open and press ok
 After pressing ok select setup as shown below a new window will open
 Now select edit so following drive setup will open like shown
 After that we do VDC detection test
 Now click on detect and following window will open and press yes
 After detection
select the current
controller as shown
below

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 Then click on test as following will open
 Click on start so following window or graph will open after the completion of the test
 Now after the current controller test then choose the speed controller test and test the
speed controller as shown and press on start button
 After pressing the start button following graph will open or created

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 Now select the position controller test as following tab will open
 The graph of position is shown below also we can change the position of the motor by
changing the position.

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 We also see the changes in the graphs of current and speed by changing the current,
speed and position values.
5.6 Conclusion:
In this experiment we learnt about how to control the speed, current and position of the DC
servo motor by using the easy motion software with the help of the intelligent servo controller,
installed in the trainer of ISM4803 controller. And the required graphs are shown. We also observe
the changes after changing the values.

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Experiment No. 06
Position Control of AC Servo Motor
 Be familiar with the measure method of AC servo motor parameters and the position control
of AC servo motor.
 Computer/Lap Top
 PANATERM V6.0 software
 AC servo control system experiment platform
 AC servo control trainer IT-4420
o Mechanical Assembly and Load
o AC Servo motor (MSMF042L1U2M)
o AC Servo Driver (Panasonic MADLN05SE)
o PC-based control software
6.3 Theory:
6.3.1 Introduction:
AC Servo Motors have been traditionally used for position/speed control applications
especially in light weight, precision instrumentation area in airborne systems. These motors,
though more expensive than industry standard split-phase induction motors and ac driven stepper
motors, have a much better torque speed characteristics
AC servo motors incorporate encoders are used with controllers for providing feedback and
closed-loop control. These motors can be positioned to high accuracy, meaning that they can be
controlled exactly as required for the application. Often servo motors have better bearings or
higher tolerance designs, and some smaller designs also use higher voltages in order to
achieve greater torque. This AC servomotor can be placed to high accuracy and also controlled
precisely as compulsory for the applications. Frequently these motors have high performance
bearings it helps the motor to control the accurate torque of AC Servo motor.
6.3.2 Construction of AC servo motor:
The AC servomotor is basically a two phase induction motor with some special design
features. The stator consists of two pole-pairs (A-B and C-D) mounted on the inner periphery of
the stator, such that their axes are at an angle of 90° in space. Each pole-pair carries a winding.
One winding is called reference winding and the other is called a control winding. The exciting
current in the winding should have a phase displacement of 90°. 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 90°. The stator constructional features of AC Servo motor are
shown in figure.
Figure 36: Stator construction of AC servomotor

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The rotor construction is usually squirrel cage or drag-cut type. Rotor Construction of AC Servo
motor is shown in figure the squirrel cage rotor is made of laminations. The rotor bars are placed
on the 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.
6.3.3 Trainer Overview
The AC servomotor trainer is composed of a
 Mechanical Assembly and Load
 AC Servo motor (MSMF042L1U2M)
 Ac Servo Driver (Panasonic MADLN05SE)
 PC-based control software.
6.3.4 Mechanical Assembly
The mechanical Assembly consists of a main Shaft, belt pulley and Load Assembly.
6.3.5 Block Diagram:
Figure 37: Block Diagram AC servo motor

6.3.6 AC Servo motor:
There are several advantages to choosing AC servo motors over DC servo motors. They
offer more torque per weight, efficiency, reliability and reduced radio frequency noise. And in the
absence of a commutator, they require less maintenance and have a longer life expectancy. AC
servo motors are used in a wide variety of applications where position control is critical and are
frequently used in robotics, semiconductor equipment, machine tools, and aircrafts. The motor is
outfitted with an optical encoder which provides the current actual position as feedback data.
The AC Servo Motor Control System Trainer is designed to demonstrate the position control
with AC servomotor. The AC servomotor operates on 230V mains supply so that additional power
supply is not required to drive servomotor as in case of DC servo system. The servo controller with
amplifier, comparator and output relays gives the directional signals to the AC servomotor. This is
the closed loop control system with negative feedback. The control potentiometer gives one input
signal to the error amplifier whereas another input signal to error amplifier is from output /
feedback potentiometer. When error amplifier output is zero the system is balanced. Any variation
in control pot position creates error and servomotor gets directional signal, which will adjust the
position of feedback pot. The small hysteresis is provided to avoid the hunting of system.
In PANATERM Software we communicate with AC servo trainer. We initialize the software
and controller. USB cable connects the controller and PC. Simply we put the parameters
according to requirement of Position Control experiment and we can see the motors are drive and
hold the given position. You can perform position control based on positional command (pulse
train) from the host controller. This describes the fundamental setup to be used for the position
control.
Figure 38: Describes the fundamental setup to be used for the position control

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3.3.7 Function:
Process of command pulse input:
The positional commands of the following 3 types (Pulse train) are available.
 2-phase pulse
 Positive direction pulse/negative direction pulse
 Pulse train + sign
Set the pulse configuration and pulse counting method based on the specification and
configuration of installation of the host controller.
The input terminals can accommodate the following 2 systems.
Input 1 PULSH1, PULSH2, SIGN1, and SIGN2” line receiver input (8 Mpulse/s)
Input 2 “PULS1, PULS2, SIGN1, SIGN2” photo coupler input (500 kpulse/s)
For the line driver output, “Input 2” can also be used without changing the allowable input
frequency.
Relevant parameters:
Connections:
Figure 39: Connection diagram of Position control AC servo motor

Parameter:
Input Signal Status:

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6.4 Procedure:
 Procedure Installing PANATERM v6.0:
 Insert the CD into the CD-ROM. Run “Setup2.exe” file from Software folder to start the
setup.
 After the completion of setup run the software and observe the following view.
Communication with Driver:

 To establish communication between Driver and PANATERM, Connect USB cable to
connector X1 on Driver and press Update to select Driver.
 Press OK to select Device type.

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 Select MINAS-A6 and press OK.

Parameters changing:
 Select Parameter Tab to set parameter by reading Parameters from device or from file
saved in the PC. Press OK and select file from CD having folder Parameters
 Find following view to set Parameters

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 After changing parameters value, Press button change of set Value to save change.
 To transmit Parameters press Trans button and to save Parameter in Drive press EEP
Button.
 Restart trainer if required after new Parameters setting.
Procedure Position of AC servo Motor:
 Connect the connector X4 on the Panasonic controller.
 Confirm the default values of position parameters.
 Match to the output format of the host controller with Pr0.07 (Command pulse input mode
setup).
 Write to EEPROM and turn off/on the power (of the driver).
 Connect the Servo-ON input pin to GND pin.
 Enter low frequency from the host controller to run the motor at low speed.
 Check the motor rotational speed at monitor mode whether, rotational speed is as per the
setup or not, and the motor stops by stopping the command (pulse) or not.
 If the motor does not run correctly, check the following parameter values, “Display of factor
for No-motor running” of preparation.
 Pr3.00: Speed setup, internal/external switching
 Pr3.01: Speed command rotational direction selection
 Pr3.03: Reversal of speed command input

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Rotational direction setting at ‘0’:
Set value = 0, Direction of motor = clockwise
Speed of motor (rpm) Control voltage
300 -0.906
400 -1.209
500 -1.5
600 -1.8
800 -2.4
1000 -3.0
1500 -4.53
2000 -6.04
2500 -7.55
Rotational direction setting at ‘1’:
Set value = 1, direction of motor = anti-clockwise
Speed of motor (rpm) Control voltage
300 0.906
400 1.209
500 1.5
600 1.8
800 2.4
1000 3.0
1500 4.53
2000 6.04
2500 7.55
6.6 Conclusion:
In this experiment we learnt about how to control the speed, torque and position of the AC
servo motor by using the PANATERM V6.0 software with the help of the intelligent servo controller
and the required graphs are shown. We also observe the changes after changing the values.

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Experiment No. 07
Basic Logic operations
 Implement the logic operators at PLC and verify them.
 LAP TOP / Computer
 Step Seven Software
 PLC Trainer
7.3 Theory:
7.3.1 Ladder Logic:
Ladder logic has evolved into a programming language that represents a program by a
graphical diagram based on the circuit diagrams of relay logic hardware. Ladder logic is used to
develop software for programmable logic controllers (PLCs) used in industrial control applications.
7.3.2 Logic Gate:
Logic gates perform basic logical functions and are the fundamental building blocks of digital
integrated circuits. Most logic gates take an input of two binary values, and output a single value of
a 1 or 0. Some of logic gates are:-
 NOT Gate
 AND Gate
 NAND Gate
 OR Gate
 NOR Gate
 XOR Gate
 XNOR Gate
NOT Gate:
The NOT gate is an electronic circuit that produces an inverted version of the input at its
output. It is also known as an inverter. Its truth table and symbol is shown below.
Figure 40: NOT Gate
Figure 41: Truth Table NOT gate

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AND Gate:
AND gate us a circuit which produces an output signal only when signals are received
simultaneously through all input connections.
Figure 42: AND Gate
Figure 43: Truth Table AND gate

NAND Gate:
NAND gate is a circuit which produces an output signal unless there are signals on all of its
inputs. Its truth table and symbol is shown below.
Figure 44: NAND Gate
Figure 45: Truth Table NAND gate

OR Gate:
OR gate is a circuit which produces an output if there is a signal on any of its inputs. Its
truth table and symbol are shown below.
Figure 46: OR Gate
Figure 47: Truth Table OR gate

NOR Gate:

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NOR gate is a circuit which produces an output signal only when there are no signals on
any of the input connections. Its truth table and symbol is shown below.
Figure 48: NOR gate
Figure 49: Truth Table NOR

XOR Gate:
An exclusive OR gate (XOR gate) is a digital logic gate that is implemented using
transistors in order to act as an electronic switch used in implementing Boolean functions. It is built
by combining standard logic gates such as the common NAND and NOR gates in order to produce
the more complex function of this gate. XOR produces a "1" output if the inputs are different and a
"0" if all the inputs are the same value. Its truth table and symbol is shown below.
Figure 50: XOR Gate
Figure 51: Truth Table XOR gate

XNOR Gate:
An XNOR gate (sometimes referred to by its extended name, Exclusive NOR gate) is a digital
logic gate with two or more inputs and one output that performs logical equality. The output of
an XNOR gate is true when all of its inputs are true or when all of its inputs are false. Its truth table
and symbol is shown below.
Figure 52: XNOR gate
Figure 53: Truth Table XNOR
7.4 Procedure:
 First of all, we turned on our PC and open the software step seven.
 Then we draw the gates one by one.
 After that we run the gate that we constructed in the software and run it.
 After simulation we checked the results.
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 After performing all the tasks, we turned the PC off.
7.5 Ladder Logic of Gates:
Figure 54: NOT gate
Figure 55: AND Gate
Figure 56: NAND Gate
Figure 57: OR Gate
Figure 58: NOR Gate
Figure 59: XOR Gate
Figure 60: XNOR Gate

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7.6 Conclusion:
In this experiment, we learnt about the ladder logic of logical operators. We observed the
input, output behavior of different gates. We also verified them by doing their simulation.

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Experiment No. 08:
Traffic Light Control by Using PLC (a)
 Implement one way traffic light control
 Implement two-directional control of traffic lights.
 PLC Trainer
 Traffic light controller module
8.3 Theory:
8.3.1 Programmable Control Logic:
A PROGRAMMABLE LOGIC CONTROLLER (PLC) is an industrial computer control
system that continuously monitors the state of input devices and makes decisions based upon a
custom program to control the state of output devices. Another advantage of a PLC system is that
it is modular.
Figure 61: Block Diagram of PLC

8.3.2 Traffic Lights:
A set of automatically operated colored lights, typically red, amber, and green. Used for
controlling traffic at road junctions, pedestrian crossings, and roundabouts.
8.3.3 Traffic Signs Meaning:
The Traffic lights shows the following purposes: -
 Red means 'Stop'. Do not pass through or start until green shows.
 Green means you may go on if the way is clear.
 Take special care if you intend to turn left or right and give way to pedestrians
who are crossing.
 Amber means 'Stop' at the stop line.
 A yellow traffic light is a warning that a red light is soon to follow.
 You have two options as you approach a yellow light.

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Figure 62: Traffic Lights Indication

8.3.4 Timer:
PLC timers are instructions that provide the same functions as on-delay and off-delay
mechanical and electronic timing relays. The terms represented in the timer block in the PLC are a
Preset value which means the delay period of the timer, an Accumulated value which is the current
delay of the timer.
There are following 3 types of timer: -
i. On-delay timers.
With an on-delay timer, timing begins when voltage is applied. When the time has expired, the
contacts close and remain closed until voltage is removed from the coil. If voltage is removed
before time-out, the time delay resets
ii. OFF-delay Operation
With OFF-delay operation, the output turns ON at the same time as the input and then the
output turns OFF when the Timer contacts switch after the set time has expired.
iii. Retentive Timer
A retentive timer accumulates time whenever the device receives power, and it maintains the
current time should power be removed from the device. When the timer accumulates time equal to
its pre-set value, the contacts of the device change state. Loss of power to the timer after reaching
its preset value does not affect the state of the contacts. The retentive timer must be intentionally
reset with a separate signal for the accumulated time to be reset and for the contacts of the device
to return to its non-energized state.
Figure 63: On delay timer
Figure 64: Off Delay Timer

8.3.5 Comparator:
A comparator is a device that accepts two analog inputs, compares the inputs, and
produces a binary output that is a function of which input is higher. If the non-inverting (+) input is
greater than the inverting (-) input, then the output goes high.

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Figure 65: Comparators

8.3 Procedure:
 We construct the ladder logic of one-way traffic light control by using PLC in the software
 Check the results by running it on the hardware.
 Then we construct the ladder logic two way traffic light control by using PLC in the software
 Check the results and verify by running it on the hardware.
 After turn off the PC/ Lap top
8.4 Ladder logic:
 One Way Traffic Light Control ladder logic:
 Two Way Traffic light control ladder logic:

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8.5 Conclusion:
In this experiment, we learnt about the traffic light control by using PLC. We observed the 1-
way, 2-way traffic lights control. We implemented the ladder logic of these traffic lights control in
the step seven software and observed their results in PLC and on Traffic light controller trainer.

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Experiment No. 09
Traffic Light Control by Using PLC (b)
 Implement three-directional control of traffic lights.
 Implement Control of traffic lights in four directions.
 PLC Trainer
 Traffic light controller module
9.3 Procedure:
 We construct the ladder logic of one-way traffic light control by using PLC in the
software
 Check the results by running it on the hardware.
 Then we construct the ladder logic two way traffic light control by using PLC in the
software
9.4 Ladder Logic:
 Three Way traffic light control:

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 Four Way traffic light control:

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9.5 Conclusion:
In this experiment, we learnt about the traffic light control by using PLC. We observed the 3-
way, 4-way traffic lights control. We implemented the ladder logic of these traffic lights control in
the step seven software and observed their results in PLC and on Traffic light controller trainer.

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Experiment No. 10
24 Hour Clock by Using PLC
 To implement 24 hour clock by ladder logic using PLC

 PLC Trainer
10.3 Theory:
10.3.1 Retentive Timer
A retentive timer accumulates time whenever the device receives power, and it maintains
the current time should power be removed from the device. When the timer accumulates time
equal to its pre-set value, the contacts of the device change state. Loss of power to the timer after
reaching its preset value does not affect the state of the contacts. The retentive timer must be
intentionally reset with a separate signal for the accumulated time to be reset and for the contacts
of the device to return to its non-energized state.
Figure 66: Retentive on-delay timer timing chart
10.3.2 Counter:
A PLC counter is a function block that counts up or down until it reaches a limit. The thing is
that counting is in fact widely used in PLC programming. A program counter is a register in a
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computer processor that contains the address (location) of the instruction being executed at the
current time. As each instruction gets fetched, the program counter increases its stored value by 1.
Up-Counter
The up-counter is an output instruction whose function is to increment its accumulated
value on false-to-true transitions of its instruction. It thus can be used to count false to-true
transitions of an input instruction and then trigger an event after a required number of counts or
transitions. The up-counter output instruction will increment by 1 each time the counted event
occurs.
Down-Counter
The down-counter instruction will count down or decrement by 1 each time the counted
event occurs. Each time the down-count event occurs, the accumulated value is decremented.
Normally the down-counter is used in conjunction with the up-counter to form an up/down-counter.
Figure 67: 24-hour clock program.
10.4 Procedure:
 We construct the ladder logic of 24 hour clock by using PLC in the software
 Check the results and verify the logic.

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10.5 Ladder Logic:
10.5 Conclusion:
In this experiment, we learnt about the 24 hour clock by using PLC. We implemented the
ladder logic of 24 hour clock in the step seven software and observed their results in PLC.

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Experiment No. 11
Temperature Control using PLC
 To implement the temperature control by ladder logic using PLC

 7 Step Software
 PLC Trainer
 Temperature control trainer
11.3 Theory:
11.3.1 Temperature sensors
A temperature sensor is a device that detects and measures hotness and coolness and
converts it into an electrical signal. A temperature sensor is a device, typically, a thermocouple or
RTD that provides for temperature measurement through an electrical signal. A thermocouple
(T/C) is made from two dissimilar metals that generate electrical voltage in direct proportion to
changes in temperature.
11.3.2 Temperature control

Temperature control is a process in which change of temperature of a space (and objects
collectively there within), or of a substance, is measured or otherwise detected, and the passage
of heat energy into or out of the space or substance is adjusted to achieve a desired temperature.
Figure 68: Block diagram temperature control
11.4 Procedure:
 We construct the ladder logic of temperature control by using PLC in the software
 Check the results and verify by running it on the hardware by using temperature control
module.

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Ladder Logic:
11.5 Conclusion:
In this experiment, we learnt about the temperature sensor controller using PLC. We
construct its ladder logic diagram in software and observed it using PLC.

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Experiment No. 12
Stepper Motor Control
 To connect and program an external programmable logic controller to monitor and
control the Stepper Motor.
 PLC Trainer
 PLC Trainer (IT-1200S) a
 Motor Control Module (IT-5105)
12.3 Theory:
12.3.1 Introduction:
The electric motor is a device which converts electrical energy to mechanical energy. There
are different types of motors have been developed for different specific purposes.
12.3.2 Classification or Types of Motor
The primary classification of motor or types of motor can be tabulated as shown below,
Figure 69: Primary classification of motor

12.3.3 Stepper Motor
A stepper motor is an electromechanical device which converts electrical pulses into
discrete mechanical movements. The shaft or spindle of a stepper motor rotates in discrete step
increments when electrical command pulses are applied to it in the proper sequence.
One of the most significant advantages of a stepper motor is its ability to be accurately
controlled in an open loop system. Open loop control means no feedback information about
position is needed. This type of control eliminates the need for expensive sensing and feedback
devices such as optical encoders. Your position is known simply by keeping track of the input step
pulses.
In a two phase uni-polar permanent magnet stepper motor, motor has a cylindrical
permanent magnet rotor. The stator usually has two windings. The windings could be center
tapped to allow for a uni-polar driver circuit where the polarity of the magnetic field is changed by

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switching a voltage from one end to the other of the winding. A bipolar drive of alternating polarity
is required to power windings without the center tap.
12.3.4 Stepping modes
Stepping modes of permanent magnet are of three types:
• Wave drive (1 phase on)
• Full step drive (2 phase on)
• Half step drive (1 & 2 phase on)
Wave drive:
In Wave Drive only one winding is energized at any given time.
The stator is energized according to the sequence A → B → C→ D
Figure 70: Bipolar Stepper Motor Control Sequence:

Full step drive:
In Full Step Drive you are energizing two phases at any given time. The stator is energized
according to the sequence, AB →CB → CD → AD
Full step mode results in the same angular movement as 1 phase on drive but the mechanical
position is offset by one half of a full step. The torque output of the unipolar wound motor is lower
than the bipolar motor.
12.3.5 PLC Inputs:
Inputs from Digital input simulator an Inputs of Sensors.
12.3.6 PLC outputs:
Motor drive Pulses

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12.3.7 Connection Diagram for Stepper Motor
Figure 71: Connection Diagram for Stepper motor

12.3.8 Interface:
Connect PLC Trainer (IT-1200S) and Motor Control Module (IT-5105) with 40- Pin Interface
cable.24V DC when particular I/P is activated from Module.
12.3.9 PLC Output Voltage:
12V DC when particular O/P is activated from PLC.
12.3.10 Power supply:
From PLC trainer
12.3.11 Connection:
 Connect PLC Output Common +4L with 12VDC on PLC trainer (IT-1200S).
 Connect B.0 with I0.0 on PLC Trainer (IT-1200S).
 Connect B.1 with I0.1 on PLC Trainer (IT-1200S).
12.3.12 I/O Connections:
PLC Digital Outputs
S/N PLC Trainer PLC TRAINER
1 CW Direction B.0 I0.0
2 CCW Direction B.1 I0.1
3 0 degree I0.2
4 90 degree I0.3
5 180 degree I0.4

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6 270 degree I0.5
PLC Digital Outputs

S/N MODULE PLC TRAINER
1
A+ Q0.0
2
A- Q0.1
3
B+ Q0.2
4
B- Q0.3
5
Enable 1 Q0.4
6
Enable 2 Q0.5
12.4 Procedure:
 Connect PLC with TIA Portal.
 Download ladder program of Stepper Motor Control IT-5105 provided in CD.
 Run Ladder program.
 Connect PLC Trainer IT-1200S and Module IT-5105 with 40-pin Interface cable.
 Connect 2mm patch cords on Motor Control Module IT-5105 as shown in figure.
 Note: Downloading procedure of ladder program is given in Operating manual of PLC
Trainer IT-1200S.
12.5 Ladder Logic Program:

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12.6 Conclusion:
In this experiment we learnt about the control of stepper motor using PLC. We implemented
Ladder logic technique using step seven software and observed the control using PLC.

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Experiment No. 13
Automatic Bottle Filling System using PLC
 Implementation of Automatic Bottle Filling System using PLC
 To check the application of level, flow and temperature sensors.
 Computer / Lap Top
 Industrial control Lab
 PLC step7 software
 PLC trainer
13.3 Theory:
13.3.1 Introduction:
An Automation is the utilization of different control techniques for operating equipment’s
such as operations in factories, aircraft and other applications with reduced human power. The
filling process is a mission performed by a machine that fills liquid products such as water or cold
drinks. Traditional bottling methods include placing bottles on a conveyor belt and filling only one
bottle at a time. In this paper, it has been designed and implement water filling machine system
for different sized bottles by using PLC. Where the water filling machine system includes design
and implement prototype of a flat belt conveyor and automatic process for water filling machine
using the solenoid valve and sensors which gives the appropriate information to control unit then
design the controller using PLC. The PLC plays important role to implement automatic filling
process by using PLC programing software and ladder diagram language. It was found that the
water filling machine using PLC is less operational cost and less power consumption than the
traditional control systems, in addition more flexible and time saving.
13.3.2 Level Sensor:
A float switch is a type of level sensor, a device used to detect the level of liquid within a
tank. The switch may be used to control a pump, as an indicator, an alarm, or to control other
devices.
Figure 72: Level Sensor

13.3.3 Water Pump:
It is used to fill the water Tank from the main reservoir. It is DC pump which operates with 12 V DC
Supply.

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Figure 73: DC Pump

13.3.4 Inductive Proximity Sensors:
Inductive proximity sensors are used for non-contact detection of metallic objects. Their
operating principle is based on a coil and oscillator that creates an electromagnetic field in the
close surroundings of the sensing surface.
Figure 74: Inductive Proximity Sensor

13.3.5 DC motor:
DC motor is type of rotary electrical machines that convert electrical current into mechanical
motion. In this apparatus a DC motor is used to rotate the conveyor belt to move the bottle first
under the valve and after it filled move it away from valve. This DC motor operate 12 DC supply
with gear box which is used to increase the torque and reduce the speed as required as shown in
Figure
Figure 75: DC motor with gear box

13.3.6 Water solenoid valve:
A solenoid valve is an electromagnetic controlled device utilized to control the flow of liquid or gas
by opening and closing a gate by a certain value of current as shown in Figure. When a current
applied to the coil of the solenoid it will become like magnetic which exerts a force on a piece of
iron to close the gate and pulled it toward the center of the coil so it opens the gate and allow
liquid to flow. A tank used to provide the liquid to the solenoid.

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Figure 76: Water solenoid valve.

13.3.7 Relay:
Relays are switches that open and close circuits electromechanically or
electronically. Relays control one electrical circuit by opening and closing contacts in another
circuit. As relay diagrams show, when a relay contact is normally open (NO), there is an open
contact when the relay is not energized. The low voltage that the relay will accept to control the
switch is 5 V. The laser and the sensor worked are on 5V but the input to PLC is on 24 V DC so
the relay is used to connect the laser and sensor to the input of the PLC. In the output side, the
relay is connected from the output of the PLC to each of the DC motor and the solenoid valve for
the purpose of protection.
13.3.8 Conveyor System:
Nowadays with many industrial applications, a conveyor system is used to move object
from one location to another in effective way to reduce losing time and effort and it is very useful in
packaging process. A conveyor system has several forms but, in this paper, a Flat belt type is used
to move the bottles as shown in Figure. Conveyors are especially useful in applications which
including the transportation of heavy or large materials. A Flat belt conveyer has the belt is made
from elastic material. Six pulleys a distributed along the belt, the first one rotates with the rotation
of motor shaft and it usually called drive pulley and the other five pulley called idler pulley. The Flat
belt is fitted with aluminum plate between the pulleys to support the belt.
Figure 77: Flat belt conveyor

13.3.9 System Working:
When the Level of the Water in the Tank is Low it is detected by Low Level Sensor which
switch on the pump and start filling the water in the tank. When the level of the water reach at
higher-Level high-Level switch detects it and Switch off the Pump and stop filling. The water filling
machine starts when the push button switch is pressed and this caused working the DC motor
hence the conveyor belt is moving. The bottles move on the conveyor belt until the first bottle
reaches under the solenoid valve where the proximity detects the bottle, hence the proximity
sensor is sensing the bottle and gives a control signal to the PLC through the relay(24V). This
leads to stopping the DC motor and hence the conveyer belt stops and the solenoid valve
operates and the bottle starts filling the water (using timer in PLC to time this process).when the

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bottle is fully filled with water, the solenoid valve is closed and the motor is working to move the
conveyor belt again to carry the bottle away from the solenoid valve. If another bottle is detected
under the valve, the process will be repeated and when the stop button is pressed, the whole
process will be stopped.
13.3.10 Uses:
 Material Handling
 Elevators and escalators
 Packaging
 water treatment plants
 Parts Detection
 Cold Drinks Filling Industry
13.5 Procedure:
 We construct the ladder logic Automatic Bottle Filling System using PLC.
13.6 Ladder Logic:

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13.7 Conclusion:
An automatic water filling machine system for different sized bottles by using PLC has been
developed and implemented. The PLC is used in this system to get more productivity with less
time high reliability for and flexible in work. The system is designed to working with different sized
bottles by simply change the program.

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LAB MANUAL INDUSTRIAL

Electrical Engineering MNS UET, Multan

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1.2 Equipment’s required:

1.3.2 Welding Transformer:

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1.3.3 Diagram of Welding Transformer:

Figure 1: Diagram of welding transformer

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1.3.6 Types of Welding Process:

1.3.7 Arc Welding:

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Figure 2: Basic Diagram of ARC Welding

The following terminologies are related to arc welding:

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1.5 Lab Result/ Measurement’s:

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Figure 3: PMDC Motor Cut view

Figure 4:shows the construction of Permanent Magnet DC Motor

Figure 5: Characteristics of PMDC motor

2.3.4 Applications of Permanent Magnet DC Motor

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Figure 6: Equivalent circuit of PMDC motor

2.3.2 Mathematical Equations and Transfer functions:

By taking Laplace of above equations: -

J s 2 θ(s) + Bs θ(s)=K b Ia (s)

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Figure 7: Block Diagram of PMDC motor With Load

2.4 Simulink Block Diagram:

Figure 8: Simulink Block Diagram of PMDC motor

Figure 9: Subsystem in Simulation of PMDC motor

1 170 165.6 93.93 30

1 220 5.193 1033 5

Figure 10: Voltage 220 and Torque 30 Nm

 Voltage 220 and Torque 25 Nm

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Figure 11: Voltage 220 and Torque 25 Nm

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Figure 12: Cut view of DC motor

3.3.3 Pulse Width Modulation:

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Figure 13: Pulse width modulation duty cycle

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Figure 14: Simulink model Diagram of DC motor

Figure 15: Sub-blocks of PWM

The sub -blocks of average value sub-system is shown following:

Figure 16: Sub -blocks of average value sub-system

The sub-blocks of PMDC motor are shown following:

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Figure 17: Sub-blocks of PMDC motor

3.7 Lab Result/ Measurement’s:

 Average Current output waveform:

Figure 19: Average Current output waveform

 Average Speed output wave form:

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Figure 20: Average Speed output wave form

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4.5 Designing and Transfer Function:

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