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NAME :
ROLL NO. :
LIST OF EXPERIMENTS
CYCLE - 2
LIST OF EXPERIMENTS
EX.
DATE NAME OF THE EXPERIMENT MARKS SIGNATURE
NO.
Ex. No. – 1(a)
Aim:
To determine the transfer function parameters of armature controlled DC servomotor.
Apparatus Required:
Armature voltage 48 V DC
Field voltage 48 V DC
Armature current 2.5 A
Power 100 W
Speed 1500 rpm
Theory:
θ (s) Kt
=
Va(s) (Ra + Las) (Js2 + Bs) + Kb Kt s
Procedure:
Tabulation:
To find Ra :
Armature voltage Armature current Armature Resistance
( Va) ( Ia) R a = V a / Ia
Average Ra = _________ Ω
To find La :
Average La = _________ H
To find Kb :
To find Kt :
Model Graph:
∆ω
ω (radians/sec)
Measurement of Kt :
T
(Nm) ∆T
∆ Ia
Ia (A)
Model calculation :
Kb = ∆ E b / ∆ ω
Kt = ∆ T/ ∆ Ia
B = 0.001 Nm/ (rad/sec)
J =0.0074 Kg m2
R = 0.075 m
Result:
Thus the transfer function of the armature controlled DC servomotor is determined as
Aim:
To determine the transfer function parameters of field controlled DC servomotor.
Apparatus Required:
Armature voltage 48 V DC
Field voltage 48 V DC
Armature current 2.5 A
Power 100 W
Speed 1500 rpm
Theory:
When there is change in voltage applied to the field winding, the current through
the field winding changes. This changes the flux produced by field winding. This motor
has large Lf / Rf ratio, so time constant of this motor is high and it can’t give rapid
responses to the quick changing control signals.
Front panel diagram:
Fig. 1.2 Circuit diagram of field controlled DC servomotor.
Substitute eqn. 7 in 4,
θ (s) Kf
=
Vf(s) (Rf + s Lf ) (Js2 + Bs)
Procedure:
(a) To find Rf :
1. Initially keep all the switches in OFF position.
2. Initially keep AC voltage adjustment POT in minimum position.
3. Initially keep armature and field voltage adjustment POT in minimum position.
4. Connect the field terminals of the trainer kit to the motor field terminal.
5. Switch ON the power switch and SPST switch S1.
6. Shaft should not rotate, when applying DC input voltage.
7. Note the field voltage and current for the various values of field voltage.
8. Calculate field resistance Rf.
(b) To find Lf :
1. Initially keep all the switches in OFF position.
2. Initially keep AC voltage adjustment POT in minimum position.
3. Initially keep armature and field voltage adjustment POT in minimum position.
4. Connect the AC voltage terminal of the trainer kit to the motor field terminal.
5. Switch ON the power.
6. Shaft should not rotate, when applying AC input voltage.
7. Note the AC voltage and current for the various values of AC voltage.
8. Calculate field inductance Lf.
(c) To find Kf :
1. Initially keep all the switches in OFF position.
2. Initially keep AC voltage adjustment POT in minimum position.
3. Initially keep armature and field voltage adjustment POT in minimum position.
4. Connect the armature terminals of the trainer kit to the motor armature terminal.
5. Connect the field terminals of the trainer kit to the motor field terminal.
6. Switch ON the power switch and SPST switches S1 and S2.
7. Set the armature voltage at rated value (48 V).
8. Vary field voltage till motor runs at rated speed.
9. By varying the load, note the field voltage, field current and spring balance
readings.
10. Plot the graph T versus field current. From the graph calculate the value of Kf.
Tabulation:
To find Rf :
Field voltage Field current Field Resistance
( Vf) ( If) R f = V f / If
Average Rf = _________ Ω
To find Lf :
Average Lf = _________ H
To find Kf :
Field Field current S1 S2 S1 - S2 Torque
voltage ( If) (Kg) (Kg) (Kg) (T) = 9.81(S1-S2) R
( Vf) Nm
Model Graph:
Measurement of Kf :
T
(Nm) ∆T
∆ If
If (A)
Model calculation :
Kf = ∆ T/ ∆ If
B = 0.001 Nm/ (rad/sec)
J = 0.0074 Kg m2
R = 0.075 m
Result:
Thus the transfer function of the field controlled DC servomotor is determined as
Ex. No. – 2
Aim:
To determine the transfer function parameters of AC servomotor.
Apparatus Required:
Theory:
Let,
Tm = Torque developed by servomotor
Q = Angular displacement of rotor
ω = Angular speed
TL = Torque required by the load
J = Moment of inertia
B = Viscous frictional coefficient
K1 = Slope of control-phase voltage Vs torque characteristic
K2 = Slope of speed-torque characteristic
Load torque,
TL = J d2θ / dt + B dθ / dt
------------------ 2
J d2θ / dt + B dθ / dt = K1ec – K2 dθ / dt
------------------ 3
θ (s) K1
=
Ec(s) s (Js+B+K2)
θ (s) K1 / (B+K2 )
=
Ec(s) s [ ( J s / (B+K2)) + 1]
θ (s) Km
=
Ec(s) s (τ m s + 1)
Procedure:
To find K1 :
1. Apply 3-phase AC supply to the 3-phase input terminal of the trainer kit.
2. Switch on the power switch.
3. Switch on the control winding and main winding switches S1 and S2.
4. Apply rated voltage (230 V) to the reference phase winding.
5. Apply a certain voltage to the control phase winding and make the motor run at
low speed.
6. Apply load to motor. Motor speed will decrease. Increase the control voltage until
the motor runs at same speed as on no-load.
7. Note down control voltage and load.
8. Repeat steps 6 & 7 for various loads.
9. Calculate the torque using the formula, T = 9.81 x Radius of shaft x Load.
10. Plot the graph between T versus control voltage.
11. From the graph find the motor constant K1.
To find K2 :
1. Apply 3-phase AC supply to the 3-phase input terminal of the trainer kit.
2. Switch on the power switch.
3. Switch on the control winding and main winding switches S1 and S2.
4. Apply rated voltage to the reference phase winding and control phase winding.
5. Apply the load in step by step upto the motor run at zero rpm and note the speed
of motor and applied load.
6. Calculate the torque using the formula, T = 9.81 x Radius of shaft x Load.
7. Plot the graph between T versus Speed.
8. From the graph find the motor constant K2.
Tabulation:
To find K1 :
Model graph:
Torque
(Nm)
Slope K1
Torque Vs Speed:
Torque
Slope K2
Speed
Model calculation:
K1 = ΔT / ΔV
K2 = ΔT / ΔN
J = 0.0155 Kg m2
B = 0.85 x 10-4 kg m s
Result :
Thus the transfer function parameters of AC servomotor is found and the transfer
function is determined as,
Ex. No. – 3
Aim:
To study the response of type-0 and type-1 system in open and closed loop.
Apparatus Required:
Theory:
Block diagram:
Procedure:
1. Give the connections as per the block diagram in the process simulator kit using
the front panel diagram.
2. Set the input (set point) by using the set value knob.
3. Observe the measured value or process value (PV) using CRO.
4. Tabulate the readings and calculate the % error.
5. Repeat the same for type-0 and type-1 first order systems in open and closed loop.
6. Plot the response in the graph.
Front panel diagram:
Tabulation:
Closed
loop
Closed
loop
Model graph:
Result:
Thus the analog simulation of type-0 and type-1 first order system has been observed
using process control simulator.
Ex. No. – 4
Apparatus Required:
Generator Motor
Fuse Rating:
Fuse Rating = 125% of rated current
V L = RL i a .............. 3
Also eg α if , So, eg = Kg if .............
4
VL(s) = RL Ia( s)
Therefore, Ia( s) = VL(s) / RL ................
7
Procedure:
(e) To find Kg :
1. Connections are made as shown in the circuit diagram.
2. The motor field rheostat should be in minimum resistance position and the
generator field rheostat should be in maximum resistance position while
switching ON and switching OFF the supply side DPST switch.
3. Ensure that the DPST switch on the load side is open.
4. Switch ON the supply and DPST switch.
5. The generator is brought to its rated voltage by varying the generator field
rheostat.
6. The DPST switch on the load side is closed, and the load is varied for
Convenient steps of load.
7. Note load voltage VL and load current Ia .
8. Plot graph between VL and IL. The slope of the graph gives Kg.
Circuit diagram:
(a) To find Ra :
(b) To find La :
(c) To find Rf :
(d) To find Lf :
(e) To find Kg :
Tabulation:
To find Ra :
Armature voltage Armature current Armature Resistance
( Va) ( Ia) R a = V a / Ia
Average Ra =
_________ Ω
To find La :
Average La = _________ H
To find Rf :
Field voltage Field current Field Resistance
( Vf) ( If) R f = V f / If
Average Rf = _________ Ω
To find Lf :
Average Lf = _________ H
To find Kg :
Model graph:
Result:
Thus the transfer function of the separately excited DC generator is determined as,
Ex. No. – 5 (a)
Apparatus Required:
Motor
Fuse Rating:
Fuse Rating = 125% of rated current
Theory:
The DC motor converts electrical energy into mechanical energy. The electrical
energy supplied at the armature terminals is converted into controlled mechanical energy.
In armature control, the field current is kept constant and the armature voltage is
varied and hence the speed is varied. The field current If is maintained constant by
keeping the Vf constant and the armature current Ia is varied to change the torque T of the
load connected to the motor shaft. Thus the input variable of the motor is the armature
voltage Va and the output variable is the torque T. The speed of the DC motor is directly
proportional to the armature voltage and inversely proportional to the flux in the
armature. In the armature controlled DC motor, the desired speed is obtained by varying
the armature voltage.
Derivation of transfer function:
Let,
Ra = Armature Resistance
La = Armature Inductance
Eb = Back emf
Ia = Armature current
T = Torque developed in the motor
J = Moment of inertia
B = Dashpot
θ = Angular Displacement
Kt = Armature torque constant
Kb = Back emf constant
θ (s) Kt
=
Va(s) (Ra + Las) (Js2 + Bs) + Kb Kt s
Procedure:
(f) To find Ra :
(g) To find La :
To find Ra :
Armature voltage Armature current Armature Resistance
( Va) ( Ia) R a = V a / Ia
Average Ra = _________ Ω
To find La :
To find Kt :
Model Graph:
Eb
∆ Eb
∆ω
ω (radians/sec)
Measurement of Kt :
T
(Nm) ∆T
∆ Ia
Ia (A)
Model calculation :
Kb = ∆ E b / ∆ ω
Kt = ∆ T/ ∆ Ia
B = 0.001 Nm/ (rad/sec)
J =0.0074 Kg m2
R = 0.075 m
Result:
Thus the transfer function of the armature controlled DC motor is determined as
Apparatus Required:
Motor
Fuse Rating:
Fuse Rating = 125% of rated current
Theory:
The DC motor converts electrical energy into mechanical energy. The electrical
energy supplied at the armature terminals is converted into controlled mechanical energy.
In field control method, the armature current Ia is maintained constant while the
field voltage Vf is varied to control the speed or torque of the motor. Thus the input of the
motor is field voltage Vf and the output is the motor speed, ω and the load displacement
θ.
Substitute eqn. 7 in 4,
θ (s) Kf
=
Vf(s) (Rf + s Lf ) (Js2 + Bs)
Procedure:
(a) To find Rf :
(b) To find Lf :
(c) To find Kf :
Tabulation:
To find Rf :
Field voltage Field current Field Resistance
( Vf) ( If) R f = V f / If
Average Rf = _________ Ω
To find Lf :
Model Graph:
Measurement of Kf :
T
(Nm) ∆T
∆ If
If (A)
Model calculation :
Kf = ∆ T/ ∆ If
B = 0.001 Nm/ (rad/sec)
J =0.0074 Kg m2
R = 0.075 m
Result:
Thus the transfer function of the field controlled DC motor is determined as
Ex. No. – 6
Software used:
Matlab
Simulation of First-order system:
Code:
num=[1];
den=[4 2];
sys=tf(num,den);
step(sys)
Code:
num=[1];
den=[4 2];
sys=tf(num,den);
impulse(sys)
Code:
num=[1];
den=[1 1];
sys1=tf(num,den);
sys2=1;
sys=feedback(sys1,sys2);
impulse(sys)
Result:
Thus the response of first-order system has been simulated and studied.