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Control Systems and Simulation Lab
Control Systems and Simulation Lab
DEPARTMENT OF
ELECTRICAL AND ELECTRONICS ENGINEERING
PREFACE
The significance of the Control Systems and Simulation Lab is renowned in the various
fields of engineering applications. For an Electrical Engineer, it is obligatory to have the
practical ideas about the Control Systems and Simulation. By this perspective we have
introduced a Laboratory manual cum Observation for Control Systems and Simulation Lab.
The manual uses the plan, cogent and simple language to explain the fundamental
aspects of Control Systems and Simulation in practical. The manual prepared very carefully with
our level best. It gives all the steps in executing an experiment.
ACKNOWLEDGEMENT
It is one of life’s simple pleasures to say thank you for all the help that one has extended
their support. I wish to acknowledge and appreciate Assoc Prof K. Raudu, Assist. Prof.
R.Munishwar, Foreman. P Prabhu Dass, and A Ramesh for their sincere efforts made towards
developing the Control Systems and Simulation Lab manual. I wish to thank students for their
suggestions which are considered while preparing the lab manual.
I am extremely indebted to Sri.Col Dr. T. S. Surendra, Principal and Professor,
Department of Electrical and Electronics Engineering, BVRIT for his valuable inputs and
incitement.
Finally, I would again like to thank the entire faculty in the Department and those people
(Prof. N. BHOOPAL)
HOD - EEE
2. All students should come to the Lab with necessary tools. (Cutting Pliers 6”, Insulation
remover and phase tester)
3. Students should carry observation notes and record completed in all aspects.
4. Correct specifications of the equipment have to be mentioned in the circuit diagram.
5. Student should be aware of operating equipment.
6. Students should be at their concerned experiment table, unnecessary moment is restricted.
7. Student should follow the indent procedure to receive and deposit the equipment from the
Lab Store Room.
8. After completing the connections Students should verify the circuits by the Lab Instructor.
9. The reading must be shown to the Lecturer In-Charge for verification.
10. Students must ensure that all switches are in the OFF position, all the connections are
removed.
11. All patch cords and stools should be placed at their original positions.
DON’Ts:-
2 Characteristics of Synchros
AIM: To study the time response of second order system with step input and square input.
Equipment required:
1. RLC components
2. Signal generator
3. Multimeter
4. C.R.O
5. BNC adaptors
6. Patch cords
b) signal source:
This signal source consists of a square wave generator of 15Hz approximately and a step
signal generator. A switch is provided to select square are step (DC) source. Amplitude of signal
source can be varied from 0v to 15v approximately for square wave and 0v to 15v approximately
for step (DC) source.
Calculation:
Wn= 1/ LC = 1/ 2X.32X10.6=1250
R=2 L/C
PROCEDURE:
1. Connections are made as per the circuit diagram.
2. Switch on the main supply to the unit. Observe the source o/p by selecting square wave
and by varying amplitude using function generator.
3. First select square wave signal with a required time constant. Draw input square wave.
4. Connect signal output to second order system input using RLC.
5. Draw the graph for the respective output.
Result: Hence the steady state response for the square wave input is verified.
Circuit Diagram:
Apparatus:
Synchros pair unit
Voltmeter (0-50v) MI-3No.s
1-Ph variac
patch cords.
Definition: A synchros on electromagnetic transducer commonly used convert an
angular position of a shaft into an electric signal.
PROCEDURE:
Table:
Questions:
1) Define synchros?
2) What do you understood by this experiment?
3) Write principal how angular position is converted to voltage?
4) Write the applications of synchro transmitter?
5) Write the applications of synschro receiver?
AIM :To study the effect of P,PD,PI,PID controller on a second order system.
20) Process:
Procedure:
Procedure:
1. Make the connections as given in the circuit diagram.
2. Connections a small voltage of .2 volts to input.
3. Connect feed back to ground.
4. Switch off P and I. Switch on D controller.
5.
d) Derivative controller – open loop
Procedure:
1.Make the connections as per circuit diagram
2.Connect a small DC voltage of .2 volts to I/P
3.Connect feed back to ground
4.Switch off P and I . Switch on D controller
Procedure:
1.Make the connections as shown in the figure.
2.Keep I and D controllers at off positions
3.Connect DC supply to vin
4.Connect first order plant in the loop.
5.Note down Vm, Vf,V error to direct P- gained and enter in the tabulars
column. 6.Error voltage =Vs/1+G
Table :
Procedure:
1. Make the connections as given in the circuit diagram
2. Connect square wave to vin
3. Connect the constant block only the loop
4. Connect X- input to triangle wave form and Y- input to feed
back input -Vf
Graph :
Result :
Questions :
1. Define proportional ?
2. Define integral controller ?
3. Why should we do not connect first order& second order in the loop of
PID controller ?
4. Define second order system ?
5. Where shall we apply PID controller ?
CIRCUIT DIAGRAM:-
PROCEDURE:- 1) Connect the RTD sensors PT-100 to the binding post provided. Connect
the heater table to the plug provided.
2) Keep the rotary switch in zero degree position. Set the meter reading it should
be show zero degree.
3) Keep the rotary switch in RTD position; The meter reading indicates the
temperature.
4) Set the temperature value to required temperature setting.
5) Keep the RTD in water container.
6) Note the temperature at which Heater turns off.
7) Repeat the steps 3 to 6 to various temperatures.
RESULT:
MODEL GRAHPH:
Result:
Table: 2
REGENERATIVE:
S.No I/P angular position Output angular With Remarks
degrees position degrees stabilizing
Table: 3
Result:
PROCEDURE:
th
Repeat for Vc=3/4 230V
Electrical & Electronics Engineering Department-BVRIT 25
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Control Systems and Simulation Lab
K2=DT/DN
K1= DT/DVc
Ia measured by ammeter which is connected in series with the power supply & variable resistance
(load control). This method does not take in to the account the no load torque developed by the ac
servo motor. To measure torque developed at no load (i.e torque just required to rotate rotor of ac
servomotor, rotor of dc motor) the ac servomotor is switched off. Now the dc machine run as the
help of dc power supply, speed will be controlled by variable resistance again we have to effect
the measurement of Ia for a given speed. From the product of Eb( back emf developed by the
motor) and the armature current taken, we can find the mechanical power developed at the shaft.
Again we must use the formula.
P= 2pi*NT/60
4
Torque = P*1.019*10 *60/2pi*N
For various speeds, we can note down the no load torque required to be developed by the
motor. This torque is negligible & may not be taken in to account for normal testing.
Torque calculation for a sample data:
Ia =0.17A
Speed N= 850 rpm
For speed 850rpm- Eb = 0.96V
4
T= P*1.019 * 10 *60/2piN
4*
T = 0.1632*1.019*10 60/2*3.142*850
T = 18.68 Gm-cm
RESULT:
Circuit Diagram:-
AIM: To find out the transfer function of a DC generation, after determining the
various Constants
.APPARATUS:
PROCEDURE:
1.Make all the connections as per the circuit diagram
2. Keep the rheostat of motor with starter and adjust the speed to rated value.
3.Start the DC motor with starter and adjust the speed to rated value.
4.To determine the kg. the magnetization characteristics of separately excited DC generation is to
be drawn. Use the straight line position of the curve to determine Kg= EG/IF.
5. Field resistance of generation R1 is determined by volumes and ammeter method.
Tabular form:
1) Magnetization characteristics:
2) Field Resistance:
S.No V I Rf=V/I
3) Field Impedance:
Model Graph:
Model Calculations:
2 2
Xf = √(Zf – Rf )
Lf = XL/2∏f
Transfer function, T(s) = Kg/1+sΤg
Where Kg = ∆Eg/∆If
Τg = Lf/Rf
RESULT:
SIMULATION TOOLS:
a) /* root locus */
num = [1,3];
den = [1, 2, 3, 4];
rlocus (num, den)
Grid
b) / * Bode plot * /
grid
RESULT:
BLOCK DIAGRAM:
APPARATUS:
DC Servo motor controller
Voltmeter - 0-30V
THEORY:
The motors that are used in automatic control systems are called servomotrs. The
servomotors are used to convert an electrical signal applied them into an angular displacement of
shaft. Depending on the supply required to run the motor, they are broadly classified as DC
servo motor and AC servomotors. But, the DC servomotrs are expensive than AC servomotors.
But, the DC servo motors have linear characteristics and so it is easier to control DC motors are
capable of delivering over 3 times their rated torque for a short time but AC motors will short at
2 to 2.5 times their rated torque. In DC servomotors mainly 2 types of motors are classified 1.
Permanent magnetic motors and electromagnetic field motors.
The DC servo motors are generally used for large power applications such as in
machine tools and robotics.
PROCEDURE:
1. Connections are made as per the circuit diagram the motor is operated on open loop.
2. Connect the motor to he o/p power amplifier in the servo controller through ammeter.
Connect a Voltmeter across the motor armature.
3. Set the controller to the proportional by connecting the I controller i/p to ground.
4. Set the proportional gain to minimum.
5. Switch on the supply to motor controller and the pulse release.
6. Set Vref =1V, slowly increase the gain Kp voltage by means of proportional gain
adjustment and find the voltage at which the motor just running.
7. vary reference voltage in speeds and for each step, note down the motor speed & Va. It
gives T Vs Va characteristics.
8. Run the motor at 1500rpm by suitably adjusting the Vref & Kp note down Va, Ia &
speed.
9. Apply load by moving brake magnet close to the disc.Apply load in steps of 0.1A. Note
down Ia, Va& speed for each step.
10. Ammeter current reaches a value above which it may not increase when the speed is
low, the eddy current induced in the disc becomes, lag which reduces the load torque.
11. Draw the graph between W Vs Va, T Vs Ia, W Vs Ia.
S.No Va Ia N w Τ = Kf * Ia
Eb = Ea – IaRa
Eb = Kb * w
Kf = ∆Eb /∆w
MODEL GRAPHS:
APPARATUS:
S. No. Description Range Type Qty
(0-300) V 2
THEORY:
We perform armature control of d.c motor in the system shown
Ra = resistance of armature (Ω)
La = inductance of armature wdg(h)
Ia = Armature current (A)
Ea = applied armature
voltage(V) Ed = back e.m.f (V)
Tm = torque developed by motor (N-M)
Ө = angular displacement of motor shaft
2
J = moment of intertia of motor and load ref motor shaft (kg-M )
F = equivalent viscous friction co- efficient of motor end load ref to motor shaft (N-M /
rad / sec)
In servo applications the D.C motors are generally used in linear range of magnetization
curve. Therefore the air gap flux is prop to IF
Ф= kf If
The torque Im developed by motor is prop to the product of Ia and air gap flux i.e
Tm = Ki Kf If Ia , K1 is constant
In the armature controlled D.C motor the field current is sept constant so that
Tm = Kt ia ------------(1)
Where Kt is known as motor torque constant the motor back emf being prop to speed given as Ed
= Kb dӨ / dt -------------(2)
n
Where Kb is back emf constant . the deff eq of armature ckt
is La dia / dt + Ra Ia + eb = va ----------(3)
n
The torque eq is
2 2
J d Ө / dt + f dӨ / dt = Tm = Kt Ia -------
(4) Taking l.t to 1,2,3 and 4
Ed(s) = skb Ө(s) --------(5)
s
La Ia(s) + Ra Ia(s) + Eb(s) = Va(s) ----------
2
(6) Js Ө(s) + fs Ө(s) = Tm(s) -------(7)
Tm(s) = kf Ia(s) ------(8)
n
From 7&8 eq
2
Js Ө(s) + fs Ө(s) = kf Ia(s)
2
Ia(s) = (Js + fs)/ Kt Ө(s) ------(9)
From 5,6,9
s 2
Va(s) = (La + Ra) (Js +fs)/kt Ө(s) + skb Ө(s)
2
= (Las + Ra) (J s + fs) + skbkt/ kt Ө(s)
Ө(s)/Va(s) = kt / s[(Las + Ra) (Js+f) +
kbkt] The T.F is given as
G(s) = kt / s [(Las+Ra) (Js+f) +
kbkt] At constant speed kb = kt
PROCEDURE:
1. connect the circuit as per ckt diagram
2. check the rated speed of motor
3. start the motor with armature on no-load
4. Switch on the supply from armature motors and take the taken to reach different speed
from rated speed.
5. load the armature of motor with resistance load
6. switch off the supply and take time taken for different times from rated speed
7. note down the values of voltmeter and ammeter
8. draw the graph b/w N&t and draw tangent from the rated speed on y- axis on to the curve
which cuts the x- axis i.e total time taken to reach zero speed known as time constant
9. determine the different constants of the motor
10. determine the T.F of D.C motor i.e.G(s) = kt / s[kbkt+ (LaRas)(ts+f)]
OBSERVATIONS:
N T (Sec) N T(sec)
V I Eb V I Ra
Model calculations:
Wintial = 2∏ N/60
Wfinal = 2∏ N1/60
Kb = Eb/(dw/dt)
1
W = V* I
W= J* (2∏ N1/60) * dw /dt
1
W+ W = (J * (2∏ N2/60)* 2∏ (Ninitial- N2)/60) / (Tintial -
1 1 1
Tfinal) W = (W+W ) – W = VI
from the graph find Time constant τ
But τ = J/f and hence find friction coefficient f.
Therefore transfer function,
Circuit Diagram:-
RESULT:-
X= AX + BU
Y= CX + DU
-1 1 0
A= 0 -4 2
0 0 -10
1
B=
0 C= 101 D=(0)
SIMULATION TOOLS:
State: Minimum amount of information required to estimate the future of the system. State
variable: The minimal set of these variables which describe the state of the system.
Suppose n state variables are represented as ‘n’ components of a state then the
vector is known as state vector.
x1(t)
x2(t)
X(t) =
xn nX1
n
State – eq is X(t) = AX(t) + BU(t)
n
o/p eq Y(t) = Cx(t) + DU(t)
-1
Transfer function matrix, T.F = C(SI – A) B+D.
A system is said to be completely state controllable if it is possible to find an input u(t)
that will transfer a system from any initial state to any final state over a specified time interval.
2 n-1
Controllable matrix S= [ B AB A B ……..A B] If
rank of the matrix n, then the system is state controllable.
Rank (S) = n. [|B| ≠ 0]
A system is said to be state observability the state of the system can be determined from
the knowledge of input U(t) & o/p y(t) over a finite interval of time. The representation is W =
T T T T 2 T T n-1 T
[C A C (A ) C …….(A ) C ]
Rank (W) = n [observable]
Program-1
A= [-1 1 0 ; 0 -4 2 ; 0 0 -10]
B= [1 0 -1];
C= [1 0 1];
D= [0]
disp(num);
disp(den);
Program-2
A= [-1 0 0, 0 -4 2, 0 0 -10];
B= [1 0 -1];
C= [1 0 1];
D= [0]
S=ctrb(A, B);
n=det(s);
if abs(n)<eps
else
disp(‘system is controllable’);
end
Program-3
A= [-1 0 0, 0 -4 2, 0 0 -10];
B= [1 0 -1];
C= [1 0 1];
D= [0]
W=obsv(A,C);
n=det(W);
if abs(n)<eps
else
disp(‘system is observability’);
end.
Add On Experiments:-
Circuit Diagram:-
RESULT:-