MGM’s

Jawaharlal Nehru Engineering College

Laboratory MaNUal

CONTROL SYSTEM ENGINEERING

For

Third Year Students

Manual made by

Prof.P.B.Murmude

Prof.A.G.Patil

Author JNEC, Aurangabad

1
 Jawaharlal Nehru Engineering College

Technical Document

This technical document is a series of Laboratory manuals of Electronics and

Telecommunication Department and is a certified document of Jawaharlal Nehru
Engineering College. The care has been taken to make the document error-free. But still if
any error is found. Kindly bring it to the notice of subject teacher and HOD.

Recommended by,

HOD

Approved by,

Principal

Copies:

1. Departmental Library
2. Laboratory
3. HOD
4. Principal
 FOREWORD

It is my great pleasure to present this laboratory manual for third year engineering
students for the subject of Control System keeping in view the vast coverage required for
visualization of concepts of Control Systems.

As a student, many of you may be wondering with some of the questions in your
mind regarding the subject and exactly what has been tried is to answer through this
manual.

Faculty members are also advised that covering these aspects in initial stage itself, will
greatly relived them in future as much of the load will be taken care by the enthusiasm
energies of the students once they are conceptually clear.

H.O.D
 LABORATORY MANUAL CONTENTS

This manual is intended for the Third year students of engineering branches in the
subject of Control System. This manual typically contains practical/Lab Sessions related to
Control Systems covering various aspects related to the subject to enhance understanding.

Students are advised to thoroughly go through this manual rather than only topics
mentioned in the syllabus as practical aspects are the key to understanding and conceptual
visualization of theoretical aspects covered in the books.

Good Luck for your Enjoyable Laboratory Sessions.

Prof.P.B.Murmude

Prof.A.G.Patil
SUBJECT INDEX

1. Do’s and Don’ts in the laboratory

2. Lab Experiments:

Pre requisite I - Introduction to Scilab with basic arithmetic operations .

Pre requisite II- Introduction to Xcos simulation tool in Scilab.

1) Mathematical modeling of second order system

2) Building a transfer function and block diagram reduction
3) Study of PLC
4) Study of Root locus
5) Study of Polar plot
6) Study of Bode plot
7) Study of Nyquist plot
8) Study of syncro machines
9)AC/DC position control system.

Post requisite- To build mini project using scilab.

3. Quiz on the subject

4. Conduction of Viva-Voce Examinations

5. Evaluation and Marking System

DOs and DON’ Ts in Laboratory:

1. Do not handle any equipment before reading the instructions/Instruction manuals.

2. Read carefully the power ratings of the equipment before it is switched on whether
ratings 230 V/50Hz or 115V/60 Hz. For Indian equipments, the power ratings are
normally 230V/50Hz. If you have equipment with 115/60 Hz ratings, do not insert
power plug, as our normal supply is 230V/50 Hz, which will damage the equipment.

3. Observe type of sockets of equipment power to avoid mechanical damage.

4. Do not forcefully place connectors to avoid the damage.

5. Strictly observe the instructions given by the teacher/Lab Instructor.

Instruction for Laboratory Teachers::

1. Submission related to whatever lab work has been completed should be done during the
next lab session.

2. The promptness of submission should be encouraged by way of marking and evaluation

patterns that will benefit the sincere students.
 Pre requisite I

Aim: Introduction to scilab with basic arithmetic operations.

Theory:

What is Scilab ?

Scilab is the contraction of Scientific Laboratory. Scilab is :

a numerical computing software,
an interpreted programming environment,
used for any scientific and engineering applications, multi-platform : Windows,
MacOS et Linux,

Scilab includes hundreds of functions for various applications

Mathematics and simulation 2D and 3D visualization

Optimization
Statistics
Control system design and analysis Signal processing
Application development

A first simple example :

--> A = 2;

--> t = [0:0.01:10];
--> y = A* sin (3* t);
--> plot(t, y);

Line 1 : assign the value 2 to the variable A.

Line 2 : define a vector t that goes from 0 to 10 with a step of 0.01. Line 3 : compute a vector y from
some mathematical operations.
Line 4 : plot y with respect to t on a 2D graphic.

Note that “ ; ” prevents from printing the result of an instruction

 Scilab provides a graphical environment with several windows.
the console
command history
file browser
variable browser
and others : editor, graphics, help, ...

Defining and handling vectors

A vector is defined by a list of numbers between brackets :

--> u = [0 1 2 3]
u=
0.1.2.3.

Automatic creation
--> v = [0:0.2:1]
v=
0.0.20.40.60.81.

Syntax : start:step:end

Mathematical functions are applied element-wise

--> cos( v)
ans =
1. 0.980 0.921 0.825 0.696 0.540

column vectors can also be defined with semi colon separator “ ; ”

--> u = [1;2;3]
u=
1.
2.
3.

Matrices are defined row by row with the separator “;”

--> A = [1 2 3 ; 4 5 6 ; 7 8 9] A =

1. 2. 3.
4. 5. 6.
7. 8. 9.
Conclusion: Thus we have studied basic arithmetic operations in scilab.

Pre requisite II

Aim:. Introduction to xcos simulation tool in scilab .

Theory: Xcos is a graphical environment to simulate dynamic systems. It is the Simulink§R

counterpart of Scilab.
It is launched in Application/Xcos or by typing xcos

A simple example

drag and drop blocks from the palette browser to the editing window k is variable from the workspace (or from
Simulation/Set context) black lines are data flows and red lines are event flows

Settings : frequency = 2π/3, k = 2, final integral time = 12, Ymin= −3, Ymax= 3, Refresh period = 12
block sub-palette
sinus Sources/GENSIN f
gain Math. Operations/GAINBLK f
scope Sinks/CSCOPE
clock Sources/CLOCK c
Run simulation from Simulation/Start
Conclusion: Thus we have studied XCOS simulation tool in scilab.
 Experiment No 1

Aim- Modeling of a second order system

Objective - Construct a Simulink diagram to calculate the response of the

Mass-Spring system.

The system can be described by the equation of motion

mx¨(t) + f x˙ (t) + kx(t) = 0 with the initial

conditions : x(0) = 5 and x˙ (0) = 0

The acceleration of the mass is then given by x

parameter values : m = 1; , k = 2; and f = 0.2

BLOCK DIAGRAM: Modeling and simulation with Xcos

block sub-palette
sum Math. Operations/BIGSOM f
gain Math. Operations/GAINBLK f
integral Cont. time systems/INTEGRAL m
scope Sinks/CSCOPE
x-y scope Sinks/CSCOPXY
clock Sources/CLOCK c

Steps:

Draw the free body diagram.

Write the modeling equation from the free body

diagram Solve the equations for the highest

 derivative of the output. Draw a block diagram to

represent this equation.

Draw the corresponding Simulink

diagram. Use Step block to

provide the input fa(t).

In the Step block, set the initial and final values and the time at

which the step occurs.

Use the “To Workspace” blocks for t, fa(t), x, and v in order to

allow software to plot the desired responses. Set the save

format to array in block parameters.

Select the duration of the simulation to be 10 seconds from the

Simulation > Parameters entry on the toolbar

Given below is a file that will set up the workspace by establishing the

values of the parameters needed for the Simulink simulation of the

given model.

Output:

Output:

Conclusion-

In this experiment we have studied that mass-spring-damper system

models provides insight into a wide range of practical engineering problems. Also

we can understand the underlying design of many types of sensors by

understanding 2nd order system dynamics.

 Experiment No 2

Aim - Building a transfer function and block diagram reduction

Control System Toolbox™ provides a number of functions to help you build

networks of LTI models. These include functions to perform

• Series and parallel connections (series and parallel)

• Feedback connections (feedback )

• General block-diagram building (connect).

These functions can handle any combination of model representations.

For illustration purposes, create the following two SISO transfer function models:
 The mathematical operators can
handle syslin type

Example

1 4
tt (s) = and tt (s) =
1 2
s+2 s

--> G1 = syslin (’ c’ ,1 , s +2);

--> G2 = syslin (’ c’ ,4 , s);

--> G1 * G2 // series connection

ans = 4
-----
2
2s+s

--> G1 + G2 // parallel connection

ans =
8 +5s
------
2
2s + s

--> G1 /. G2// feedback connection

ans =
s
---------
2
4+2s+s

Building of a transfer function

The argument c stands for continuous-time system (d for discrete) The instruction
roots is useful to calculate the poles of a transfer function
The instruction plzr plots the pole-zero map in the complex plane
Computation of the time response

The string argument step is the control, it can be impuls, a vector or a function.
To define the time vector, you may also use the linspace instruction.
--> num = 1;
--> den = s ^2+ s;
--> G = syslin (’ c’,num , den) G =

1
-----
2
s + s
 - 1.
0

Conclusion-

1. At the end of lab we conclude that whole transfer function of two or more series systems is
product of the transfer function of these systems.
2. We can calculate that whole transfer function of two or more parallel systems by adding
the transfer function these systems.
3. We can calculate that whole transfer function of such systems in which feedback is involves
by dividing foreword path whole transfer function by 1+whole transfer function (for
negative feedback) And 1-whole transfer function (for positive feedback)
4. If a system have many gains (series, parallel and feedback gain) we can calculate TF
Exercise-

Find the transfer function of following block diagrams by Matlab

Q1)

Q2)

Q3)
 Experiment No 3

Aim

To study hardware and software associated with PLC

Objective:-

1. Learn the basics and hardware components of PLC

2. Understand configuration of PLC system

3. Study various building blocks of PLC

Theory

Evolution of PLC:-

When the first electronic machine control was designed, relays were to control the
machine logic.

Relay logic has its own limitations.

1. Less reliability

2. The delay involved in switching of contacts

3. Less flexibility and difficult troubleshooting due to hard wired

connection What is PLC?

A Programmable Logic Controller , PLC, or Programmable Controller is

an electronic device used for Automation of industrial processes, such as control
of machinery on factory assembly lines. A programmable controller is a digitally
operating electronic apparatus which uses a programmable memory for the internal
storage of instructions for implementing specific functions, such as logic,
sequencing, timing, counting and arithmetic, to control various machines or
processes through digital or analog input/output devices.
Unlike general purpose computers, the PLC is designed for multiple inputs
and output arrangements, extended temperature ranges, immunity to electrical
noise, and resistance to vibrations and impacts. Programs to control machine
operation are typically stored in battery-backed or non volatile memory. A PLC is an
example of a real time system since output results are produced in response to
input conditions within a bounded time, otherwise unintended operation results.

Basic Components of PLC:-

1. CPU and Memory module

2. Power supply

3. Input and output module

4. Programming device

CPU and Memory Module:-

This is the device where PLC program is stored and processed. The size and
type of CPU determines the programming functions available, size of the
application logic available, amount of memory supported, and processing speed.
Power Supply:-
The power supply provides power for the PLC system. It provides internal DC
current to operate the processor logic circuitry and input/output assemblies. This
can be built into the PLC or an external unit. Common voltage levels required by the
PLC are 24Vdc, 120Vac, 220Vac.
Input and Output Module:-
Inputs carry signals from the field (process) to the controller. Various types
of inputs can be switches, pressure sensors, transmitters etc. The field devices
to whom PLC sends the results of logical operations are the output devices. These
are the actuators that adjusts or control the process, motors, lights, relays,
pumps, etc. Many types of inputs and outputs can be connected to a PLC and they
can be categorised mainly as analog and digital. Digital inputs and
outputs operate on discrete or binary change i.e. on/off, open/close. Analog inputs
and outputs change continuously with reference to time.
Programming Device:-
The PLC is programmed using a special software using computer or hand
Held Terminal(HHT) that can load and change the logic inside.
Operation of a PLC system:-
The operation of the PLC is determined by 3 steps
1. Reading the field status form input devices
2. Execution or solving the logic, and
3. Updating the output devices status.

PLC Program:-
PLC Program is a Logic that is executed by the CPU. This logic can be
written in the form of Ladder diagram, Instruction List, Sequential Function
Charts, Structured text or Functional block diagram. These are the languages used
for writing logic as per IEC standard. The program is then downloaded to the
PLC. This is usually done by temporarily connecting the PC or HHT to the PLC. Once
the program is downloaded to the CPU, it is usually not necessary for the PC to
remain connected.
PLC Scan:-
Once the program is downloaded in the CPU, the PLC is switched to "run"
mode and the PLC executes the application program. The CPU regularly reads the
status of the input devices, and sends data to the output devices as per the logical
results after execution of the program.
The process of Initialization when power is turned on, Reading inputs, Executing logic,
and modifying outputs is called as PLC Scan cycle.

Memory
The logic or application program is stored in memory. As the PLC executes
logic, it may also read and store values to memory. The values may be referenced
by the application program.
PLC Input and Output Devices:-
Two major types of Input/output modules are
1. Digital - binary devices which must be in one of the two states: on or off.
2. Analog - continuous devices - sense and respond to a range of values.

Digital I/O
Common digital field input devices include pushbuttons, limit switches, photo
sensor etc. Common digital output devices include relays, motor starters, and
solenoid valves.

Analog I/O
Common analog input devices are transmitters used for sensing various
parameters. Common output signals include motor speed, valve position, air
pressure, etc.
I/O modules connect "real world" field devices to the controller. They convert the
electrical signals used in the field devices into electronic signals that can be used
by the control system, and translate real world values to IO table values.
 LogixPro Relay Logic Lab
LogixPro Relay Logic Introductory Lab

h the operation of LogixPro and to step you through the process of creating, editing and testing simple PLC programs utilizing t

From the Simulations Menu at the top of the screen, Select the I/O
Simulation and ensure that the User Instruction Bar shown above is
visible.

The program editing window should contain a single rung. This is the
End of Program rung and is always the last rung in any program. If this
is the only rung visible then your program is currently empty.
 If your program is not empty, then click on the File menu entry at the
top of the screen and select "New" from the drop•down list. A dialog box
will appear asking for you to select a Processor Type. Just click on "OK"
to accept the default TLP LogixPro selection.

Now maximize the ProSim•II Simulation Window

The I/O Simulator

The simulator screen shown above, should now be in view. For this
exercise we will be using the I/O simulator section, which consists of 32
switches and lights. Two groups of 16 toggle switches are shown
connected to 2 Input cards of our simulated PLC. Likewise two groups of
16 Lights are connected to two output cards of our PLC. The two input
cards are addressed as "I:1" and "I:3" while the output cards are
addressed "O:2" and "O:4".

Use your mouse to click on the various switches and note the change
in the status color of the terminal that the switch is connected to. Move
your mouse slowly over a switch, and the mouse cursor should change to a
hand symbol, indicating that the state of switch can be altered by
clicking at this location. When you pass the mouse over a switch, a
"tool•tip" text box also appears and informs you to "Right Click to Toggle
Switch Type". Click your right mouse button on a switch, and note how
the switch type may be readily changed.
 RX logic creation
Collapse the I/O simulation screen back to it's normal size by clicking on
the same (center) button you used to maximize the simulation's window.
You should now be able to see both the simulation and program windows
again. If you wish, you can adjust the relative size of these windows by
dragging the bar that divides them with your mouse.

I want you to now enter the following single run program which
consists of a single Input instruction (XIC • Examine If Closed) and a
single Output instruction (OTE • Output Energize). There's more than
one way to accomplish this task, but for now I will outline what I
consider to be the most commonly used approach.

First click on the "New Rung" button in the User Instruction Bar.
It's the first button on the very left end of the Bar. If you hold the
mousepointer over any of these buttons for a second or two, you should
see a short "ToolTip" which describes the function or name of the
instruction that the button represents.

You should now see a new Rung added to your program as shown above,
and the Rung number at the left side of the new rung should be highlighted.
Note that the new Rung was inserted above the existing (END) End Of
Program Rung. Alternatively you could have dragged (left mouse button held
down) the Rung button into the program window and dropped it onto one of the
locating boxes that would have appeared.

Now click on the XIC instruction with your left mouse button (Left
Click) and it will be added to the right of your highlighted selection.
Note that the new XIC instruction is now selected (highlighted). Once
again, you could have alternatively dragged and dropped the instruction
into the program window.

If you accidentally add an instruction which you wish to remove,

just Left Click on the instruction to select it, and then press the "Del"
key on your keyboard. Alternatively, you may right click on the
instruction and then select "Cut" from the drop•down menu that
appears.

Left Click on the OTE output instruction and it will be. added to
the right of your current selection.

Double Click (2 quick left mousebutton clicks) on the XIC instruction

and a textbox should appear which will allow you to enter the address
(I:1/0) of the switch we wish to monitor. Use the Backspace key to get
rid of the "?" currently in the textbox. Once you type in the address,
click anywhere else on the instruction (other than the textbox) and the
box should close.

Right Click on the XIC instruction and select "Edit Symbol" from
the drop•down menu that appears. Another textbox will appear where
you can type in a name (Switch•0) to associate with this address. As
before, a click anywhere else will close the box.

Enter the address and symbol for the OTE instruction and your first
RSLogix program will now be complete. Before continuing however,
Double check that the addresses of your instructions are correct.

Testing your Program

It's now time to "Download" your program to the PLC. First click on the
"Toggle" button at the top right corner of the Edit Panel which will bring
the PLC Panel into view.

Click on the "DownLoad" button to initiate the downloading of

your program to the PLC. Once complete, click inside the "RUN"
option selection circle to start the PLC scanning.Enlarge the
Simulation window so that you can see both the Switches and Lamps,
by dragging the bar that separates the Simulation and Program
windows to the right with your mouse. Now click on Switch I:1/00 in
the simulator and if all is well, Lamp O:2/00 should illuminate.

Toggle the Switch On and Off a number of times and note the
change in value indicated in the PLC Panel's status boxes which are being
updated constantly as the PLC Scans. Try placing the PLC back into the
"PGM" mode and then toggle the simulator's Switch a few times and
note the result. Place the PLC back into the "Run" mode and the Scan
should resume.

We are usually told to think of the XIC instruction as an electrical

contact that allows electrical flow to pass when an external switch is
closed. We are then told that the OTE will energize if the flow is
allowed to get through to it. In actual fact the XIC is a conditional
instruction which tests any bit that we address for Truth or a 1.

Editing your Program

Click on the "Toggle" button of the PLC Panel which will put the PLC
into the PGM mode and bring the Edit Panel back into view.

Now add a second rung to your program as shown below. This time
instead of entering the addresses as you did before, try dragging the
appropriate address which is displayed in the I/O simulation and
dropping it onto the instruction.
 Note that the XIO instruction which Tests for Zero or False has
it's address highlighted in yellow. This indicates that the instruction is
True, which in the case of an XIO, means that the bit addressed is
currently a Zero or False.

This is probably a good time to practice your dragNdrop skills. Try

moving instructions from rung to rung by holding the left mouse button
down while over an instruction, and then while keeping the mouse button
down, move the mouse (and instruction) to a new location. Try doing the
same with complete rungs by dragging the box at the left end of the rung
and dropping it in a new location.

Once you feel comfortable with dragNdrop, ensure that your program
once again looks like the one pictured above, Now download your program
to the PLC and place the PLC into the Run Mode. Toggle both Switch•0
and Switch•1 on and off a number of times and observe the effects this
has on the lamps. Ensure that you are satisfied with the operation of
your program before proceeding further.

Stop/Start utilizing OTL and OTU

For this exercise we need two Normally Open momentary switches.

Using your right mouse button, click on switch "I:1/2" and "I:1/3",
changing them to N.O. pushbuttons. Now add the following two rungs to
your program. Once you have the rungs entered correctly, download and
run your modified program. Activate the Start and Stop switches and
ensure that the OTL and OTU output instructions are responding as
outlined in your text. Once you have the lamp ON, could you turn it off if
power was lost in the Stop Switch circuit?

Now modify your program so that it operates correctly when you

substitute the N.O. Stop switch (I:1/03) with a Normally Closed Switch.
If we now lost power on the N.C. Stop switch circuit, what would happen
to the state of Lamp (O:2/02)?

Emulating Standard Stop/Start Control

Erase your program by selecting "New" from the "File" menu selection
at the top of the screen. When the dialog box appears just click on "OK"
to select the default PLC type. Now enter the following program. To
enter a branch, just drag the branch (button) onto the rung and then
insert or drag instructions into the branch.

Before you download and run this program, take a careful look at our
use of a XIC instruction to test the state of the N.C. Stop Switch.
When someone presses the Stop Switch, will bit I:1/04 go True or
False? Will the XIC instruction go True or False when the Switch is
pressed? Is this the logic we are seeking in this case? .... Run the
program and see if you're right! .... If we loose power in the Stop Switch
circuit, what state will the lamp go to? .... Why do you think that most
prefer this method rather than the OTL/OTU method of implementing
Stop/Start Control?
 Output Branching with RSLogix

Modify your program so that it matches the following.

Download and Run the program. Operate the Stop and Start switches
several times with Switch•0 open, and again with Switch•0 closed. Remove
the XIC instruction from the Output branch and note what happens to
Lamp•3 when you Start and Stop the circuit. Try moving the Lamp•3 OTE
instruction so that it is in series with the Lamp•2 OTE instruction.
Download, Run and observe how both lamps still light even with the empty
branch (short?) in place. It may look like an electrical circuit but in fact
we know that it isn't and therefore obeys a somewhat different set of
rules. Remove the empty branch, Download, Run and see if this has any
effect on the logic or operation of the rung.

Controlling One Light from two Locations

Create, enter and test a program which will perform the common
electrical function of controlling a light from two different locations.
Clear your program and utilize toggle switch (I:1/00) and switch (I:1/01)
to control Lamp (O:2/00)... (Hint: If both switches are On or if both
switches are Off, then the Lamp should be On! This of course is just one
approach to solving this problem)

Conclusion-
In this experiment we have studied hardware components, configuration, building blocks of PLC.
Also we have studied LogixPro Relay Logic Lab and perform some applications on the Logixpro
Relay Logic.
Experiment No.4

Aim: To draw root locus of a system.

Use Scilab to draw the root locus for the feedback system whose open loop TF is
G(S)=(S+4)/(S+1)(S+2)(S+6).

Theory: Write the theory about root locus of a system.

Program:

%Root locus for a system with real poles

s=%s;
num=s+4;
den=(s+1)*(s+2)*(s+6);
t=syslin('c',num/den);
clf;
evans(t);
mtlb_axis([-5 5 -5 5])

Output:

Conclusion: Hence we have plotted the root locus of a system and have observed
the results.
 Experiment No.5

Aim: To draw Polar plot of a system.

Theory: Write the theory about Polar plot of a system with sinusoidal response

Program:

%Polar plot

t=-%pi:0.1:%pi;
r=sin(t)
//style=5 or [5] for red colour]//
polarplot(t,r,style=5);
title('Polar');

Output:

Conclusion: Hence we have plotted the Polar plot of given system and have observed
the results.

30
 Experiment No.6

Aim: To draw bode plot of a system.

Theory: Write the theory about bode plot of a system. And plot for 10s+50/(s^2+3s+1)

Program:

%bode Plot

s=poly(0,"s");
tfnum=10*s+50;
tfden=s^2+3*s+1;
tf=tfnum/tfden;
sys1=syslin('c',tfnum,tfden);
bode(sys1);

Output:

Conclusion: Hence we have plotted the bode plot of given system and have observed
the result.

4
7
 Experiment No.7

Aim: To draw the Nyquist plot of system.

Theory: Write the theory about Nyquist plot of a system. And plot for 10s+50/(s^2+3s+1)

Program:

s=poly(0,"s");
tfnum=10*s+50;
tfden=s^2+3*s+1;
tf=tfnum/tfden;
sys1=syslin('c',tfnum,tfden);
nyquist(sys1)

Output

Conclusion: Hence we have plotted the Nyquist plot and have observed the result.
 Experiment No.8

Aim: To study A.C./D.C. position servo system.

Apparatus: 1) A.C. position control system set up

2) D.C. position control system set up

Part - I

Operating Instructions:

1) Switch on the a.c. mains supply.

2) sw1, sw2 & sw3 should be in the position.
3) Observe that the input & output pots come in alignment.
4) Keep the gain pot almost in max. gain position (almost fully clockwise position ).
5) Take the input pot to the starting position i.e. very near to the zero position;
the output pot will also follow the input pot till the null indicator indicates null
position.

6) Enter the observations in the tabular column given below.

Sr Input Angular Output Remar

No Position Angular ks
Position
1 10 degrees

2 30 degrees

3 50 degrees

.
.
10 350 degrees

You may repeat observations with lower amplifier gain to observe that there is greater
error with higher gain (i.e. max. gain) you may note that output pot indicates sustained
oscillations.

7. You may use the test point black TP1, TP2 & TP3
a) TP1 – Black – Excitation voltage for potentiometer system.
b) TP2 – Black - Variable point potential for I/P pot.
c) TP3 – Black – Variable point potential for O/P pot.
Note that excitation point (TP1-Black) for O/P pot all flouting with repeat to
the main ground.
 8. Green terminal on the left hand side indicates main ground of the system. You

may connect CRO across the TP4 & ground (Green terminal) TP5 & ground to

observe the a.c. preampere out/put & servo ampere output respectively.

9. Please note that the switches sw2, sw1 & sw3 are in series with a.c. preampere

servo motor reference & control winding.

10. See the front panel of D.C. position control.

11. Vary the Input position pot and obscure the output pot till meter shoes null

deflection

12. See the figure below

Pre amplifier & power amplifier

A.C. AMPLIFIER
TWO PHASE LOAD
A.C. MOTOR

REFERENCE INPUT

FIG: A.C. POSITION CONTROL SYSTEM

Part - II
Operating Instructions:

1) Switch on the a.c. mains supply.

2) sw1, sw2 & sw3 should be in the position .
3) Observe that the input & output pots come in alignment.
4) Keep the gain pot almost in max. gain position (almost fully clockwise position ).
5) Take the input pot to the starting position i.e. very near to the zero position,
the output pot will also follow the input pot till the null indicator indicates null
position.
6) Enter the observations in the tabular column given below.
.
 Sr Input Outpu Remarks
No Angular t
Position Angula
r
Positio
n
1 10 degrees

2 30 degrees

3 50 degrees
.
.
10 350 degrees

You may repeat observations with lower amplifier gain to observe that there is greater
error with higher gain (i.e. max. gain) you may note that output pot indicates sustained
oscillations.
7. You may use the test point black TP1, TP2 & TP3
a. TP1 – Black – Excitation voltage for potentiometer system.
b. TP2 – Black - Variable point potential for I/P pot.
c. TP3 – Black – Variable point potential for O/P pot.
Note that excitation point (TP1-Black) for O/P pot all flouting with repeat to the main
ground.
7. Green terminal on the left hand side indicates main ground of the system. You
may connect CRO across the TP4 & ground (Green terminal) TP5 & ground to
observe the a.c. preampere out/put & servo ampere output respectively.
8. Please note that the switches sw2 , sw1 & sw3 are in series with a.c. preampere

servo motor reference & control winding.See the front panel of D.C. position

control.

9. Vary the Input position pot and obscure the output pot till meter shoes null

deflection.

CONCLUSION:

It is observed that the output potentiometer shaft position (Ø O) follows the reference
Potentiometer shaft position (Ø R) almost faithfully, though a small amount of hysteresis is
present in the system
 Experiment No.9

AIM: Study of synchro characteristics.

Study of synchro transmitter / receiver characteristics.

APPARATUS: Synchro transmitter / receiver set-up, multimeter connecting wires etc.

THEORY: Principals: A synchro is an electromagnetic transducer commonly used to

convert an angular position of a shaft into an electric signal.

The basic synchro unit is usually called a synchro transmitter. Its construction is similar to
that of a three- phase alternator. The stator is of laminated silicon steel and is slotted to
accommodate a balanced three phase winding which is usually of concentric coil type and is
Y-connected. The rotor is of dumb-bell construction and is wound with a concentric coil. An
a.c. voltage is applied to the rotor winding through slip rings.

Constructional features of synchro transmitter:

fig.-a

Stator

Rotor Coil

~ Stator
Stator Winding

Operation : Let an a.c. voltage , Vr (t) = Vr sin wct,be applied to the rotor coil which
produces a sinusoidally time varying flux directed along its axis and distributed nearly
sinusoidally in the air gap along the stator periphery. As the air gap flux is sinusoidally
 distributed, the flux linking any stator coil is proportional to the cosine of the angle
between the rotor and stator coil axes and so is the voltage induced in each stator coil.
Let Vs1n, Vs2n and Vs3n.

Be the voltage induced in the stator coil S1,S2 and S3 with respect to the
neutral.

Vs1n = KVr sin wct cos ( 0-120)

Vs2n = = KVr sin wct cos 0

Vs3n = KVr sin wct cos / ( 0+240)

The three terminal voltages of the stator are.

Vs1s2 = Vs1n – Vs2n = / 3KVr sin ( 0+ 240) sin wct.

Vs2s3 = Vs2n – Vs3n = / 3KVr sin ( 0+120 ) sin wct.

Vs3s1 = Vs3n – Vs1n = / 3KVr sin 0 sin wct.

Procedure:I &II

1. Connect the system in main supply.

2. Starting from zero position note down the voltage between stator terminal i.e.
Vs2s1, Vs1s3 and Vs2s3 in a sequential position.

3. Plot the graph of angular position Vs voltage of three winging i.e. terminal
voltage.
1. Connect the system to the main supply.
2. Make connections between corresponding terminals of transmitter and
receiver i.e. connect S1 – S1, S2 – S2 and S3 – S3 of transmitter and
receiver.Switch on SW1 and SW2.
3. Move the graph of angular displacement of transmitter to angular

displacement in receiver.

Nature of charactiristcs:

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6
Observation tables:

Conclusion-

(a) If angular displacement is changed depending on rotor position the

voltages are induced in stator coils.

(b) If transmitter position is changed then receiver position changed accordingly.

Post requisite I

Aim:. To Build mini project using scilab .

Theory: At the end of semester students are suppose to build mini project and submit

Conclusion:
3. Quiz on the Subject:

1. In an open loop control system

(a) Output is independent of control input

(b) Output is dependent on control input
(c) Only system parameters have effect on the control output
(d) None of the above

Ans: a

2. For open control system which of the following statements is incorrect ?

(a) Less expensive

(b) Recalibration is not required for maintaining the required quality of the output

(c) Construction is simple and maintenance easy

(d) Errors are caused by

disturbances Ans: b

3. A control system in which the control action is somehow dependent on the

output is known as

(a) Closed loop system (b) Semiclosed loop system (c) Open system (d) None of
the above Ans: a

4. In closed loop control system, with positive value of feedback gain the overall
gain of the system will

(a) decrease (b) increase (c) be unaffected (d) any of

the above Ans: a

5. Which of the following is an open loop control system ?

(a) Field controlled D.C. motor (b) Ward leonard control

(c) Metadyne (d) Stroboscope

Ans: a

6. Which of the following statements is not necessarily correct for open control
system ?
(a) Input command is the sole factor responsible for providing the control action

(b) Presence of non-linearities causes malfunctioning

(c) Less expensive

5
8
(d) Generally free from problems of non-
linearities Ans: b

7. In open loop system

(a) the control action depends on the size of the system

(b) the control action depends on system variables

(c) the control action depends on the input signal
(d) the control action is independent of the output

Ans: d

8 has tendency to oscillate.

(a) Open loop system(b) Closed loop system (c) Both a and b (d)
Neither a nor b Ans: b

9. A good control system has all the following features except

(a) good stability (b) slow response (c) good accuracy (d) sufficient power handling
capacity Ans: b

10. A car is running at a constant speed of 50 km/h, which of the following is the
feedback element for the driver ?

(a) Clutch (b) Eyes (c) Needle of the speedometer (d)

Steering wheel Ans: c

11. The initial response when the output is not equal to input is called
(a) Transient response (b) Error response (c) Dynamic response (d) Either of the
above Ans: a

12. A control system working under unknown random actions is called

(a) computer control system (b) digital data system

(c) stochastic control system (d) adaptive

control system Ans: c

13. An automatic toaster is a loop control system.

(a) open (b) closed (c) partially closed (d) any of the above

Ans: a

14. Any externally introduced signal affecting the controlled output is called a
(a) feedback (b) stimulus (c) signal (d) gain control

Ans: b

15. A closed loop system is distinguished from open loop system by which of the
following?

(a) Servomechanism (b) Feedback (c) Output pattern (d) Input pattern

Ans: b

16 is a part of the human temperature control system.

(a) Digestive system (b) Perspiration system (c) Ear (d) Leg movement

Ans: b

17. Which of the following is exhibited by Root locus diagrams ?

(a) The poles of the transfer function for a set of parameter values
(b) The bandwidth of the system
(c) The response of a system to a step input
(d) The frequency response of a system
(e) None of the above

Ans: a

18. is a closed loop system.

(a) Auto-pilot for an aircraft (b) Direct current generator

(c) Car starter (d) Electric switch

Ans: a

19. If the gain of the critical damped system is increased it will behave as

(a) oscillatory (b) critically damped

(c) overdamped (d) underdamped Ans: d

20. A.C. servomotor is basically a

(a) universal motor (b) single phase induction motor

(c) two phase induction motor (d) three phase induction motor

Ans: c
4. Conduction of VIVA-VOCE Examinations:

Teacher should conduct oral exams of the students with full preparation. Normally the
objective questions with guess are to be avoided. To make it meaningful, the questions
should be such that depth of the student in the subject is tested. Oral Exams are to be
conducted in co-cordial situation. Teachers taking oral exams should not have ill thoughts
about each other & courtesies should be offered to each other in case of opinion, which
should be critically suppressed in front of the students.

5. Evaluation and Marking System:

Basic honesty in the evaluation and marking system is essential and in the process impartial
nature of the evaluator is required in the exam system. It is a primary responsibility of
the teacher to see that right students who really put their effort & intelligence are
correctly awarded.

The marking pattern should be justifiable to the students without any ambiguity and
teacher should see that students are faced with just circumstance.

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