Experiment no.

: - 1

DC SERVO MOTOR SIMULINK: -

AIM: -
To Study the DC Servomotor characteristics.

Theory: -
DC Servomotor are broadly classified as: -

i) Armature controlled dc servomotor.

ii) Field controlled dc servomotor.

In Armature controlled DC Servo motor the field is excited by a constant dc supply.

If the field current is constant then speed is directly proportional to armature voltage and torque
is proportional to armature current. Hence torque and speed can be controlled by armature
voltage reversible operation is possible by reversing the armature voltage. In small motors the
armature voltage is controlled by a variable resistance. In field-controlled dc servomotor the
armature is supplied with a constant current or voltage. When armature voltage is constant the
torque is proportional to field flux since the field current is proportional to flux, the torque of
the motor is controlled by controlling the field current. Reversible operation is possible by
reversing the field current the response of field-controlled motor is however slowed by field
inductance.

Va(s) – Eb(s) = (Ra + SLa) Ia(s)

Eb(s) = Kb ω(s)

T(s) = KT Ia(s)

T(s) = (JS2 + fS) Ia(s)

1|Page
 Circuit diagram: -

Simulation diagram: -

2|Page
% MAHESH JOSHI
% DC motor parameters

Ra = 0.8; % ohm (armature resistance)

La = 5.8*10^(-3); % H (armature inductance)

Ki = 0.7; % Nm/A (torque constant)

Kb = 0.8598; % V.s/rad (back-emf constant)

Jm = 6.8*10^ (-4); % (rotor inertia)

Bm = 0.02; % Nm.s/rad (viscous- friction coefficient)

Output: -

RESULT: -

The characteristics of DC servo motor is thus obtained.

3|Page
ADVANCE CONTROL SYSTEM
LAB
Lab Assignment

OCTOBER 12, 2020

MAHESH JOSHI
17EEBEE721
EE 2ND SHIFT 7TH SEM
 AIM: -
To simulate an under-damped system and obtain the effects of controllers (P, PI and PID) by
adding them into the system using ramp input.

Theory: -
The various types of controllers are used to improve the performance of control systems. In
this chapter, we will discuss the basic controllers such as the proportional, the derivative and
the integral controllers.

Proportional (P)Controller: -
The proportional controller produces an output, which is proportional to error signal.

u(t)∝e(t) ⇒u(t)=KPe(t)

Apply Laplace transform on both the sides -

U(s)=KPE(s) U(s)/E(s)=KP

Therefore, the transfer function of the proportional controller is KP. Where, U(s) is the
Laplace transform of the actuating signal u(t) E(s) is the Laplace transform of the error
signal e(t) KP is the proportionality constant

The block diagram of the unity negative feedback closed loop control system along with
the proportional controller is shown in the following figure.

The proportional controller is used to change the transient response as per the requirement.

Proportional Integral (PI) Controller: -

The proportional integral controller produces an output, which is the combination of outputs
of the proportional and integral controllers.

u(t)=KPe(t)+KI∫e(t)dt

Apply Laplace transform on both sides -

U(s)=(KP+KI/s)E(s) U(s)/E(s)=KP+KI/s

Therefore, the transfer function of proportional integral controller is KP+KI/s.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral controller is shown in the following figure.

The proportional integral controller is used to decrease the steady state error without
affecting the stability of the control system.

Proportional Integral Derivative (PID) Controller: -

The proportional integral derivative controller produces an output, which is the combination
of the outputs of proportional, integral and derivative controllers.

u(t)=KPe(t)+KI∫e(t)dt+KDde(t)/dt

Apply Laplace transform on both sides -

U(s)=(KP+KIs+KDs)E(s) U(s)/E(s)=KP+KI/s+KDs
Therefore, the transfer function of the proportional integral derivative controller is
 KP+KI/s+KDs.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral derivative controller is shown in the following figure.

The proportional integral derivative controller is used to improve the stability of the control
system and to decrease steady state error.

Simulink model: -

Model of under damped system for obtaining the ramp response using PID
controller
 Observation: -

Result:

We have successfully simulated an under-damped system and obtain the effects of

controllers (P, PI and PID) by adding them into the system using ramp input.
ADVANCE CONTROL SYSTEM LAB
LAB ASSIGNMENT

OCTOBER 26, 2020

MAHESH JOSHI
17EEBEE721
7TH SEM 4TH YEAR
 AIM: -
To simulate an under-damped system and obtain the effects of controllers (P, PI and PID) by
adding them into the system using sinusoidal input .

Theory: -
The various types of controllers are used to improve the performance of control systems. In
this chapter, we will discuss the basic controllers such as the proportional, the derivative and
the integral controllers.

Proportional (P)Controller: -
The proportional controller produces an output, which is proportional to error signal.

u(t)∝e(t) ⇒u(t)=KPe(t)

Apply Laplace transform on both the sides -

U(s)=KPE(s) U(s)/E(s)=KP

Therefore, the transfer function of the proportional controller is KP. Where, U(s) is the
Laplace transform of the actuating signal u(t) E(s) is the Laplace transform of the error
signal e(t) KP is the proportionality constant

The block diagram of the unity negative feedback closed loop control system along with
the proportional controller is shown in the following figure.

1|Page
The proportional controller is used to change the transient response as per the requirement.

Proportional Integral (PI) Controller: -

The proportional integral controller produces an output, which is the combination of outputs
of the proportional and integral controllers.

u(t)=KPe(t)+KI∫e(t)dt

Apply Laplace transform on both sides -

U(s)=(KP+KI/s)E(s) U(s)/E(s)=KP+KI/s

Therefore, the transfer function of proportional integral controller is KP+KI/s.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral controller is shown in the following figure.

The proportional integral controller is used to decrease the steady state error without affecting
the stability of the control system.

Proportional Integral Derivative (PID) Controller: -

The proportional integral derivative controller produces an output, which is the combination
of the outputs of proportional, integral and derivative controllers.

2|Page
 u(t)=KPe(t)+KI∫e(t)dt+KDde(t)/dt

Apply Laplace transform on both sides -

U(s)=(KP+KIs+KDs)E(s) U(s)/E(s)=KP+KI/s+KDs
Therefore, the transfer function of the proportional integral derivative controller is

KP+KI/s+KDs.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral derivative controller is shown in the following figure.

The proportional integral derivative controller is used to improve the stability of the control
system and to decrease steady state error.
Simulink model: -

3|Page
 Model of under damped system for obtaining the sinusoidal input response
using PID controller

Observation: -

Result:
We have successfully simulated an under-damped system and obtain the effects of controllers
(P, PI and PID) by adding them into the system using sinusoidal input.

4|Page
AIM: -

To simulate full wave rectifier .

Theory: -

The conversion of AC into DC is called Rectification. Electronic devices can convert AC

power into DC power with high efficiency. A simulink diagram of a full-wave bridge rectifier
is given below. The bridge is composed of four diodes in a diamond shape. During the positive
half-cycle of input voltage the terminal ‘A’ is at positive potential with respect to the terminal
‘B’ and because if this diodes D1 and D2 are forward biased whereas diodes D3 and D4 are
reverse biased. The current therefore flows through diodes D1, D2 and load resistor RL.
During the negative half-cycle of input voltage waveform, on the other hand, the diodes D3
and D4 are forward biased whereas the diodes D1 and D2 are reverse biased. As a
consequence, current flows through diodes D3 and D4.

Simulink model: -

Model of full wave rectifier using diode with R load

5|Page
 Observation: -

Result:
We have successfully simulated a full wave rectifier and observed the rectified output wave
form .

6|Page
ADVANCED CONTROL SYSTEM
LAB
LAB ASSIGNMENT-5

SEPTEMBER 30, 2020

MAHESH JOSHI
17EEBEE721
EE 2nd SHIFT 7TH SEM
AIM: -
To simulate an under-damped system and obtain the effects of controllers (P, PI and PID) by
adding them into the system using step input.

Theory: -
The various types of controllers are used to improve the performance of control systems. In this
chapter, we will discuss the basic controllers such as the proportional, the derivative and the
integral controllers.

Proportional Controller: -
The proportional controller produces an output, which is proportional to error
signal.
u(t)∝e(t)
⇒u(t)=KPe(t)
Apply Laplace transform on both the sides -

U(s)=KPE(s)
U(s)/E(s)=KP
Therefore, the transfer function of the proportional controller is KP.

Where,

U(s) is the Laplace transform of the actuating signal u(t)

E(s) is the Laplace transform of the error signal e(t)

KP is the proportionality constant

The block diagram of the unity negative feedback closed loop control system along with the
proportional controller is shown in the following figure.
The proportional controller is used to change the transient response as per the requirement.
Proportional Integral (PI) Controller: -
The proportional integral controller produces an output, which is the combination of outputs of
the proportional and integral controllers.

u(t)=KPe(t)+KI∫e(t)dt

Apply Laplace transform on both sides -

U(s)=(KP+KI/s)E(s)

U(s)/E(s)=KP+KI/s

Therefore, the transfer function of proportional integral controller is KP+KI/s.

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral controller is shown in the following figure.

The proportional integral controller is used to decrease the steady state error without affecting
the stability of the control system.

Proportional Integral Derivative (PID) Controller: -

The proportional integral derivative controller produces an output, which is the combination of
the outputs of proportional, integral and derivative controllers.

u(t)=KPe(t)+KI∫e(t)dt+KDde(t)/dt
Apply Laplace transform on both sides -

U(s)=(KP+KIs+KDs)E(s)
 U(s)/E(s)=KP+KI/s+KDs
Therefore, the transfer function of the proportional integral derivative controller is

KP+KI/s+KDs.d

The block diagram of the unity negative feedback closed loop control system along with the
proportional integral derivative controller is shown in the following figure.

The proportional integral derivative controller is used to improve the stability of the control
system and to decrease steady state error.

Simulink model: -

Model of under damped system for obtaining the step response using PID controller

MATLAB PROGRAM: -
We write matlab program using following command in m-file of MATLAB.
plot(s1.time,s1.signals.values)
gtext('o/p of transfer function')
gtext('o/p of derivative')
gtext('o/p of integral')
gtext('o/p of proportional')
title('under-damped system for obtaining step response
using PID controller')
xlabel('x-axis')
ylabel('y-axis')
grid on

output:-

Result:

We have successfully simulated an under-damped system and obtain the effects of controllers
(P, PI and PID) by adding them into the system using step input.
ADVANCE CONTROL SYSTEM LAB

Lab Work

SEPTEMBER 15, 2020

MAHESH JOSHI
Electrical 2nd Shift
17EEBEE721
AIM: -

To simulate an under-damped system for obtaining the ramp response in

MATLAB/SIMULINK, using the ‘goto’ and ’from’ block.

Theory: -

Ramp response: -

The ramp function is a unary real function, whose graph is shaped like a ramp. It
can be expressed by numerous definitions, for example "0 for negative inputs,
output equals input for non-negative inputs". The term "ramp" can also be used
for other functions obtained by scaling and shifting, and the function in this article
is the unit ramp function (slope 1, starting at 0).

This function has numerous applications in mathematics and engineering, and

goes by various names, depending on the context.

Simulink model of an under damped system: -

Ramp response of the under-damped system: -

Result: -

Ramp response of an under-damped system in MATLAB/SIMULINK, using the

‘goto’ and ’from’ block is obtained.
ADVANCED CONTROL SYSTEM
LAB
LAB ASSIGNMENT

DECEMBER 2, 2020
MAHESH JOSHI
17EEBEE721
7TH SEM 4TH YEAR
Q.1 TO SIMULATE A HALF WAVE RECTIFIER

A half wave rectifier is defined as a type of rectifier that only allows one half-cycle of an AC
voltage waveform to pass, blocking the other half-cycle. Half-wave rectifiers are used to
convert AC voltage to DC voltage, and only require a single diode to construct.

A rectifier is a device that converts alternating current (AC) to direct current (DC). It is done
by using a diode or a group of diodes. Half wave rectifiers use one diode, while a full wave
rectifier uses multiple diodes.

The working of a half wave rectifier takes advantage of the fact that diodes only allow current
to flow in one direction.

Simulink

A half wave rectifier

Parameters

1. Input Voltage (AC)= 5 Volt

2. Input Voltage frequency =50HZ

3. Load Resistance=100Ω

4. Load Inductance=1e-3 H
Output
Q.2 TO SIMULATE A PHASE CONTROL RECTIFIER

1. Single phase controlled half wave rectifier using R load

In half wave rectification of a single-phase supply, either the positive or negative half of the
AC wave is passed, while the other half is blocked. Because only one half of the input
waveform reaches the output as shown in Fig , the mean voltage is lower. Half-wave
rectification requires a single thyristor in a single-phase supply. Rectifiers yield a unidirectional
but pulsating direct current; half-wave rectifiers produce far more ripple than full-wave
rectifiers, and much more filtering is needed to eliminate harmonics of the AC frequency from
the output.

Simulink

Continuous

Pulse
Generator

g m
i
a k +
-
Thyristor +
Current Measurement v
-
Voltage Measurement1
+ AC Voltage Source
v R
- Scope
Voltage Measurement

Single phase controlled half wave rectifier

Parameters

1. Input Voltage(AC)= 10 Volt

2. Input Voltage frequency =60HZ
3. Load Resistance=10Ω
4. Pulse Amplitude = 2
5. Pulse Period =1/60 sec.
 6. Pulse Delay= (1/60) *(45/360) sec.

Output wave form

output voltage-time waveform of half controlled converter

The output voltage is varied by controlling the firing angle of Thyristor using pulse generator.
Output waveform of voltage and current shows half converted DC voltage and current because
only one half of the input waveform of supply reaches the output.
2. Single phase controlled full wave rectifier with RL load
The phase controlled rectifiers using SCRs is used to obtain controlled dc output voltages from
the fixed ac mains input voltage. The circuit diagram of a fully controlled converter is shown
Fig ,The output voltage is varied by controlling the firing angle of SCRs. The single phase fully
controlled converter consists of four SCRs. During positive half cycle, SCR1 and SCR 4 are
forward biased. Current flows through the load when SCR3 and SCR2 is triggered into
conduction. During negative half cycle, SCR3 and SCR2 are forward biased. If the load is
resistive and inductive, the load voltage and load current are similar.

Simulink
Pulse
Generator

Continuous
m

k
m

T hyristor2
T hyristor1
g

a
g

+
v
- AC Voltage Source +
v
RL -
Vin
Vout1
m

T hyristor3 Scope
T hyristor4
g

Pulse
Generator1

Fig 2.1 Single phase full controlled rectifier

Parameters
1. Input Voltage(AC)= 230 Volt
2. Input Voltage frequency =50HZ
3. Load Resistance=10Ω,
4. Load Inductance=50e-3 H
Pulse generator
5. Pulse Amplitude = 5
6. Pulse Period =0.02 sec.
7. Pulse Delay= (30*0.02)/360sec.
Pulse generator 1
 8. Pulse Amplitude = 5
9. Pulse Period =0.02 sec.
10. Pulse Delay= 0.01+ (30*0.02)/360 sec.

Output wave form

output voltage-time waveform of half controlled converter

The output voltage is varied by controlling the firing angle of SCRs using pulse generator.
Output waveform of voltage shows full converted DC voltage of the input waveform of supply
reaches the output.
ADVANCE CONTROL SYSTEM LAB

Lab Work

SEPTEMBER 5, 2020
MAHESH JOSHI
Electrical 2nd Shift
17EEBEE721
AIM:-

To simulate an under-damped system for obtaining the step response in

MATLAB/SIMULINK ,using the ‘goto’ and ’from’ block.

Theory:-

Step response:-

The step response of a system in a given initial state consists of the time evolution
of its outputs when its control inputs are Heaviside step functions. In electronic
engineering and control theory, step response is the time behaviour of the outputs
of a general system when its inputs change from zero to one in a very short time.
The concept can be extended to the abstract mathematical notion of a dynamical
system using an evolution parameter.

From a practical standpoint, knowing how the system responds to a sudden input
is important because large and possibly fast deviations from the long term steady
state may have extreme effects on the component itself and on other portions of
the overall system dependent on this component. In addition, the overall system
cannot act until the component's output settles down to some vicinity of its final
state, delaying the overall system response. Formally, knowing the step response
of a dynamical system gives information on the stability of such a system, and on
its ability to reach one stationary state when starting from another.

Damping

The response can be classified as one of three types of damping that describes the
output in relation to the steady-state response.

Underdamped
An underdamped response is one that oscillates within a decaying envelope. The
more underdamped the system, the more oscillations and longer it takes to reach
steady-state. Here damping ratio is always less than one.
Critically damped
A critically damped response is that response which reaches the steady-state
value the fastest without being underdamped. It is related to critical points in the
sense that it straddles the boundary of underdamped and overdamped responses.
Here, damping ratio is always equal to one. There should be no oscillation about
the steady state value in the ideal case.

Overdamped
An overdamped response is the response that does not oscillate about the steady-
state value but takes longer to reach steady-state than the critically damped case.
Here damping ratio is greater than one.

Simulink model of an under damped system:-

Step response of the under-damped system:-

Result :-

Step response of an under-damped system in MATLAB/SIMULINK ,using the

‘goto’ and ’from’ block is obtained.
Advance Control system lab
Lab Assignment

AUGUST 24, 2020

MAHESH JOSHI
17EEBEE721
Electrical 2nd Shift
Q.1 Study and discuss the importance of simulation in engineering pointing
out the advantages, limitations and applications.

Ans:
Simulation modeling solves real-world problems safely and efficiently. It
provides an important method of analysis which is easily verified, communicated,
and understood. Across industries and disciplines, simulation modeling provides
valuable solutions by giving clear insights into complex systems.
Simulation enables experimentation on a valid digital representation of a system.
Unlike physical modeling, such as making a scale copy of a building, simulation
modeling is computer based and uses algorithms and equations. Simulation
software provides a dynamic environment for the analysis of computer models
while they are running, including the possibility to view them in 2D or 3D.
Main advantages of simulation include:
• Study the behavior of a system without building it.

• Results are accurate in general, compared to analytical model.

• Help to find un-expected phenomenon, behavior of the system.

• Easy to perform ``What-If'' analysis.

Main disadvantages of simulation include:

• Expensive to build a simulation model.

• Expensive to conduct simulation.

• Sometimes it is difficult to interpret the simulation results.

Application of MATLAB Simulation
It is generally used for
• Accurate Zero-Crossing Detection

• Simulating Systems with Variable Transport Delay Phenomena

• Sigma-Delta A/D Conversion

• Programmable FIR Filter for FPGA

• Acoustic Noise Cancellation (LMS)

• Radar Tracking

Q.2 study the various tools available in the commonly used blocks of MATLAB
Simulink.

• Commonly Used Blocks

Commonly Used Blocks are used to list a lot of blocks which are usually
used. Double-click on the Commonly Used Blocks icon in the main Simulink
window to bring up the Commonly Used window.
• Bus Creator

The Bus Creator block combines a set of signals into a bus.

• Bus Selector

The Bus Selector block outputs a specified subset of the elements of the bus at its
input. The block can output the specified elements as separate signals or as a new
bus.

• Constant

The Constant block generates a real or complex constant value. The constant
output value is displayed in the middle of the block, with a default value of 1.

• Data Type Conversion

The Data Type Conversion block converts an input signal of any Simulink data
type to the data type you specify for the Output data type parameter. The input
can be any real- or complex-valued signal.

• Delay

The Delay block delays an input u according to the Delay length parameter, which
you specify on the dialog box, or a delay length that a signal supplies to the input
port. This block is equivalent to the z-1 discrete-time operator.

• Demux, Mux
The Mux (Multiplexer) block is used to combine two or more scalar signals into
a single vector signal. Similarly, a Demux (Demultiplexer) block breaks a vector
signal into scalar signal components. The number of vector components must be
specified in each case. For an example of the use of a Mux block see the Bus
Suspension Modeling in Simulink example.

• Discrete-Time Integrator

This is the discrete time approximation of a continuous-time integrator. The

approximation method can be specified as well as the initial condition and
saturation limits.

• Gain

The Gain block multiplies the input by a constant value (gain). The input and the
gain can each be a scalar, vector, or matrix.

• Ground

The Ground block connects to blocks whose input ports do not connect to other
blocks.

• In1

Inport blocks are the links from outside a system into the system.

• Integrator
The output of the Integrator is the integral of the input. An initial condition can
be specified, as well as saturation limits. This block is very useful for modeling
systems in Simulink.

• Logical Operator

The Logical Operator block performs the specified logical operation on its inputs.
An input value is TRUE (1) if it is nonzero and FALSE (0) if it is zero.

• Out1

Outport blocks are the links from a system to a destination outside the system.

• Product

By default, the Product block outputs the result of multiplying two inputs: two
scalars, a scalar and a nonscalar, or two nonscalars that have the same dimensions.

• Relational Operator

By default, the Relational Operator block compares two inputs using the
Relational operator parameter that you specify. The first input corresponds to the
top input port and the second input to the bottom input port.

• Saturation

The Saturation block imposes upper and lower limits on an input signal.
• Scope

The Scope block displays inputs signals with respect to simulation time.

• Subsystem

A Subsystem block represents a subsystem of the system that contains it. The
Subsystem block can represent a virtual subsystem or a nonvirtual subsystem.

• Sum

The Sum block performs addition or subtraction on its inputs. This block can add
or subtract scalar, vector, or matrix inputs. It can also collapse the elements of a
signal.

• Switch

The Switch block passes through the first input or the third input based on the
value of the second input. The first and third inputs are called data inputs. The
second input is called the control input.

• Terminator

Use the Terminator block to cap blocks whose output ports do not connect to
other blocks.

• Vector Concatenate
The Concatenate block concatenates the signals at its inputs to create an output
signal whose elements reside in contiguous locations in memory.