SRM VALLIAMMAI ENGINEERING COLLEGE

SRM Nagar, Kattankulathur – 603 203

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

1905506 CONTROLS AND INSTRUMENTATION

LABORATORY MANUAL

(2019 REGULATION)

2021-2022 ODD SEMESTER

Prepared by,

Mr.T.Santhosh kumar, A P (Sr. G)

 INDEX

Date of Staff sign. with

Sl. No. Name of the Experiment Page No. Marks
Expt. date
1905506 CONTROL AND INSTRUMENTATION LAB

SYLLABUS

CONTROL SYSTEMS
1. P, PI and PID controllers
2. Stability Analysis
3. Modeling of Systems – Machines, Sensors and Transducers
4. Design of Lag, Lead and Lag-Lead Compensators
5. Position Control Systems
6. Synchro-Transmitter- Receiver and Characteristics
7. Simulation of Control Systems by Mathematical development tools.
INSTRUMENTATION
8. Bridge Networks –AC and DC Bridges
9. Dynamics of Sensors/Transducers a. Temperature b. Pressure c.
Displacement
d. Optical e. Strain f. Flow
10. Power and Energy Measurement
11. Signal Conditioning
a. Instrumentation Amplifier
b. Analog – Digital and Digital –Analog
converters (ADC and DACs)
12. Process Simulation.

BEYOND THE SYLLABUS EXPERIMENTS

1. Analog simulation of Type – 0 and Type – 1 Systems

2. Determination of transfer function of AC Servomator
CYCLE I

1. (a) Wheatstone Bridge

(b) Kelvin’s Double Bridge
2. (a)Maxwell’s Bridge
(b) Schering Bridge
3. (a) Study of Displacement Transducer – LVDT
(b) Study of Pressure Transducer – Bourdon Tube
4. Calibration of Single Phase Energy Meter
5. (a) Calibration of Wattmeter
(b) Design of Instrumentation Amplifier
6. (a)Analog – Digital converters
(b)Digital –Analog Converters
7. (a) Determination of Transfer Function of DC generator
(b) Determination of Transfer Function of DC motor

CYCLE II

8. (a) DC Position Control System

(b) AC Position Control System
9. Synchro-Transmitter- Receiver and Characteristics
10. Design of Lag, Lead and Lag-Lead Compensators

11. (a) Simulation of Control Systems by Mathematical development tools

(b) Stability Analysis
12. Process Simulation
13. (a) Study of P,PI,PD and PID Controllers
(b) Time Domain and Frequency Domain Specifications

Additional Experiments

1. Analog simulation of Type – 0 and Type – 1 Systems

2. Determination of transfer function of AC Servomator

CIRCUIT DIAGRAM

WHEATSTONE BRIDGE
Ex. No:

Date:
1(a).WHEATSTONE BRIDGE

AIM:
To measure the given medium resistance using Wheatstone bridge.

APPARATUS REQUIRED:
S.No Name of the Trainer Kit/ Quantity
Components
1. Wheatstone bridge trainer 1
2. Unknown Resistors specimen 5 different values
3. Connecting wires Few
4. DMM 1
5. CRO 1

THEORY:
Wheatstone bridge trainer consists of basic bridge circuit as screen printed on front panel
with a built in 1 kHz oscillator and an isolation transformer. The arm AC and AD consists of a
1K resistor. Arms BD consists of variable resistor. The unknown resistor (Rx) whose value is to
be determined is connected across the terminal BC .The resistor R2 is varied suitably to obtain the
bridge balance condition. The DMM is used to determine the balanced output voltage of the bridge
circuit.
For bridge balance,

For the galvanometer current to be zero the following conditions also exists
E
I1 = I x = and
R1 + R x
E = EMF of the supply, combining the above equations we obtain

The unknown resistance. If three of the resistances are known, the fourth may be
determined.

PROCEDURE:
1. Connect the unknown resistor in the arm marked Rx.
2. Connect the DMM across the terminal CD and switch on the trainer kit.
3. Vary R2 to obtain the bridge balance condition.
4. Find the value of the unknown resistance Rx using DMM after removing wires.
5. Compare the practical value with the theoretical value of unknown resistance Rx calculated
using the formula.
PANEL DIAGRAM

TABULATION:

Rx(Ω ) Rx(Ω ) Percentage

Sl.No R1 (Ω) R2 (Ω ) R3 (Ω )
(Actual) (Observed) Error
1

MODEL CALCULATION:
RESULT:

Review Questions
1. What are the applications of Wheatstone bridge?
2. What are standard arm and ratio arm in Wheatstone bridge?
3. What are the detectors used for DC Bridge?
4. What do you meant by sensitivity?
5. Why Wheatstone bridge cannot be used to measure low resistances?
CIRCUIT DIAGRAM

KELVIN’S DOUBLE BRIDGE

Ex. No:
Date:

1(b). KELVIN’S DOUBLE BRIDGE

AIM:
To measure the given low resistance using Kelvin’s Double bridge.

APPARATUS REQUIRED:
S.No Name of the Trainer Kit/ Components Quantity
1. Kelvin’s Double bridge trainer kit 1
2. Unknown Resistors specimen 5
3. Connecting wires Few
4. Galvanometer 1

THEORY:

Kelvin’s double bridge is a modification of Wheatstone’s bridge and provides more accuracy
in measurement of low resistances It incorporates two sets of ratio arms and the use of four
terminal resistors for the low resistance arms, as shown in figure. Rx is the resistance under test and
S is the resistor of the same higher current rating than one under test. Two resistances Rx and S are
connected in series with a short link of as low value of resistance r as possible. P, Q, p, q are four
known non inductive resistances, one pair of each (P and p, Q and q) are variable. A sensitive
galvanometer G is connected across dividing points PQ and pq. . The ratio P Q is kept the same
as p q , these ratios have been varied until the galvanometer reads zero.

Balance Equation:
For zero balance condition,
P 
I R + S +
( p + q )r  = I  R + p  ( p + q )r  P p
   If = Then unknown resistance
P+Q  p+q+r  p + q  p + q + r  Q q

PROCEDURE:

1. Connect the unknown resistance Rx as marked on the trainer

2. Connect a galvanometer G externally as indicated on the trainer
3. Energize the trainer and check the power to be +5 V.
4. Select the values of P and Q such that P/Q = p/q = 500/50000 = 0.01
5. Adjust P1 for proper balance and then at balance, measure the value of P1.
PANEL DIAGRAM

TABULATION:

Rx() Rx() %
Sl.No P () Q () P1()
(Actual) (Observed) Error

MODEL CALCULATION:
RESULT:

REVIEW QUESTIONS
1. Name the bridge used for measuring very low resistance.
2. Classify the resistances according to the values.
3. Write the methods of measurements of low resistance
4. What is the use of lead resistor in kelvin’s Double bridge?
5. Why Kelvin’s double bridge is having two sets of ratio arms?
CIRCUIT DIAGRAM

MAXWELL’S BRIDGE
Ex. No:

Date:

2(a). MAXWELL’S BRIDGE

AIM:
To measure the unknown inductance and Q factor of a given coil.

APPARATUS REQUIRED :

S.No Name of the Trainer Kit/ Components Quantity

1. Maxwell’s inductance- capacitance bridge 1
trainer kit
2. Unknown inductance specimen 3 different values
3. Connecting wires Few
4. Head phone/ CRO 1

THEORY :
In this bridge, an inductance is measured by comparison with a standard variable
capacitance. The connection at the balanced condition is given in the circuit diagram.
Let L1 = Unknown Inductance.
R1 = effective resistance of Inductor L1.
R2, R3 and R4 = Known non-inductive resistances.
C4 = Variable standard Capacitor.
writing the equation for balance condition,
 R4 
(R1 + jL1 )  = R2 R3
 1 + jC 4 R4 
separating the real and imaginary terms, we have

Thus we have two variables R4 and C4 which appear in one of the two balance equations and hence
the two equations are independent. The expression for Q factor is given by
L1
Q= = C 4 R 4
R1
FORMULA USED:
PANEL DIAGRAM

TABULATION:

Lx Lx Quality
Sl. R1 R3 C
(mH) (mH) factor
No. (Ω) (Ω) (µF)
Actual Observed Q

MODEL CALCULATION:
Procedure:
1. Connections are made as per the circuit diagram.
2. Connect the unknown inductance in the arm marked Lx .
3. Switch on the trainer kit.
4. Observe the sine wave at secondary of isolation transformer on CRO.
5. Vary R4 and C4 from minimum position in the clockwise direction to obtain the bridge balance
condition.
6. Connect the CRO between ground and the output point to check the bridge balance.

RESULT:

REVIEW QUESTIONS
1. What are the sources of errors in AC bridges?
2. List the various detectors used for AC Bridges.
3. Define Q factor of an inductor. Write the equations for inductor Q factor with RL series and
parallel equivalent circuits.
4. Why Maxwell's inductance bridge is suitable for medium Q coils?
5. State merits and limitations of Maxwell's bridge when used for measurement of unknown
inductance.
CIRCUIT DIAGRAM:

SCHERING BRIDGE
Ex. No:
Date:

2(b). SCHERING BRIDGE

AIM:
To measure the value of unknown capacitance using Schering’s bridge & dissipation factor.

APPARATUS REQUIRED:

S. No. Components / Equipments Quantity

1. Schering’s bridge trainer kit 1
2. Decade Conductance Box 1
3. Digital Multimeter 1
4. CRO 1
5. Connecting wires Few

THEORY:

In this bridge the arm BC consists of a parallel combination of resistor & a Capacitor and
the arm AC contains capacitor. The arm BD consists of a set of resistors varying from 1 to 1 M.
In the arm AD the unknown capacitance is connected. The bridge consists of a built in power
supply, 1 kHz oscillator and a detector.

BALANCE EQUATIONS:

Let C1=Capacitor whose capacitance is to be measured.

R1= a series resistance representing the loss in the capacitor C1.
C2= a standard capacitor.
R3= a non-inductive resistance.
C4= a variable capacitor.
R4= a variable non-inductive resistance in parallel with variable capacitor C4.
At balance,
Z1Z4=Z2Z3
 1  R4  1
 r1 +  = . R3
 jωC1   1 + jωC4 R4  jωC2
 1  R3
 r1 +  R4 = (1 + jωC4 R4 )
 jωC1  jωC2
jR4 R3 RRC
r1 R4 − =−j + 3 4 4
ωC1 ωC2 C2
Equating the real and imaginary terms, we obtain
TABULATION:

Cx(F)
C2
S.No. R3() R4() True Measured Dissipation
(µF)
value Value factor (D1)

MODEL CALCULATION:
Two independent balance equations are obtained if C4 and R4 are chosen as the variable elements.

Dissipation Factor:

The dissipation factor of a series RC circuit is defined as a co-tangent of the phase angle
and therefore by definition the dissipation factor is
C R   RC 
D1 = tan δ = ωC1r1 = ω.  2 4    3 4  = ωC4 R4
 R3   C2 

FORMULAE USED:

ωC4R4 where C4=Cx & R4=Rx

PROCEDURE:

1. Switch on the trainer board and connect the unknown in the arm marked Cx.
2. Observe the sine wave at the output of oscillator and patch the circuit by using the wiring
diagram.
3. Observe the sine wave at secondary of isolation transformer on CRO. Select some value of R3.
4. Connect the CRO between ground and the output point of imbalance amplifier.
5. Vary R4 (500 Ω potentiometer ) from minimum position in the clockwise direction.
6. If the selection of R3 is correct, the balance point (DC line) can be observed on CRO. (That is at
balance the output waveform comes to a minimum voltage for a particular value of R 4 and then
increases by varying R3 in the same clockwise direction). If that is not the case, select another
value of R4.
7. Capacitor C2 is also varied for fine balance adjustment. The balance of the bridge can be
observed by using loud speaker.
8. Tabulate the readings and calculate the unknown capacitance and dissipation factor.

RESULT:

REVIEW QUESTIONS:
1. State the two conditions for balancing an AC bridge?
2. State the uses of Schering’s Bridge?
3. What do you mean by dissipation factor?
4. Give the relationship between Q and D.
5. Derive the balance equations.
SCHEMATIC DIAGRAM FOR DISPLACEMENT TRANSDUCER

GENERALIZED DIAGRAM
Ex. No:
Date:

3 (a). STUDY OF DISPLACEMENT TRANSDUCER – LVDT

AIM:
To study the displacement transducer using LVDT and to obtain its characteristic

APPARATUS REQUIRED :
S.No Name of the Trainer Kit/ Copmponents Quantity
1. LVDT trainer kit containing the signal conditioning 1
unit
2. LVDT calibration jig 1
3. Multi meter 1
4. Patch cards Few

THEORY:
LVDT is the most commonly and extensively used transducer, for linear displacement
measurement. The LVDT consists of three symmetrical spaced coils wound onto an insulated
bobbin.
A magnetic core, which moves through the bobbin without contact, provides a path for the
magnetic flux linkage between the coils. The position of the magnetic core controls the mutual
inductance between the primary coil and with the two outside or secondary coils. When an AC
excitation is applied to the primary coil, the voltage is induced in secondary coils that are wired in a
series opposing circuit. When the core is centred between two secondary coils, the voltage induced
in the secondary coils are equal, but out of phase by 180°. The voltage in the two coils cancels and
the output voltage will be zero.

CIRCUIT OPERATION:
The primary is supplied with an alternating voltage of amplitude between 5V to 25V with a
frequency of 50 cycles per sec to 20 K cycles per sec. The two secondary coils are identical & for a
centrally placed core the induced voltage in the secondaries Es1&Es2 are equal. The secondaries are
connected in phase opposition. Initially the net o/p is zero. When the displacement is zero the core
is centrally located. The output is linear with displacement over a wide range but undergoes a phase
shift of 180°. It occurs when the core passes through the zero displacement position.
MODEL GRAPH:

TABULATION
S. No. Displacement (mm) Output voltage (mV)
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
PROCEDURE:

1. Switch on the power supply to the trainer kit.

2. Rotate the screw gauge in clock wise direction till the voltmeter reads zero volts.
3. Rotate the screw gauge in steps of 2mm in clockwise direction and note down the o/p voltage.
4. Repeat the same by rotating the screw gauge in the anticlockwise direction from null position.
5. Plot the graph DC output voltage Vs Displacement

RESULT:

REVIEW QUESTIONS
1. What is LVDT?
2. .What is null position in LVDT?
3. What is the normal linear range of a LVDT?
4. List the advantage of LVDT.
5. List the applications of LVDT.
DIAGRAM:

PRESSURE TRANSDUCER – BOURDON TUBE

Ex. No:
Date:
3 (b). STUDY OF PRESSURE TRANSDUCER – BOURDON TUBE

AIM:
To study the pressure transducer using Bourdon tube and to obtain its characteristics.

APPARATUS REQUIRED :

S.No Name of the Trainer Kit/ Components Quantity

1. Bourdon pressure transducer trainer 1
2. Foot Pump 1
3. Multi meter 1
4. Patch cards Few

THEORY:

Pressure measurement is important not only in fluid mechanics but virtually in every branch
of Engineering. The bourdon pressure transducer trainer is intended to study the characteristics of a
pressure(P) to current (I) converter. This trainer basically consists of
1. Bourdon transmitter. 2. Pressure chamber with adjustable slow release valve.
3. Bourdon pressure gauge (mechanical) 4. (4- 20) mA Ammeters, both analog and digital.
The bourdon transmitter consists of a pressure gauge with an outside diameter of 160 mm
including a built-in remote transmission system. Pressure chamber consists or a pressure tank with
a provision to connect manual pressure foot pump, slow release valve for discharging the air from
this pressure tank, connections to mechanical bourdon pressure gauge, and the connections for
bourdon pressure transmitter. Bourdon pressure gauge is connected to pressure chamber. This
gauge helps to identify to what extent this chamber is pressurized.
There are two numbers of 20 mA Ammeters. A digital meter is connected in parallel with
analog meter terminals and the inputs for these are terminated at two terminals (+ ve and – ve). So
positive terminal and negative terminal of bourdon tube is connected to, positive and negative
terminals of the Ammeters.

PROCEDURE:

1. The foot pump is connected to the pressure chamber.

2. Switch on the bourdon transducer trainer.
3. Release the air release valve by rotating in the counter clockwise direction.
4. Record the pressure and Voltage.
5. Use the foot pump and slowly inflate the pressure chamber, so that the pressure in the
chamber increases gradually.
6. Tabulate the result.
7. Draw the graph. Input pressure Vs Output voltage.
MODEL GRAPH

TABULATION
Sl. Input Pressure Output Pressure Output Voltage
No. (PSI) (Kg/ cm2) mV
1
2
3
4
5
6
7
8
9
10
RESULT:

REVIEW QUESTIONS
1. Define Transducer. What are active and passive transducers?
2. List any four pressure measuring transducers?
3. What is the advantage of pinion in bourdon tube?
4. Write the operational principle of bourdon tube.
5. State the advantages of bourdon tube over bellows & diaphragms.
CIRCUIT DIAGRAM
Ex.No:

Date :
4. CALIBRATION OF SINGLE PHASE ENERGY METER

AIM: To calibrate the given energy meter using a standard wattmeter and to obtain percentage
error.

APPARATUS REQUIRED:

S. No. Components / Equipments Specification Quantity

1. Energy Meter Single Phase 1
2. Standard Wattmeter 300V, 10A, UPF 1
3. Voltmeter (MI) 0-300V 1
4. Ammeter (MI) 0-10A 1
5. Lamp Load 230V, 3KW 4

THEORY:

The energy meter is an integrated type instrument where the speed of rotation of aluminium
disc is directly proportional to the amount of power consumed by the load and the no of revs/min is
proportional to the amount of energy consumed by the load. In energy meter the angular
displacement offered by the driving system is connected to the gearing arrangement to provide the
rotation of energy meter visually. The ratings associated with an energy meter are 1. Voltage
Rating2. Current Rating3. Frequency Rating
4. Meter Constants.
Based on the amount of energy consumption, the driving system provides rotational torque
for the moving system which in turn activates the energy registering system for reading the real
energy consumption.The energy meter is operated based on induction principle in which the eddy
current produced by the induction of eddy emf in the portion of the aluminium disc which creates
the driving torque by the interaction of 2 eddy current fluxes.
TABULATION:
Ammeter Energy Meter
Voltmeter Wattmeter Time No. of
Reading, Reading (kwh) %
Reading, V Reading, W Period, revolution
I Measured True Error
(Volt) (Watt) t (Sec) s
(Amp)

MODEL GRAPH:

MODEL CALCULATION:
PROCEDURE:
1. Connections are given as per the circuit diagram.
2. The DPST switch is closed to give the supply to the circuit.
3. The load is switched on.
4. Note down the ammeter, voltmeter & wattmeter reading .Also note down the time taken for 5
revolutions for the initial load.
5. The number of revolutions can be noted down by adapting the following procedure. When the
red indication mark on the aluminium disc of the meter passes, start to count the number of
revolutions made by the disc by using a stop watch and note it down.
Repeat the above steps (4) for different load currents by varying the load for the fixed number of
revolutions.

FORMULA USED:
True Value − MeasuredValue
% Error =  100
True Value

RESULT:

REVIEW QUESTIONS
1. What do you meant by calibration?
2. What is the need for lag adjustment devices in single phase energy meter?
3. How damping is provided in energy meter?
4. What is "Creep" in energy meter? What are the causes of creeping in an energy meter?
5. How is creep effect in energy meters avoided?
CIRCUIT DIAGRAM:
Ex.No.:

Date :
5(a) CALIBRATION OF WATTMETER

AIM:To calibrate the given Wattmeter by direct loading and obtain its percentage error.

APPARATUS REQUIRED:

S. No. Components / Equipments Specification Quantity

1. Wattmeter 300V, 10A, UPF 1
2. Voltmeter (MI) 0-300V 1
3. Ammeter (MI) 0-10A 1
4. Lamp Load 230V, 3KW 1
5. Connecting wires --- Few

THEORY:

In Electro Dynamometer wattmeter there are 2 coils connected in different circuits to

measure the power. The fixed coil or held coil is connected in series with the load and so carry the
current in the circuit. The moving coil is connected across the load and supply and carries the
current proportional to the voltage.
The various parts of the wattmeter are 1. Fixed coil and Moving coil 2.. Controlling springs and
Damping systems 3. Pointer Here a spring control is used for resetting the pointer to the initial
position after the de-excitation of the coil. The damping system is used to avoid the overshooting
of the coil and hence the pointer. A mirror type scale and knife edge pointer is provided to remove
errors due to parallax.

PROCEDURE:
1. Connections are given as per the circuit diagram.
2. Power supply is switched on and the load is turned on.
3. The value of the load current is adjusted to the desired value.
4. The readings of the voltmeter, ammeter& wattmeter are noted.
5. The procedure is repeated for different values of the load current and for each value of load
current all the meter readings are noted.
TABULATION

Voltmeter Ammeter Wattmeter Reading (Watt)

S.No reading Reading True value % Error
Measured
(Volts) (Amp) P = V*I

FORMULA USED:
Truevalue − Measuredvalue
% Error =  100
True Value

MODEL GRAPH:

MODEL CALCULATION:
RESULT:

REVIEW QUESTIONS
1. What do you mean by calibration
2. What are the common errors in Wattmeter?
3. Can we Measure power using one Wattmeter in a 3-Phase supply?
4. How do we measure Reactive Power.?
5. How do you compensate Pressure coil in Wattmeter?
CIRCUIT DIAGRAM : INSTRUMENTATION AMPLIFIER

OBSERVATION:

Vd= (V1-V2) Vo Vo
S.No V1 V2 Gain A= Vout/ Vd
Volts (Practical) (Theoretical)

FORMULA:
 R  2 R 
V0 = −  2  1 + Vd
 R g 
 R1  

Vo = A*Vd

Where

R 2 R 
 1 +
−  2 =A
 R g 
 R1

MODEL CALCULATIONS:
Ex.No:
Date :
5(b) DESIGN OF INSTRUMENTATION AMPLIFIER
AIM:
To design an instrumentation amplifier

APPARATUS REQUIRED:

S.No. Components Specification Quantity

1. Op-Amp IC 741 3
2. Resistor 1 KΩ 6
3. Regulated Power Supply (0-30)V 2
4. Decade Resistance Box - 1
5. Bread Board - 1
6. Connecting Wires - Few

THEORY:

In industrial and consumer applications, the physical quantities such as temperature,

pressure, humidity, light intensity, water flow etc is measured with the help of transducers. The
output of transducer has to be amplified using instrumentation so that it can drive the indicator or
display system. The important features of an instrumentation amplifier are 1) high accuracy 2) high
CMRR 3) high gain stability with low temperature coefficient 4) low dc offset 5) low output
impedance.
The circuit diagram shows a simplified differential instrumentation amplifier. A variable
resistor (DRB) is connected in one arm, which is assumed as a transducer in the experiment and it
is changed manually. The voltage follower circuit and a differential OP-AMP circuit are connected
as shown.

PROCEDURE:
1. Give the connections as per the circuit diagram.
2. Switch on the RPS
3. Set Rg, V1 and V2 to particular values
4. Repeat Step 3 for different values of Rg, V1 and V2
5. Calculate the theoretical output voltage using the given formula and compare with practical
value.

RESULT:

REVIEW QUESTIONS:
1. What is the difference between instrumentation amplifier and differential amplifier?
2. What are the characteristics of instrumentation amplifier?
3. What is CMRR?
4. What are the applications of instrumentation amplifier?
5. What is the other name of instrumentation amplifier?
CIRCUIT DIAGRAM :ADC

R - 2R
6 Ladder Type
DAC
+15 A B C D
3+ Output
7 6 1.5K 
IC
2 _ 741 12 9 8 11
4 1 2
Analog Input ( -Ve ) 1 IC - 7493 Reset )
3 ( Logic 1 )
-15 7408 14 Binary Counter
Ck
2 3
10

For DAC R = 1.5K 2R = 3.3K Rf = 6.8K

TABULATION :

S.No. Analog Quantity Digital Quantity

MODEL CALCULATION :
Ex.No.
Date:
6(a) ANALOG – DIGITAL CONVERTER

AIM:
To design, setup and test the analog to digital converter using DAC.

APPARATUS REQUIRED :
1. Digital Trainer kit,
2. IC 7493, 7408, 741,
3. RPS
4. Breadboard

THEORY :

Analog to Digital converters can be designed with or without the use of DAC as part of
their circuitry. The commonly used types of ADC’s incorporating DAC are:
a. Successive Approximation type. b. Counting or Ramp type.
The block diagram of a counting type ADC using a DAC is shown in the figure. When the clock
pulses are applied, the contents of the register/counter are modified by the control circuit. The
binary output of the counter/register is converted into an analog voltage Vp by the DAC. Vp is
then compared with the analog input voltage Vin .This process continues until Vp>=Vin.After
which the contents of the register /counter are not changed.Thue the output of the register /counter
is the requried digital output.

PROCEDURE:
(i) By making use of the R-2R ladder DAC circuit set up the circuit as shown in the
figure.
(ii) Apply various input voltages in the range of 0 to 10V at the analog input terminal.
(iii)Apply clock pulses and observe the stable digital output at QD,QC,QB and QA for
each analog input voltage.

RESULT:

REVIEW QUESTIONS
1. What is ADC?
2. What are the types of ADC?
3. State Shannon's sampling theorem?
4. What are the advantages of Successive Approximation type over ramp type?
5. State the advantages of ramp type over successive approximation type?
CIRCUIT DIAGRAM:
Ex. No:
Date:
6(b) DIGITAL –ANALOG CONVERTER

AIM: To design and test a 4 bit D/A Converter by R - 2R ladder network.

APPARATUS REQUIRED:
S.No Name of the Trainer Kit/ Components Specification Quantity
1. IC Trainer kit - 1
2. IC 741 - 1
3. Regulated power supply (0-15)V 1
4 Resistors 11KΩ 4
5. Resistors 22KΩ 6
6. Connecting wires - Few
7. DMM - 1

THEORY:
The input is an n-bit binary word ‘D’ and is combined with a reference voltage ‘VR’ to give
an analog output signal. The output of D/A converter can either be a voltage or current . For a
voltage output D/A converter is described as
 −Vref . R f   d1 d2 d3 d 4 dn 
V0 =    1 + 2 + 3 + 4 + ........ + n 
 n.R   2 2 2 2 2 
Where, V0 is the output voltage, d1, d2, d3dn are n bit binary word with the decimal point
located at the lift. , d1is the MSB with a weight of Vfs /2 , d2 is the LSB with a weight of Vfs / 2n

PROCEDURE:
1) Set up the circuit as shown in the circuit diagram
2) Measure the output voltage for all binary inputs(0000 to 1111).
3) Plot the graph for binary input versus output voltage.

FORMULA:
 −Vref . R f   d1 d2 d3 d 4 
V0 =   1+ 2+ 3+ 4
 n.R   2 2 2 2 
Where Vref is the full scale voltage
TABULATION:

R-2R Ladder
Sl.
D1 D2 D3 D4 Theoretical Practical
No
Output (V) Output (V)
1 0 0 0 0

2 0 0 0 1

3 0 0 1 0

4 0 0 1 1

5 0 1 0 0

6 0 1 0 1

7 0 1 1 0

8 0 1 1 1

8 1 0 0 0

10 1 0 0 1

11 1 0 1 0

12 1 0 1 1

13 1 1 0 0

14 1 1 0 1

15 1 1 1 0

16 1 1 1 1

MODEL CALCULATION:
RESULT:

REVIEW QUESTIONS:
1. Draw the block diagram of DAC
2. What are the different types of DAC?
3. What are the advantages of R-2R ladder type DAC over Weighted resistor type DAC?
4. Define Resolution and Quantization
5. Define aperture time.
CIRCUIT DIAGRAM:

230 / 0 – 270 V , 2 A
(0- 50 mA) MI
FUSE
P A

D
1-
F1

Auto transformer
V
50 Hz Generator
(0- 300 V)MI
P
230 V Field
AC
S
SUPPLY

T
N
Circuit diagram to find Lf
F2

+ FUSE
L1 L2 F A

A1 A1
F1 F2
D 400
1.1 A
220 V,DC M G Eg V
1..
SUPPLY
P
F2 A2 A2 F1

_ 1A
FUSE
S

0-2A MC
FUSE
+ _
T + A

D If
+

S (0-300V)
220 V,DC 250 Vf V
P _ MC
SUPPLUY 1.5A

_ S
FUSE
Circuit diagram to find kg and Rf
T
Ex. No:
Date:
7.(a) DETERMINATION OF TRANSFER FUNCTION OF DC GENERATOR

AIM:

To obtain the transfer function of a seperately excited DC generator.

APPARATUS REQUIRED:

S.No. Item Specification / Range Quantity

1. Auto transformer 1-, 50 Hz 1

230 V / 0 – 270 V, 6 A

2. Voltmeters ( 0 –300 V ) MI 1

( 0 – 300 V ) MC 2

3. Ammeter ( 0 – 2 A ) MC 1

( 0 – 50 mA ) MI 1

4. Rheostat 400 , 1.1 A 1

250 , 1.5 A 1

5. Tachometer 1

6. Starter 0 - 15000 rpm

4 point, 10 A

PRECAUTIONS:

1. The DPSTS should be in off position.

2. The 3-point/4-point starter should be in off position.
3. At the time of starting the motor field rheostat should be in minimum resistance position
and generator field rheostat should be in maximum resistance position.
4. There should not be any load connected to the generator terminals.
GRAPH:
SLOPE=K1

VOLTS

GENERATED

VOLTAGE

FIELD CURRENT AMPS

Field current VS Generated voltage

THEORY: A DC generator can be used, as a power amplifier in which the power required to
excite the field circuit is lower than the power output rating of the armature circuit. The voltage
induced eg the armature circuit is directly proportional to the product of the magnetic flux,  , setup
by the field and the speed of rotation,  , of the armature which is expressed as

eg = k1   ……….. (1.1)

The flux is a function of field current and the type of iron used in the field. A typical magnetization
showing flux as a function of field current is shown in figure

SLOPE=K1

FLUX

FIELD CURRENT AMPS

Upto saturation the relation is approximately linear and the flux is directly proportional to
field current i.e.

 = k2 if . ………………. (1.2)

Combining both equations,

e.g. = k1 k2  if ………………...(1.3)

When used as a power amplifier the armature is driven at a constant speed and the equation (1.3)
becomes

e.g. = kg if

A generator field winding is represented with Lf and Rf as inductance and resistance of the field

di f
ef = Lf + R f i f ... ............................................................(1.4)
dt
circuit.

The equations for the generator are,

Finding Laplace transform of the equation 1.3 and 1.4,

 E f (s ) = (sL f + R f )I f s...........................................................(1.5)

Eg (s ) = k g I f (s )...................................................................(1.6)
Eg ( S ) kg
=
E f ( S ) SL f + R f
Combining the above two equations,

Eg (s ) K
= ..............................................................................(1.7)
E f (s ) 1 + s f

kg
WhereK =
Rf

Lf
and f =
Rf
Then the transfer function of a DC generator is given as,
TABULATION:

To find Rf :

Field Field Field Generated

Voltage Current Resistance Voltage

S.No.
Vf (Volts) If (Amps) Rf (Ohms) Eg (volts)

To find Ra:
Voltmeter Armature
Ammeter Reading
Sl.No. Reading Resistance
I (amps)
V (volts) Ra (ohms)
PROCEDURE:

To find kg and Rf :

1. Make the connections as shown in circuit diagram. ( Refer figure)

2. By observing the precautions switch ON the supply.
3. Start the motor by using 4-point starter and run it for the rated speed of the generator by
adjusting motor field rheostat.
4. Adjust the generator field rheostat in steps and take both ammeter (field current) and
voltmeter (generated voltage) readings. Also note down field voltage readings.(Refer:
Table)
5. Throughout the experiment the speed of the generator must be kept constant (rated value).
6. A typical variation of the generated voltage for different field current is shown in figure
7. Slope of the curve at linear portion will be the value of kg in volts/amp.
8. The ratio of Vf and If gives the field resistance Rf . Find its average value. The effective
value of the field resistance is , Reff = Rf  1.2
To find Lf :

1. Make the connections as shown in circuit diagram (Refer Figure:)

2. By observing the precautions (i.e. Initially the auto-transformer should be in minimum
Voltage Position) switch on DPSTS.
3. By varying the auto- transformer position in steps, values of ammeter and voltmeter
readings are taken. ( Refer : Table )
4. The ratio of voltage to current gives the impedance, Zf of the generator field winding.
Inductance Lf is calculated as follow.

Xf
X f = Z f − Reff
2 2
 Lf = henries
2f

Substituting the values of kg , Lf and Rf in equation (1.7), transfer function of the dc generator is
obtained.
To find Za:

Ammeter Voltmeter Armature Xa La

Sl.No. Reading Reading Impedance
(Ohms) (Henry)
I (amps) V (volts) Za (ohms)

MODEL CALCULATION:
RESULT:
CIRCUIT DIAGRAM:

ARMATURE AND FIELD CONTROLLED DC MOTOR:

TO MEASURE ARMATURE RESISTANCE Ra:

TO MEASURE FIELD RESISTANCE Rf:

 Ex. No:

Date:

7.(b) DETERMINATION OF TRANSFER FUNCTION OF DC MOTOR

AIM:
1. To determine the transfer function of an armature controlled DC motor.
2. To determine the transfer function of an field controlled DC motor.

APPARATUS REQUIRED:

Name Range Qty Type

Ammeter (0-5A),(0-2A),(0-10A), Each 1 MC
(0-100mA)
Voltmeter (0-300V),(0-300V) Each1 MC
(0-300V),(0-150V) Each1 MI
Auto transformer 1Ф,230V/(0-270V),5A 1

Rheostat 400Ω,1.1A/50 Ω,3.5A/250 Each1

Ω,1.5A
Tachometer 1
Stopwatch 1

THEORY:
TRANSFER FUNCTION OF ARMATURE CONTROLLED DC MOTOR

The differential equations governing the armature controlled |DC motor

speed control system are
………………………..1

..……………………..2

…………………………3

…………………………4

On taking Laplace transform of the system differential equations with zero initial conditions we get

………………………5
TO MEASURE ARMATURE INDUCTANCE(La):

TO MEASURE FIELD INDUCTANCE( LF):

TO MEASURE Ka
 (6)

(7)

(8)

on equating equation (6) and (7)

(9)

Equation (5) can be written as

(10)

Substitute Eb(s) and Ia(s) from eqn (8),(9) respectively in equation 10

The required transfer function is

Where La / Ra =Ta= electrical time constant

J /B =Tm =mechanical time constant

TRANSFER FUNCTION OF FIELD CONTROLLED DC MOTOR

The differential equations governing the field controlled DC motor speed control system are,

(11)

(12)

(13)

Equation (12) and (13)

(14)
 TO FIND Kb

TABULATION:

To find Ra:

Va(V) Ia(A) Ra(Ω)

To find Rf:

Vf(V) If(A) Rf(Ω)

 (15)

The equation (4) becomes

(16)

On substituting If(s) from equation (7) and (8), we get

(17)

(18)

(19)

Where

Motor gain constant Km = Ktf /Rfb

Field time constant Tf= Lf/Rf

Mechanical time constant Tm = J/B

PROCEDURE:

To find armature resistance Ra:

1. Connections were given as per the circuit diagram.

2. By varying the loading rheostat take down the readings on ammeter and voltmeter.

3. Calculate the value of armature resistance by using the formula Ra = Va / Ia.

To find armature resistance La:

1. Connections were given as per the circuit diagram.

2. By varying the AE positions values are noted.

3. The ratio of voltage and current gives the impedance Za of the armature reading. Inductance
La is calculated as follows.
To find La:

Va(V) Ia(A) Za(Ω) La(Ω)

To find Lf:

Vf(V) If(A) Zf(Ω) Lf(Ω)

ARMATURE CONTROLLED DC MOTOR:

Va Ia N T ω Kb Kt Eb
To find armature ka:

1. Connections are made as per the circuit diagram.

2. Keep the rheostat in minimum position.

3. Switch on the power supply.

4. By gradually increasing the rheostat, increase the motor to its rated speed.

5. By applying the load note down the readings of voltmeter and ammeter.

6. Repeat the steps 4 to 5 times.

To find kb:

1. Connections are made as per the circuit diagram.

2. By observing the precautions switch on the supply.

3. Note down the current and speed values.

4. Calculate Eb and 𝛚.
FIELD CONTROLLED DC MOTOR:

Va Ia N Tm ω Eb Km T Ktf Tf

MODEL GRAPH:
MODEL CALCULATION

RESULT:
BLOCK DIAGRAM:
Ex. No:
Date:
8(a). DC POSITION CONTROL SYSTEM

AIM:
To control the position of loading system using DC servo motor.

APPARATUS REQUIRED:

S.NO APPARATUS SPECIFICATION QUANTITY

1. DC Servo Motor Position - 1
Control Trainer
3. Connecting Wires - As required

THEORY:
DC Servo Motor Position Control Trainer has consisted various stages. They are Position
set control (TX), Position feed back control (RX), buffer amplifiers, summing amplifiers, error
detector and power drivter circuits. All these stages are assembled in a separate PCB board. Apart
from these, wo servo potentiometers and a dc servomotor are mounted in the separate assembly. By
Jones plug these two assemblies are connected.
The servo potentiometers are different from conventional potentiometers by angle of
rotation. The Normal potentiometers are rotating upto 270. But the servo potentiometers are can
be rotate upto 360. For example, 1K  servo potentiometer give its value from o to 1 K for one
complete rotation (360).
All the circuits involved in this trainer are constructed by operational amplifiers. For some
stages quad operational amplifier is used. Mainly IC LM 324 and IC LM 310 are used. For the
power driver circuit the power transistors like 2N 3055 and 2N 2955 are employed with suitable
heat sinks.

Servo Potentiometers:
A 1 K  servo potentiometer is used in this stage. A + 5 V power supply is connected to
this potentiometer. The feed point of this potentiometer is connected to the buffer amplifiers. A
same value of another servo potentiometer is provided for position feedback control circuit. This
potentiometer is mechanically mounted with DC servomotor through a proper gear arrangement.
Feed point of this potentiometer is also connected to another buffer circuit. To measuring the angle
of rotations, two dials are placed on the potentiometer shafts. When two feed point voltages are
equal, there is no moving in the motor. If the positions set control voltages are higher than feedback
point, the motor will be run in one direction and for lesser voltage it will run in another direction.
Buffer amplifier for transmitter and receiver and summing amplifier are constructed in one
quad operational amplifier. The error detector is constructed in a single opamp IC LM 310. And
another quad operational amplifier constructs other buffer stages.
TABULATION:

S.No. Set Measured angle in Error in degrees Error in %

Angle in degrees( Өm)
degrees (Өs – Өm) [(Өs – Өm) / Өs] x 100

(set Өs)

MODEL GRAPH:
PROCEDURE:

1. Connect the trainer kit with motor setup through 9 pin D connector.
2. Switch ON the trainer kit.
3. Set the angle in the transmitter by adjusting the position set control as Өs.
4. Now, the motor will start to rotate and stop at a particular angle which is tabulated as Өm.
5. Tabulate Өm for different set angle Өs.
6. Calculate % error using the formulae and plot the graph ӨsvsӨm and Өsvs % error.

FORMULA USED:
Error in degree =ϴs - ϴm

Error in percentage = ((ϴs - ϴm) / ϴs)* 100

RESULT:

REVIEW QUESTIONS:
1. Which motor is used for position control?
2. Differentiate DC servo motor and DC shunt motor.
3. How the mechanical rotation is converted to electrical signals?
4. What are the time domain specifications?
5. What are the advantages of dc servo motor?
BLOCK DIAGRAM :

TABULATION:

S. No. Set Angle in Measured angle Error in degrees Error in %

degrees(set in degrees( Өm)
Өs) (Өs – Өm [(Өs – Өm) / Өs] x 100

MODEL GRAPH:
Ex. No:
Date:
8(b). AC POSITION CONTROL SYSTEM
AIM:
To control the position of loading system using AC servo motor.

APPARATUS REQUIRED:

S.NO APPARATUS SPECIFICATION QUANTITY

1. AC Servo Motor Position - 1
Control Trainer
2. Connecting Wires - As required

THEORY:
AC SERVOMOTOR POSITION CONTROL: It is attempted to position the shaft of a AC
Synchronous Motor’s (Receiver) shaft at any angle in the range of 100 to 3500 as set by the
Transmitter’s angular position transducer (potentiometer), in the range of 100 to 3500. This trainer
is intended to study angular position between two mechanical components (potentiometers), a
Transmitter Pot and Receiver pot. The relation between these two parameters must be studied.
Any servo system has three blocks namely Command, Control and Monitor.
(a) The command is responsible for determining what angular position is desired.. This is
corresponds to a Transmitter’s angular position (Set Point- Sp) set by a potentiometer.
(b) The Control (servo) is an action, in accordance with the command issued and a control is
initiated (Control Variable -Cv) which causes a change in the Motor’s angular position. This
corresponds to the receiver’s angular position using a mechanically ganged potentiometer.
(c) Monitor is to identify whether the intended controlled action is executed properly or not. This
is similar to feedback. This corresponds to Process Variable Pv. All the three actions together
form a closed loop system.

\PROCEDURE:
1. Connect the trainer kit with motor setup through 9 pin D connector.
2. Switch ON the trainer kit.
3. Set the angle in the transmitter by adjusting the position set control as Өs.
4. Now, the motor will start to rotate and stop at a particular angle which is tabulated as Өm.
5. Tabulate Өm for different set angle Өs.
6. Calculate % error using the formulae and plot the graph ӨsvsӨm and Өsvs % error.

RESULT:

REVIEW QUESTIONS:
1. What is meant by Synchro?
2. How the rotor position is controlled in AC position controller?
3. What are the different types of rotor that are used in ac servomotor?
4. What is electrical zero of Synchro?
5. What are the applications of Synchro?
Synchro transmitter and receiver angle difference Vs output error voltage
Ex. No:
Date:
9. SYNCHRO TRANSMITTER & RECEIVER CHARACTERISTICS

AIM:
1. To study the operation of synchro transmitter and receiver as a error detector
2. To study the operation of Synchro Transmitter and Receiver.

APPARATUSREQUIRED:
Synchro transmitter and receiver kit
Patch cords

PROCEDURE:
Synchro transmitter and receiver as an error detector
1. Connect the R1-R2 terminals of transmitter to power supply.
2. Short S1-S2, S2-S2, S3-S3 winding of transmitter and receiver.
3. Connect the R1-R2 terminals of receiver to digital panel meter.
4. As the power is switched ON transmitter and receiver shaft will come to the same
position on the dial.
5. Set the transmitter rotor in zero position and rotate the receiver rotor.
6. Take the error voltage display on the digital panel meter corresponding to the angle
difference between transmitter and receiver.
7. Tabulate the reading as per the following table.

Synchro Transmitter and Receiver

1. Arrange power supply, synchro transmitter and synchro receiver near to each other.
2. Connect power supply output to R1-R2 terminals of the transmitter and receiver.
3. Short S1-S2, S2-S2, and S3-S3 winding of transmitter and receiver with the help of
patch cords.
4. Switch on the unit, supply neon will glow on.
5. As the power is switched on transmitter and receiver shaft will come to the same
position on the dial.
6. Vary the shaft position of the transmitter and observe the corresponding change in the
shaft position of the receiver.
7. Repeat the above steps for different angles of the shaft of the transmitter, you should
have observed that the receiver shaft move by an equal amount as that of a transmitter.
Synchro Transmitter stator angle Vs receiver rotor angle characteristics
Tabulation for rotor angle versus receiver angle
 Transmitter angular Receiver angular
position (degrees) position (degrees)

Model Graph
Tabulation for error voltage Vs difference between transmitter and receiver rotor angle

Transmitter Receiver Error output Angle of

position position voltage (Volts) difference(degrees)
(degrees) (degrees)

Model Graph
MODEL CALCULATION

RESULT:
Answers

num = 20
den = 1 5 4 0
Transfer function:
20
-----------------
s^3 + 5 s^2 + 4 s
Gm = 1.0000
Pm = 7.3342e-006
Wcp = 2.0000
Wcp = 2.0000
PM = -135
Wg = 0.7016
beta = 5.7480
tau = 11.4025
Transfer function:
11.4 s + 1
-----------
65.54 s + 1
Transfer function:
228 s + 20
---------------------------------------
65.54 s^4 + 328.7 s^3 + 267.2 s^2 + 4 s
Gm1 = 5.2261
Pm1 = 38.9569
Wcg1 = 1.9073
Wcp1 = 0.7053
Ex. No:
Date:

10. DESIGN OF LEAD, LAG AND LEAD-LAG COMPENSATORS

AIM :

To Design the Lead, Lag and Lead-Lag compensator for the system using MATLAB
Software.

APPARATUS REQUIRED :

1. MATLAB Software.

DESIGN PROCEDURE

1. Design a Phase Lag compensator for the unity feedback transfer function G(s)=K
/s(s+1)(s+4) has specifications : a. Phase Margin>_ 400 b. The steady state error for ramp
input is less than or equal to 0.2 and check the results using MATLAB Software.

Solution

num=[20]

den=[1 5 4 0]

G=tf(num,den)

figure(1);

bode(num,den);

Title('bode plot for uncompensated system G(s)=20/S(S+1)(S+4)')

grid;

[Gm,Pm,Wcp,Wcp]=MARGIN(num,den)
Gmdb=20*log10(Gm);

W=logspace(-1,1,100)';

[mag,ph]=BODE(G,W);

ph=reshape(ph,100,1);

mag=reshape(mag,100,1);

PM=-180+40+5

Wg=interp1(ph,W,PM)

beta=interp1(ph,mag,PM)

tau=8/Wg

D=tf([tau 1],[beta*tau 1])

Gc=D*G

figure(2);

bode(Gc);

Title('Bode Plot for the Lag compensated System')

grid;

[Gm1,Pm1,Wcg1,Wcp1]=MARGIN(Gc)
 bode plot f or uncompensated system G(s)=20/S(S+1)(S+4)
100

50
Magnitude (dB)

-50

-100
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Bode Plot for the Lag compensated System

100

50
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-4 -3 -2 -1 0 1 2
10 10 10 10 10 10 10
Frequency (rad/sec)
2. Design a Phase Lead compensator for the unity feedback transfer function G(s)=K
/s(s+2) has specifications : a. Phase Margin>_ 550 b. The steady state error for ramp
input is less than or equal to 0.33 and check the results using MATLAB Software. (Assume
K=1)

Solution

num=[5]

den=[1 2 0]

G=tf(num,den)

figure(1);

bode(num,den);

Title('Bode Plot for uncompensated system G(s)=5/s(s+2)')

grid;

[Gm,Pm,Wcg,Wcp]=MARGIN(num,den)

GmdB=20*log10(Gm)

PM=55-Pm+3

alpha=(1-sin(PM*pi/180))/(1+sin(PM*pi/180))

Gm=-20*log10(1/sqrt(alpha))

w=logspace(-1,1,100)';

[mag1,phase1]=BODE(num,den,w);

mag=20*log10(mag1);

magdB=reshape(mag,100,1);

Wm=interp1(magdB,w,-20*log10(1/sqrt(alpha)))
tau=1/(Wm*sqrt(alpha))

D=tf([tau 1],[alpha*tau 1])

Gc=D*G

figure(2);

bode(Gc);

Title('Bode Plot for the Lead Compensated System')

grid;

[Gm1,Pm1,Wcg1,Wcp1]=MARGIN(Gc)

Answers

num = 5
den = 1 2 0
Transfer function:
5
---------
s^2 + 2 s
Gm = Inf
Pm = 47.3878
Wcg = Inf
Wcp = 1.8399
GmdB = Inf
PM = 10.6122
alpha = 0.6890
Gm = -1.6181
Wm = 2.0853
tau = 0.5777
Transfer function:
0.5777 s + 1
------------
0.398 s + 1
Transfer function:
2.889 s + 5
---------------------------
0.398 s^3 + 1.796 s^2 + 2 s
Gm1 = Inf
Pm1 = 54.4212
Wcg1 = Inf
Wcp1 = 2.0849

Bode Plot f or uncompensated system G(s)=5/s(s+2)

40

20
Magnitude (dB)

-20

-40

-60

-80
-90
Phase (deg)

-135

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)

Bode Plot f or the Lead Compensated System

40

20
Magnitude (dB)

-20

-40

-60

-80
-90
Phase (deg)

-135

-180
-1 0 1 2
10 10 10 10
Frequency (rad/sec)
3. Design a Phase Lead-lag compensator for the unity feedback transfer function G(s)=K
/s(s+1)(s+2) has specifications : a. Phase Margin>_ 500 b. The Velocity error constant
Kv=10 sec-1 and check the results using MATLAB Software. (Assume K=1).

Solution

num=[20]
den=[1 3 2 0]

G=tf(num,den)
figure(1);

bode(num,den);
Title('bode Plot for Uncompensated System G(s)=20/S(S+1)(S+2)')

grid;
[Gm,Pm,Wcg,Wcp]=MARGIN(num,den)

GmdB=20*log10(Gm);
W=logspace(-1,1,100)';

%Bode Plot for Lag Section

[mag,ph]=BODE(G,W);

ph=reshape(ph,100,1);
mag=reshape(mag,100,1);

PM=-180+50+5
Wg=interp1(ph,W,PM)

beta=interp1(ph,mag,PM)
tau=8/Wg

D=tf([tau 1],[beta*tau 1])

%Bode Plot for Lead section

alpha=20/beta
mag=20*log10(mag)
Gm=-20*log10(1/sqrt(alpha))
Wm=interp1(mag,W,-20*log10(1/sqrt(alpha)))
tau=1/(Wm*sqrt(alpha))

E=tf([tau 1],[alpha*tau 1])

Gc1=D*E*G

figure(2);
bode(Gc1);

Title('Bode Plot for the Lag-lead compensated System')

grid;

[Gm1,Pm1,Wcg1,Wcp1]=MARGIN(Gc1)

Answers

num = 20
den = 1 3 2 0
Transfer function:
20
-----------------
s^3 + 3 s^2 + 2 s
Gm = 0.3000
Pm = -28.0814
Wcg = 1.4142
Wcp = 2.4253
PM = -125
Wg = 0.4247
beta = 21.2032
tau = 18.8362
Transfer function:
18.84 s + 1
-----------
399.4 s + 1
alpha = 0.9433
Gm = -0.2537
Wm = 2.4546
tau = 0.4195
Transfer function:
0.4195 s + 1
------------
0.3957 s + 1
Transfer function:
 158 s^2 + 385.1 s + 20
------------------------------------------------
158 s^5 + 873.9 s^4 + 1516 s^3 + 802.6 s^2 + 2 s
Gm1 = 6.1202
Pm1 = 48.5839
Wcg1 = 1.3976
Wcp1 = 0.4279

bode Plot f or Uncompensated System G(s)=20/S(S+1)(S+2)

100

50
Magnitude (dB)

-50

-100
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Bode Plot f or the Lag-lead compensated System

150

100
Magnitude (dB)

50

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-4 -3 -2 -1 0 1 2
10 10 10 10 10 10 10
Frequency (rad/sec)

RESULT
 Root Locus for the transfer function G(s)=1/(S3+8S2+17S)
10
0.72 0.6 0.46 0.3 0.16
0.84
8

6 0.92

4
0.98
2
Imaginary Axis

14 12 10 8 6 4 2
0

-2
0.98
-4

-6 0.92

-8
0.84
0.72 0.6 0.46 0.3 0.16
-10
-14 -12 -10 -8 -6 -4 -2 0 2 4
Real Axis
Ex. No:
Date:

11. SIMULATION OF CONTROL SYSTEM AND STABILITY ANALYSIS

AIM:-

To check the stability analysis of the given system or transfer function using MATLAB
Software.

APPARATUS REQUIRED

1. MATLAB Software

DESIGN PROCEDURE :

1. Root Locus : The open loop transfer function of a unity feedback system
G(s)=K/s(s2+8s+17) Draw the root locus manually and Check the same results using
MATLAB Software. (Assume K=1)

Solution

% Rootlocus of the transfer function G(s)=1/(S^3+8S^2+17S)

num=[1];

den=[1 8 17 0];

figure(1);

rlocus(num,den);

Title('Root Locus for the transfer function G(s)=1/(S^3+8S^2+17S)')

grid;

2. BODE PLOT : The open loop transfer function of a unity feedback system
G(s)=K/s(s2+2s+3) Draw the Bode Plot manually Find (i)Gain Margin (ii)Phase Margin
(iii)Gain cross over frequency (iv)Phase cross over frequency (v) Resonant Peak
(vi)Resonant Frequency (vii)Bandwidth and Check the same results using MATLAB
Software. (Assume K=1)

Solution

%Draw the Bode Plot for the given transfer functionG(S)=1/S(S2+2S+3) %Find (i)Gain Margin
(ii) Phase Margin (iii) Gain Cross over Frequency %(iv) Phase Cross over Frequency
(v)Resonant Peak (vi)Resonant %Frequency (vii)Bandwidth

num=[1 ];

den=[1 2 3 0];

w=logspace(-1,3,100);

figure(1);

bode(num,den,w);

title('Bode Plot for the given transfer function G(s)=1/s(s^2+2s+3)')

grid;

[Gm Pm Wcg Wcp] =margin(num,den);

Gain_Margin_dB=20*log10(Gm)

Phase_Margin=Pm

Gaincrossover_Frequency=Wcp

Phasecrossover_Frequency=Wcg

[M P w]=bode(num,den);

[Mp i]=max(M);

Resonant_PeakdB=20*log10(Mp)

Wp=w(i);
Resonant_Frequency=Wp

for i=1:1:length(M);

if M(i)<=1/(sqrt(2));

Bandwidth=w(i)

break;

end;

end;

Answer

Gain_Margin_dB =15.5630
Phase_Margin = 76.8410
Gaincrossover_Frequency = 0.3374
Phasecrossover_Frequency= 1.7321
Resonant_PeakdB = 10.4672
Resonant_Frequency = 0.1000
Bandwidth = 0.5356
 Bode Plot f or the given transf er f unction G(s)=1/s(s 2+2s+3)
50

0
Magnitude (dB)

-50

-100

-150

-200
-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

3. Nyquist Plot : The open loop transfer function of a unity feedback system
G(s)=K/s(s2+2s+3) Draw the Nyquist Plot manually Find (i)Gain Margin (ii)Phase Margin
(iii)Gain cross over frequency (iv)Phase cross over frequency and Check the same results
using MATLAB Software. (Assume K=1)

Solution

%Nyquist Plot for the Transfer Function G(s)=1/(s+1)^3

num=[1];

den=[1 3 3 1];

figure(1);

nyquist(num,den)

Title('Nyquist Plot for the Transfer Function G(s)=1/(s+1)^3')

[Gm,Pm,Wcg,Wcp] =margin(num,den)

grid;

[Gm,Pm,Wcg,Wcp] =margin(num,den);
Gain_Margin=Gm

Phase_Margin=Pm

PhaseCrossover_Frequency=Wcg

GainCrossover_Frequency=Wcp

Nyquist Plot f or the Transf er Function G(s)=1/(s+1) 3

1
2 dB 0 dB -2 dB -4 dB
4 dB
0.8
-6 dB
0.6 6 dB

0.4 10 dB -10 dB

0.2
Imaginary Axis

20 dB -20 dB

-0.2

-0.4

-0.6

-0.8

-1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
Real Axis

Answer

Gain_Margin = 8.0011
Phase_Margin = -180
PhaseCrossover_Frequency = 1.7322
GainCrossover_Frequency = 0

4. Nichols Chart : The open loop transfer function of a unity feedback system G(s)=60
/s(s+2)(s+3) Draw the Nichol’s Chart manually Find (i)Gain Margin (ii)Phase Margin
(iii)Gain cross over frequency (iv)Phase cross over frequency (v) Resonant Peak
(vi)Resonant Frequency (vii)Bandwidth and Check the results using MATLAB Software.
(Assume K=1)
Solution
num=[60];
den=[1 8 12 0];
figure(1);
nichols(num,den)
Title('Nichols Plot for the Transfer Function G(s)=60/s(s+2)(s+6)')
grid;
[Mag,Ph,w] =bode(num,den);
[Gm,Pm,Wcg,Wcp] =margin(num,den);
Gain_Margin=Gm
GainMargin_dB=20*log10(Gm)
Phase_Margin=Pm
PhaseCrossover_Frequency=Wcg
GainCrossover_Frequency=Wcp
[Mp,k] =max(Mag);
Resonant_Peak=Mp;
Resonant_PeakdB=20*log10(Gm)
Resonant_Frequency=w(k)
% In Nichol’s Chart the bandwidth is obtained in -3dB
n=1;
while 20*log10(Mag(n))>=-3
n=n+1;
end;
Bandwidth=w(n)
 Nichols Plot for the Transfer Function G(s)=60/s(s+2)(s+6)
60

40
0 dB
0.25 dB
0.5 dB
20 1 dB -1 dB
3 dB -3 dB
6 dB
0 -6 dB
Open-Loop Gain (dB)

-12 dB
-20 -20 dB

-40 -40 dB

-60 -60 dB

-80 -80 dB

-100 -100 dB

-120 dB
-120
-360 -315 -270 -225 -180 -135 -90 -45 0
Open-Loop Phase (deg)

Answer
GainMargin_dB = 4.0824
Phase_Margin = 12.1738
PhaseCrossover_Frequency = 3.4641
GainCrossover_Frequency = 2.7070
Resonant_PeakdB = 4.0824
Resonant_Frequency = 0.1000
Bandwidth = 3.4641

RESULT
2. Second Order System

1. Critically Damped System

25

s2 +10s+25
Step Transfer Fcn Scope
Ex. No:
Date:
12. PROCESS SIMULATION

AIM :

To check the process simulation result with first order and second oprder system with the
step input.

APPARATUS REQUIRED:

1. MATLAB Software.

DESIGN OF SIMULINK BLOCK

1.First Order System

s+1
Step Transfer Fcn Scope
2. Under Damped System

25

s2 +2s+25
Step Transfer Fcn Scope

3. Over Damped System

25

s2 +15s+25
Step Transfer Fcn Scope
4. UnDamped System

25

s2 +25
Step Transfer Fcn Scope
1. The Second order system has the transfer functions (i)Under Damped Second Order
System G(s)=10/(s2+2s+10) (ii) Undamped Second Order system G(s)=10/(s2+10)
(iii)Critically Damped Second Order System G(s)=10/(s2+7.32s+10) (iv)Over Damped
Second Order System

G(s)=10/(s2+3s+10) for that apply step input and check the result 4-cases using MATLAB
Software.

ANS

% Time Domain Specifications

num1=[10];

den1=[1 2 10];

%Transfer Function Form

G=tf(num1,den1)

% Natural frequency and Damping Ratio

[Wn Z P] = damp(G)

Wn=Wn(1);

Z=Z(1);

t=0:0.1:20

%(i) Under Damped System For Step Input

figure(1);

step(num1,den1,t)

title('Under Damped Second Order System Response for Step Input');

grid;
 Impulse input f or the Second Order System
2.5

1.5
Amplitude of Impulse Input

0.5

-0.5

-1
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time in Seconds (sec)

% (ii) Undamped Second Order System has the T.F=10/(S^2+10) with the Damping ratio=0 for
Step Input

num2=[10];

den2=[1 0 10];

figure(2);

step(num2,den2,t)

title('Undamped Second Order System Response for Step Input');

grid;

Step input f or the Sec ond Order Sy s tem

1.4

1.2

1
Amplitude of Step Input

0.8

0.6

0.4

0.2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time in Sec onds (s ec )
% (iii) Critically damped Second Order System has the T.F=10/(S^2+7.32*s+10) with the
Damping ratio=1 for step input

num3=[10];

den3=[1 7.32 10];

figure(3);

step(num3,den3,t)

title('Critically Damped Second Order System Response for Step Input');

grid;

Ramp input for the Second Order System

5

4.5
Amplitude of Ramp Input and System Output

3.5

3
Unit Ramp Input
2.5

2
Ramp output response
1.5

0.5

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time in Seconds

(iv) Critically damped Second Order System has the T.F=10/(S^2+3*s+10)with the Damping
ratio=1.5 for step input

num4=[10];

den4=[1 3 10];

figure(4);

step(num4,den4,t)

title('Over Damped Second Order System Response for Step Input');

grid;

Acceleration or Parabolic input for the Second Order System

14
Amplitude of Acceleration Input and System Output

12

10

4
Unit Acceleration Input
Acceleration output response
2

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
Time in Seconds

RESULT :
 Step Response
0.05

0.045

0.04

0.035

0.03
Amplitude

0.025

0.02

0.015

0.01

0.005

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
Ex. No:
Date:

13 (A) STUDY OF P, PI, PD and PID CONTROLLERS

AIM

To obtain the response of the P, PI, PD, PID controller using MATLAB software.

APPARATUS REQUIRED

1. MATLAB Software

PROGRAM

% Step Response for OLTF 1/(s^2+10s+20)

num=[1];

den=[1 10 20];

figure(1);

step(num,den)

% Proportional Controller

Kp=300;

num1=[Kp];

den1=[1 10 20+Kp];

t=0:0.01:2;

figure(2);

step(num1,den1,t)

grid;
 Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
% Proportional Derivative Controller

Kp=300;

Kd=10;

num2=[Kd Kp];

den2=[1 10+Kd 20+Kp];

t=0:0.01:2;

figure(3);

step(num2,den2,t)

grid;

% Proportional Integral Controller

Kp1=30

Ki=70;

num3=[Kp1 Ki]

den3=[1 10 20+Kp1 Ki]

t=0:0.01:2;

figure(4);

step(num3,den3,t)

grid;
 Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
%Proportional Integral Derivative Controller

Kp2=350;

Kd2=50;

Ki2=300;

num4=[Kd2 Kp2 Ki2]

den4=[1 10+Kd2 20+Kp2 Ki2]

t=0:0.01:2;

figure(5);

step(num4,den4,t)

grid;

RESULT
 Answer

Transfer function:

100
----------
s^2 + 15 s
Transfer function:
100
----------------
s^2 + 15 s + 100
(i)Wn = 10.0000

10.0000

Z = 0.7500

0.7500

P = -7.5000 + 6.6144i

-7.5000 - 6.6144i

(ii) Kp = Inf

Kv = 6.6667

Ka = 0

(iii)Wd = 6.6144

Theta= 0.7227

(iv) Td = 0.1525

(v) Tr = 0.3655

(vi) Tp = 0.4747

(vii)MpPercentage = 2.8427

(viii) Ts = 0.5333

Ts = 0.4000
Ex. No:
Date:

13(B) TIME DOMAIN AND FREQUENCY DOMAIN SPECIFICATIONS

AIM

To obtain the time domain and Frequency Domain Specifications for the given system
using MATLAB Software.

APPARATUS REQUIRED

1. MATLAB Software

DESIGN PROCEDURE :

1. The open loop transfer function G(s)=100/s(s+15) has a unity feedback. Find (i) Natural
Frequency and Damping Ratio (ii)Position, Velocity, Acceleration Error Constants
(iii)Damped Frequency and Theta (iv)Delay Time (v) Rise Time (vi)Peak Time
(vii)Maximum Peak over shoot percentage (viii) Settling Time for 2% and 5% and
Calculate the same results using MATLAB Software.

Solution

% Time Domain Specifications

num=[100];

den=[1 15 0];

%Transfer Function Form

G=tf(num,den)

% Unity Feedback System

C=feedback(G,1)

% (i)Natural frequency and Damping Ratio

[Wn Z P] = damp(C)

Wn=Wn(1);

Z=Z(1);

%(ii)Position,Velocity,Acceleration Error Constants

% Position Error Constant

Kp=dcgain(G)

%Differentiator Part

num1=[1 0];den1=[1];G1=tf(num1,den1);

%Velocity Error Constant

Gv=G1*G;

Kv=dcgain(Gv)

% Acceleration Error Constant

Ga=Gv*G1;

Ka=dcgain(Ga)

%(iii) Damped Frequency and Theta

% Damped Frequency of oscillation

Wd=Wn*sqrt(1-(Z^2))

%Angle of Theta

Theta=atan((sqrt(1-(Z^2)))/Z)

%(iv)Delay Time(Td)

Td=(1+0.7*Z)/Wn
%(v)Rise Time

Tr=(3.14-Theta)/Wd

%(vi)Peak Time

Tp=3.14/Wd

%(vii)Percentage of Peak over shoot

MpPercentage=exp((-3.14*Z)/(sqrt(1-Z^2)))*100

%(viii) Settling Time

% For 2%

Ts=4/(Z*Wn)

% For 5%

Ts=3/(Z*Wn)

2. The open loop transfer function of a unity feedback system G(s)=K/s(s 2+2s+3) Draw the
Bode Plot manually Find (i)Gain Margin (ii)Phase Margin (iii)Gain cross over frequency
(iv)Phase cross over frequency (v) Resonant Peak (vi)Resonant Frequency (vii)Bandwidth
and Check the same results using MATLAB Software. (Assume K=1)

Solution

%Draw the Bode Plot for the given transfer functionG(S)=1/S(S2+2S+3) %Find (i)Gain Margin
%(ii) Phase Margin (iii) Gain Cross over Frequency %(iv) Phase Cross over Frequency
%(v)Resonant Peak (vi)Resonant %Frequency (vii)Bandwidth

num=[1 ];

den=[1 2 3 0];

w=logspace(-1,3,100);

figure(1);

bode(num,den,w);

title('Bode Plot for the given transfer function G(s)=1/s(s^2+2s+3)')

grid;

[Gm Pm Wcg Wcp] =margin(num,den);

Gain_Margin_dB=20*log10(Gm)

Phase_Margin=Pm

Gaincrossover_Frequency=Wcp

Phasecrossover_Frequency=Wcg

[M P w]=bode(num,den);

[Mp i]=max(M);

Resonant_PeakdB=20*log10(Mp)

Wp=w(i);

Resonant_Frequency=Wp

for i=1:1:length(M);

if M(i)<=1/(sqrt(2));

Bandwidth=w(i)

break;

end;

end;

Answer
 Bode Plot for the given transfer function G(s)=1/s(s 2+2s+3)
50

0
Magnitude (dB)

-50

-100

-150

-200
-90

-135
Phase (deg)

-180

-225

-270
-1 0 1 2 3
10 10 10 10 10
Frequency (rad/sec)

Gain_Margin_dB =15.5630

Phase_Margin = 76.8410

Gaincrossover_Frequency = 0.3374

Phasecrossover_Frequency= 1.7321

Resonant_PeakdB = 10.4672

Resonant_Frequency = 0.1000

Bandwidth = 0.5356

RESULT
Closed loop transfer function of the type – 1-second order system is

C(s)/R(s) = G(s) / [1 + G(s) H(s)]

where

H(s) = 1

G(s) = K K1 K2 / s (1 + sT1)

Where

K is the gain

K1 is the gain of Integrator = 9.6

K2 is the gain of the time constant – 1 block =10

T1 is the time constant of time constant – 1 block = 1 ms

THEORY:

The type number of the system is obtained from the number of poles located at origin in a given
system. Type – 0 system means there is no pole at origin. Type – 1 system means there is one
pole located at the origin. The order of the system is obtained from the highest power of s in the
denominator of closed loop transfer function of the system. The first order system is
characterized by one pole or a zero. Examples of first order systems are a pure integrator and a
single time constant having transfer function of the form K/s and K/(sT+1). The second order
system is characterized by two poles and up to two zeros. The standard form of a second order
system is G(s) = n2 / (s2 + 2ns + n2) where  is damping ratio and n is undamped natural
frequency.

PROCEDURE:

1. To find the steady state error of type – 0 first order system

1. Connections are made in the simulator kit as shown in the block diagram.

2. The input square wave is set to 2 Vpp in the CRO and this is applied to the REF
terminal of error detector block. The input is also connected to the X- channel of CRO.

3. The output from the simulator kit is connected to the Y- channel of CRO.

4. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.
 BEYOND THE SYLLABUS EXPERIMENTS:

Ex. No. 14.ANALOG SIMULATION OF TYPE – 0 and TYPE – 1 SYSTEMS

Date:
AIM:

To study the time response of first and second order type –0 and type- 1 systems.

APPARATUS / INSTRUMENTS REQUIRED:

1. Linear system simulator kit

2. CRO

3. Patch cords

FORMULAE USED:

Damping ratio, =  (ln MP)2 / (2 +(ln MP)2)

Where MP is peak percent overshoot obtained from the time response graph

Undamped natural frequency, n =  / [tp  (1 - 2)]

where tp is the peak time obtained from the time response graph

Closed loop transfer function of the type – 0 second order system is

C(s)/R(s) = G(s) / [1 + G(s) H(s)]

where

H(s) = 1

G(s) = K K2 K3 / (1+sT1) (1 + sT2)

where K is the gain

K2 is the gain of the time constant – 1 block =10

K3 is the gain of the time constant – 2 block =10

T1 is the time constant of time constant – 1 block = 1 ms

T2 is the time constant of time constant – 2 block = 1 ms

 5. The gain K is varied and different values of steady state errors are noted.

2. To find the steady state error of type – 1 first order system

1. The blocks are Connected using the patch chords in the simulator kit.

2. The input triangular wave is set to 2 Vpp in the CRO and this applied o the REF terminal
of error detector block. The input is also connected to the X- channel of CRO.

3. The output from the system is connected to the Y- channel of CRO.

4. The experiment should be conducted at the lowest frequency to allow enough

time for the step response to reach near steady state.

5. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.

6. The gain K is varied and different values of steady state errors are noted.

7. The steady state error is also calculated theoretically and the two values are compared.

3. To find the closed loop response of type– 0 and type- 1 second order system

1. The blocks are connected using the patch chords in the simulator kit.

2. The input square wave is set to 2 Vpp in the CRO and this applied to the REF terminal
of error detector block. The input is also connected to the X- channel of CRO.

3. The output from the system is connected to the Y- channel of CRO.

4. The output waveform is obtained in the CRO and it is traced on a graph sheet. From
the waveform the peak percent overshoot, settling time,rise time, peak time are
measured. Using these values n and  are calculated.

5. The above procedure is repeated for different values of gain K and the values are
compared with the theoretical values.

Time Response of first order system

A first order system whose input -output relationship is given by

C(s) 1

----- = --------

R(s) (1+sT)

Here we are analyzing the output of the system for a step input R(s) = 1 / s
 1

 C(s) = -------- R(s)

1+sT

Taking inverse laplace transform of C(s), we get

c(t) = 1 - e-t/T for t  0.

From the equation we can see that c(t) = 0 initially (i.e., at t = 0) and finally becomes unity (i.e.,
at t →  ).

at t = T, c(t) = 1 - e-1 = 0.632.

Therefore, one of the important characteristics of such curve is that at t = T sec. system response
is 63.2% of final steady value.

Smaller the time constant T, faster the system response.

dc 1
----- = ---- e-t/T
dt T
dc 1

at t = 0, ---- = --------

dt T

Another important characteristic of the exponential response curve is that at t = 0, slope of the
tangent line is 1/ T.

Frequency Response:

A sinusoidal transfer function may be represented by two separate plots, one giving the
magnitude versus frequency and the other phase angle in degree versus frequency. A bode
diagram consists of two graphs, plot of magnitude of a sinusoidal transfer function and other is a
plot of phase angle both drawn to logarithmic scale. The standard representation of logarithmic
magnitude of G (j) is 20 log |G (j)| where the base of the logarithm is 10. The unit is decibel.

The main advantage of using a semi log sheet and using logarithmic plot is that
multiplication of magnitudes can be converted to addition. The experimental determination
of transfer function can be made simple if frequency response data are represented in the
bode diagram.

10 k

SIGNAL 0.02F
V0 CRO
GENERATOR

Vi

Figure: Circuit diagram for study of first order system

MODEL GRAPHS:

Time (Step) response

of the first order
system for unit step
input
 Time Response of second order system
An RLC circuit is considered as a simple second system. Fig. shows a simple order
system whose input is ei and output is eo.

ei (t ) = Ri (t ) + L
di 1
dt C 
+ idt

eo (t ) =
1
C
idt

Taking laplace transform of the above equations, we get

 1 
Ei (s ) = I (s ) R + Ls + 
 Cs 

Eo (s ) = I (s )
1
Cs

E0 (s )  1 
 TransferFunction = = 2 
Ei (s )  s LC + RCs + 1 

 
 
 1  1 
=  ----------- (1)
 Lc  s 2 + R s + 1 
 
 L LC 

A general form of second order system transfer function is given by,

Eo (s )  n2
= 2 ------------ (2)
Ei (s ) s + 2 n s +  n2

Where  n is the undamped natural frequency.

 is the damping ratio of the system

Also   n =  is called attenuation

Comparing equation (1) and (2), we get

1 R
n = And 2 n =
LC L

R R C
 =  LC =
2L 2 L

Dynamic behavior of second order system is defined in terms of two parameters  and  n.

If 0<  <1 the closed loop poles are complex conjugates and lie in the left half of s plane.

Then, the system is under-damped and the transient response is oscillatory.

If  =1, the system is called critically damped. Over-damped system corresponds to  >1. In the
under-damped and over-damped case the transient response is not oscillatory.

For  <1 the step response of the system is given by

e − n t
eo (t ) = 1 − sin(  d t +  )
1− 2

Where  d = damped natural frequency =  n 1 −  2

 1− 2 
 = tan  −1 
  
 

The frequency of oscillation is the damped natural frequency  d & this varies with damping
ratio  .

Fig. Shows the time response of the under-damped second order system along with the
following time-domain specifications.

DELAY TIME:

Delay time is the time required for the response to reach from 0% to 50% of the steady state
value.
RISE TIME:

Rise time is the time required for the response to reach from 10% to 90% of the steady state
value for under-damped systems.

 −
tr = sec .
d

PEAK TIME:

Peak time is the time required to reach the response first peak of the overshoot


tp = sec .
d

% PEAK OVERSHOOT:

Maximum overshoot is the maximum value of the response measured from unity.

M P = e − / 1−  2
 100

c(t p ) − c( )
If the final steady state is different from unity maximum overshoot is given by  100
c( )

SETTLING TIME:

Settling time is for the response to settle around the steady state value with the variation not
exceeding a permissible tolerance level.

4
ts = for 2% tolerance
 n

3
ts = for 5% tolerance
 n

Frequency Response
Frequency response of the system is given by
 G( j ) =
1 1 1
= =
LC ( j ) + RC ( j ) + 1 1 − u + j 2u
2 2 2
   j 
1 −   + 2  
 n   n 


Where u =
n

1
 Magnitude of G(j  ) =
(1 − u ) + (2u )
2 2 2

 2u 
 Phase angle of G(j  ) =  = tan −1  2 
1− u 

PROCEDURE:

1. Connections are made as shown in figure.

2. Keep the appropriate value for resistance and inductance using Decade Resistance
Box (DRB) and Decade inductance Box respectively.
3. Step input (square pulse of very low frequency i.e. large time period)) is given at
input and output is observed across the capacitor using CRO.
4. Output shows a damped oscillation before it comes to steady state. Maximum
overshoot or peak overshoot is noted.
5. A graph is plotted showing the variation of output voltage with time.
6. To get frequency response a sinusoidal signal is given as input and output (peak to
peak value) is noted.
7. The input voltage is kept constant and output is noted for different frequency. Also the
phase angle is noted, the output waveforms are noted using CRO.
8. The magnitude in decibel and phase angle in degree is plotted as a function of
frequency  ran/sec. In the semi log graph sheet.
 2 k 150 mH

Signal 0.01 F CRO

generator

Figure: Circuit diagram for Study of Second order system

Figure: Response of
second order system
for unit step input

RESULT:
Block diagram of Type-0 first order system

PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF

TYPE – 0 FIRST ORDER SYSTEM

 Ex. No. 15. Determination of transfer function of AC Servomotor
Date:

Aim:

To derive the transfer function of the given A.C Servo Motor and experimentally
determine the transfer function parameters such as motor constant k1 and k2.

Apparatus required:

S.No Apparatus Quantity

1 Transfer function of AC servomotor trainer kit 1

2 Two phase AC servomotor with load setup and loads 1

3 PC power chord 2

4 SP6 patch chord 4

5 9 pin cable 1

Specifications of AC Servomotor

Main winding Voltage - 230V

Control Winding Voltage - 230V

No load current per phase - 300 mA

Load current per phase - 350 mA

Input power - 100 W

Power Factor - 0.8

No load speed - 1400 rpm

Moment of inertia (J) - 0.0155 kg m2

Viscous friction co-efficient (B) - 0.85 x 10-4 kg-m-sec

Formula Used:

Torque T = (9.18 x r x S) Nm

1 2

Where ,

r - Radius of the shaft, m = 0.0186 m

- Change in torque, Nm

- Change in control winding voltage , V

- Change in speed , rpm

S - Applied load in kg

Theory:

It is basically a 2Φ induction motor except for certain special design features. AC

servomotor differs in 2 ways from a normal induction motor. The servomotor rotor side is built
in high resistance. So the X/R ratio is small, which results in linear mechanical characteristics.
Another difference of AC servomotor is that excitation voltage applied to 2 stator of winding
should have a phase difference of 90o.

Working principle:

When the rotating magnetic field swaps over the rotor conductors emf is induced in the
rotor conductors. This induced emf circulates current in the short circuited rotor conductor. This
rotor current generate a rotor flux a mechanical force is developed to the rotor and hence the
rotor moving the same direction as that of the rotating magnetic field.
Block diagram of Type- 1 First order system

PATCHING DIAGRAM TO OBTAIN THE STEADY STATE ERROR OF

TYPE – 1 FIRST ORDER SYSTEM

OBSERVATIONS:

S. No. Gain, K Steady state error, ess

Block diagram to obtain closed loop response of Type-0 second order system
PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF

TYPE – 0 SECOND ORDER SYSTEM

OBSERVATIONS:

Transfer function of a AC servomotor

Let Tm – Torque developed by the motor (Nm)

T1 – Torque developed by the load (Nm)

k1 – Slope of control phase voltage versus torque characteristics

k2 – Slope of speed torque characteristics

km – Motor gain constant

τm – Motor time constant

g – Moment of inertia (Kgm-2)

B – Viscous friction co-efficient (N/m/sec)

ec – Rated input voltage, volt

– Angular speed

Transfer function of AC servomotor:

Torque developed by motor, Tm = - …………………….. (1)

Load torque, Tl = ……………………………………..(2)

At equilibrium, the motor torque is equal to the load torque.

- = ………………………………..(3)

On taking laplace transform of equation (3), with zero initial conditions, we get
Where = Motor gain constant

= Motor time constant

Peak Rise Peak Settling Undamped

percent time time Damping
Gain Time Natural
S. No. ratio
K Overshoot tr tp ts frequency

%MP (sec) (sec) (sec) n (rad/sec)

Block diagram to obtain closed loop response of Type-1 second order system
PATCHING DIAGRAM TO OBTAIN THE CLOSED LOOP RESPONSE OF

TYPE – 1 SECOND ORDER SYSTEM

OBSERVATIONS:

Peak Rise Peak Settling Undamped

percent time time Damping
Gain Time Natural
S. No. ratio
K Overshoot tr tp ts frequency

%MP (sec) (sec) (sec) n (rad/sec)

Full load speed - 900 rpm

Speed torque characteristics of Induction motor and AC servomotor:

To find K1 :
Connection Procedure:

1. Initially keep all the switches in OFF position

2. Connect the banana connector Pout to Pin and Nout to Nin
3. The banana connector Pin terminal is also connected with motor control winding P
terminal and the banana connector Nin terminal is also connected with motor control
winding N terminal.
4. Connect the 9 pin D connector from AC servomotor to module trainer kit.
5. Keep the variable AC source in minimum position.
Experimental Procedure to find K1:

1. Apply 3-phase AC supply to 3-phase input banana connectors at the back side of the
module.
2. Switch ON the power switch.
3. Switch ON the control winding and main winding switches S1 and S2 respectively.
4. Now slowly vary the variable AC source to the control winding till the motor reaches
300rpm.
5. Apply load one by one till the motor stops.
6. Note down the load values and control voltage.
7. Now again vary the AC source and apply voltage to control winding till the motor
reaches 300 rpm.
8. Again apply loads till the motor stops.
9. Repeat the above steps and note down the values and tabulate it.
10. Calculate the torque of the motor.
11. Draw a graph between control voltage Vs torque.
12. From the graph find out the motor constant K1.

Experimental Procedure to find K2:

1. Switch ON the power supply.

2. Switch ON the main winding power supply S2.
3. After giving the power supply to the main winding, switch ON the control winding power
supply switch S1.
4. Vary the control voltage to set a rated voltage of the control winding ( 180 V)
5. Apply the load in step by step upto the motor run at a zero rpm and note down the speed
of the motor and applied load.
6. After taking the readings, fully remove the load from the motor and bring the variable AC
source in minimum position.
7. Switch OFF the control winding switch S1.
8. Finally switch OFF the main winding switch S2 and power supply switch.
9. Tabulate the speed and load values and calculate torque.
10. Draw a graph of torque Vs speed and find motor constant K2.
To find K2 :

RESULT: