21MHC204L- ELECTRICAL ACTUATORS AND DRIVES LABORATORY

YEAR : 2024-2025

DECEMBER 2024

1
 INDEX

Name : Reg.No. :

Branch with Specialization : A.Y /Sem : 2024-25 (ODD)

Exp. Date of Title of the Experiment Marks Signature

No Exp.

1 SPEED CONTROL OF RECTIFIER FED DC MOTOR

2
SPEED AND DIRECTION CONTROL OF DC MOTOR
USING MOTOR DRIVER L293
3
V-I CHARACTERISTICS OF SCR
4 POSITION CONTROL OF SERVOMOTOR USING PWM
SIGNAL

5
STATIC CHARACTERISTICS OF MOSFET

10

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 1.SPEED CONTROL OF RECTIFIER FED
C O OR
OBJECTIVE

To control the speed of a DC motor fed by a Full wave Diode bridge rectifier
COMPONENTS REQUIRED

S. No. Name of the Components Type Quantity

1. Transformer 230V/12-0-12V,1A 1
2. Diode 1N4007 4
3. Resistor 1KΩ/0.5W 1

4. Decade Resistance Box 1

5. DC Motor 12V,1A,60rpm 1
6. Tachometer 1
7. CRO 1
8. Breadboard 1
9. Connecting wires As required

PROCEDURE
1. Connect the components as per the given circuit diagram.

2. Vary the resistance of the circuit using the Decade resistance box and note the change
in the motor speed.

3. Repeat the above step until the motor stops and for every change in the resistance note
down the motor speed.

4. Plot the graph for the tabulated values of the Resistance and Motor speed.

5. Connect the CRO across the transformer secondary to measure the input AC signal and
note down the readings.

6. Connect the CRO across the diode D1 and D2 to measure the pulsating DC signal and
note down the readings.

7. Plot the graph of the input AC and output DC voltage of the rectifier by taking time
across X-axis and amplitude along Y-axis.

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THEORY

An input ac voltage of 230V,50Hz is given to the transformer. This voltage is stepped down to 12V by the
transformer. The output of the transformer is fed to a Diode bridge rectifier which converts the 12V ac into dc voltage. This
dc volage is fed to a DC motor through a Decade Resistance box(variable Resistance).When the resistance in the decade
box is varied, the speed of the DC motor changes. The speed of the DC motor is measured using a Tachometer. The speed
of the DC motor for various values of resistance is noted.

MODEL GRAPH FOR FULL WAVE RECTIFIER

TABLE
S.No. Resistance(Ω) Speed (rpm)
1
2
3
4
5

RESULT: Thus the speed control of a rectifier fed DC motor is studied.

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 2.SPEED AND DIRECTION CONTROL OF DC
MOTOR USING MOTOR DRIVER L293D
OBJECTIVE

To control the speed and the direction of a DC motor using L293D driver IC (H- bridge)
COMPONENTS REQUIRED

S. No. Name of the Components Type Quantity

1. Controller Arduino uno 1

2. Motor Driver L293 1

3. Potentiometer 10k 1

4. DC Motor Toy motor (3-6 V,1

8000RPM, 0.27A)
5. Breadboard small 1

6. Jumper wires Female to male, male toAs required

male

PROCEDURE
1. Connect L293D module VCC pin , Enable B pin , Potentiometer terminal 1 and Arduino VCC to breadboard Vcc
2. Connect Ground pin of L293D module, Arduino ground, potentiometer terminal 2 to breadboard ground.
3. Connect B1 and B2 pin of L293 driver to Arduino Digital pin 9,10
4. Connect potentiometer wiper (middle pin) to Arduino A0 pin.
5. Connect DC motor across L293D module 2MB1 pins.
6. Connect CRO across to view the PWM signal.

THEORY

PWM – to control speed

The speed of a DC motor can be controlled by changing its input voltage. A common technique to do this is to use PWM
(Pulse Width Modulation). PWM is a technique where the average value of the input voltage is adjusted by sending a series
of ON-OFF pulses. The average voltage is proportional to the width of the pulses known as the Duty Cycle. The higher the
duty cycle, the higher the average voltage applied to the DC motor (resulting in higher speed) and the shorter the duty cycle,
the lower the average voltage applied to the DC motor (resulting in lower speed)

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 Duty cycle

H-Bridge – to control the direction of Rotation

The spinning direction of a DC motor can be controlled by changing the polarity of its input voltage. A common technique
for doing this is to use an H-bridge. An H-bridge circuit consists of four switches with the motor in the center forming an H-
like arrangement. Closing two specific switches at a time reverses the polarity of the voltage applied to the motor. This
causes a change in the spinning direction of the motor.

H-bridge circuit

The L293D IC has a supply range of 4.5V to 36V and is capable of 1.2A peak output current per channel, so it works very
well with most of motors. The L293D IC has a total of 16 pins that connect it to the outside world.
Technical Specifications of L293D is as follows.
Motor output voltage 4.5V – 36V

Logic input voltage 5V

Output Current per channel 600mA

Peak Output Current per Channel 1.2A

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CIRCUIT CONNECTION DIAGRAM:

PROGRAM:
// PWM Pins to control the direction of rotation of the DC Motor
// through the bridge H
#define RotationalDirection1 9
#define RotationalDirection2 10
#define Pot A0
// the potentiometer will control either the
//direction of the rotation of the motor and the speed of it

void setup()
{
Serial.begin(9600);
pinMode(Pot,INPUT);
pinMode(RotationalDirection1,OUTPUT);
pinMode(RotationalDirection2,OUTPUT);
}

void loop()
{
if (analogRead(0) >= 512) // if the potentiometer is on the right side
{ // one direction is gonna be activated

// the value given by the pot is mapped to values from 0 to 255 to give
// to the motor a specific speed
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 int Speed = map(analogRead(Pot), 512, 1023, 0, 255);

analogWrite(RotationalDirection1,Speed);
analogWrite(RotationalDirection2, 0); // direction of rotation2 deactivated
}
else
// if the potentiometer is on the left side
{ // the other direction is gonna be activated

// the value given by the pot is mapped to values from 0 to 255 to give
// to the motor a specific speed
int Speed = map(analogRead(Pot), 0, 512, 0, 255);

analogWrite(RotationalDirection1, 0); // direction of rotation1 deactivated

analogWrite(RotationalDirection2, Speed);
}
}

TABULATION:

S.No POT position Pot voltage (V) PWM OUTPUT

Amplitude (Volts) Time period (ms)
Forward direction
1 Min
2 Medium
3 Maximum
Reverse direction
1 Min
2 Medium
3 Maximum

RESULT: Thus, the speed and direction control of DC motor was studied using motor driver L293D with controller.

3.V-I CHARACTERISTICS OF SCR

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OBJECTIVE: To Study the V-I Characteristic of silicon-controlled rectifier (SCR).
COMPONENTS REQUIRED:
S.N Component Quantit
o y
1 SCR 1
2 Resistor 1KΩ 1W 1
3 Resistor 100Ω20 or 30W 1
4 Ammeter (0 to 30mA) 2
5 Voltmeter (0 t0 30 V0) 1
5 Multimeter
6 Patch cards

THEORY:

An elementary circuit diagram for obtaining static V-I characteristics of a thyristor is shown in Figure
(a).The anode and cathode are connected to main source through the load. The gate and cathode are fed
from a source Es which provides positive gate current from gate to cathode. Figure (b) shows static V-I
characteristics of a thyristor. Here Va is the anode voltage across thyristor terminals A, K and Ia is the anode
current.
Typical SCR V-I characteristic shown in Figure reveals that a thyristor has three basic modes of operation;
namely, reverse blocking mode, forward blocking (off-state) mode and forward conduction (onstate) mode.
These three modes of operation are now discussed below:
Reverse Blocking Mode: When cathode is made positive with respect to anode with switch S open, thyristor
is reverse biased as shown in Figure (a). Junctions J1 J3 are seen to be reverse biased whereas junction J2 is
forward biased. The device behaves as if two diodes are connected in series with reverse voltage applied
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across them. A small leakage current of the order of a few milliamperes (or a few microamperes depending
upon the SCR rating) flows. This is reverse blocking mode, called the off-state, of the thyristor. If the reverse
voltage is increased, then at a critical breakdown level, called reverse breakdown voltage VBR, an avalanche
occurs at J1 and J3 and the reverse current increases rapidly. A large current associated with VBR gives rise
to more losses in the SCR. This may lead to thyristor damage as the junction temperature may exceed its
permissible temperature rise. It should, therefore, be ensured that maximum working reverse voltage across
a thyristor does not exceed VBR. When reverse voltage applied across a thyristor is less than VBR, the device
offers a high impedance in the reverse direction. The SCR in the reverse blocking mode may therefore be
treated as an open switch
Note that V-I characteristic after avalanche breakdown during reverse blocking mode is applicable only
when load resistance is zero. In case load resistance is present, a large anode current associated with
avalanche breakdown at VBR would cause substantial voltage drop across load and as a result, V-I
characteristic in third quadrant would bend to the right of vertical line drawn at VBR.
Forward Blocking Mode: When anode is positive with respect to the cathode, with gate circuit open,
thyristor is said to be forward biased as shown in Fig. (b). It is seen from this figure that junctions J1, J3 are
forward biased but junction J2 is reverse biased. In this mode, a small current, called forward leakage
current, flows as shown in Fig(b). In case the forward voltage is increased, then the reverse biased junction J2
will have an avalanche breakdown at a voltage called forward break over voltage VB0. When forward voltage
is less than VBO, SCR offers high impedance. Therefore, a thyristor can be treated as an open switch even in
the forward blocking mode
Forward Conduction Mode: In this mode, thyristor conducts currents from anode to cathode with a very
small voltage drop across it. A thyristor is brought from forward blocking mode to forward conduction mode
by turning it on by exceeding the forward breakover voltage or by applying a gate pulse between gate and
cathode. In this mode, thyristor is in on-state and behaves like a closed switch. Voltage drop across thyristor
in the on state is of the order of 1 to 2 V depending on the rating of SCR. It may be seen from Fig. (b) that
this voltage drop increases slightly with an increase in anode current. In conduction mode, anode current is
limited by load impedance alone as voltage drop across SCR is quite small. This small voltage drop VT
across the device is due to ohmic drop in the four layers.

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PROCEDURE:
1. Connections are made as shown in the circuit diagram.
2. The value of gate current IG, is set to convenient value by adjusting Vgg.
3. By varying the anode cathode voltage Vaa gradually in step by step, note down the corresponding values of
VAK and IA . Note down VAK and IA at the instant of firing of SCR
and after firing (by reducing the voltmeter ranges and ammeter ranges) then increase the
supply voltage Vaa. Note down corresponding values of VAK and IA.

4. The point at which SCR fires, gives the value of break over voltage VBO.
5. A graph of VAK V/S IA is to be plotted.
6. The on state resistance can be calculated from the graph by using a formula.
7. The gate supply voltage VGG is to be switched off.
8. Observe the ammeter reading by reducing the anode cathode supply voltage Vaa .The
point at which ammeter reading suddenly goes to zero gives the value of holding current IH
9. Steps no.2, 3, 4, 5, 6, 7, 8 are repeated for another value of gate current IG .
OBSERVATION:

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RESULT:

The V-I characteristics of silicon controlled rectifier is plotted on the graph.

4.POSITION CONTROL OF SERVOMOTOR USING PWM SIGNAL

OBJECTIVE
To control the position of servomotor using PWM Signal.

S. No. Name of the Components Type Quantity

1. Controller Arduino uno 1
3. Potentiometer 10k 1
4. Servomotor Micro 1
5. Breadboard small 1
6. Jumper wires Female to male,As required
male to male

PROCEDURE:
1.Connect potentiometer middle pin to Arduino pin A0, Ground pin to (-) of bread board and supply pin to
(+) of breadboard.
2.Connect servo motor signal pin to Arduino digital pin 9.
3.Connect servomotor ground pin to (-) of breadboard and supply of servomotor pin to (+) of breadboard.
4.Connect Arduino 5v pin to (+) of bread board.
5.Connect Ground pin of Arduino to (-) of breadboard.
THEORY:
A servo motor is controlled by sending a series of pulses through the signal line. The frequency of the control
signal should be 50Hz or a pulse should occur every 20ms. The width of pulse determines angular position
of the servo and these type of servos can usually rotate 180 degrees (they have a physical limits of travel).
Generally pulses with 1ms duration correspond to 0 degrees position, 1.5ms duration to 90 degrees and 2ms
to 180 degrees. Though the minimum and maximum duration of the pulses can sometimes vary with
different brands and they can be 0.5ms for 0 degrees and 2.5ms for 180 degrees position.

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CONNECTION DIAGRAM:

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TABULATION:

S.N Servo motor Pot voltage (V) PWM Output

o angle(degree) Amplitude (Volts) Time period (ms)
ON Time OFF Time
1 0
2 45
3 90
4 135
5 180
PROGRAM:
#include <Servo.h>
int SensorInput=0;
int OutputValue=0;
Servo servo_9;
void setup()
{
pinMode(A0,INPUT);
servo_9.attach(9,500,2500);
Serial.begin(9600);
}
void loop()
{
SensorInput=analogRead(A0);
OutputValue=map(SensorInput, 0, 1023, 0, 180);
servo_9.write(OutputValue);
Serial.print(SensorInput);
Serial.println(",");
delay(10);
}

RESULT: Thus, the position control of servo motor using PWM signal was studied.
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 5.STATIC CHARACTERISTICS OF MOSFET

OBJECTIVE: To plot the Transfer and Drain characteristics of MOSFET

COMPONENTS REQUIRED:

S.No Component Specification Quantity

.
1 MOSFET IRF 540 1
2 Resistor 100 Ω 2
3 Resistor 3.3k Ω 1
4 Ammeter (DC) 0-10 mA 1
5 Voltmeter (DC) 0-30V 2
6 Connecting wires Few
7 Bread board 1

THEORY:
A MOSFET (Metal oxide semiconductor field effect transistor) has three terminals called Drain,Source and
Gate. It has very high input impedance and works at high switching frequency.The main principle of the
MOSFET device is to be able to control the voltage and current flow between the source and drain
terminals. It works almost like a switch and the functionality of the device is based on the MOS capacitor.
The MOS capacitor is the main part of MOSFET.
By applying some voltage across gate and source, there forms a inversion layer or a channel between the
drain and source if the voltage applied is threshold voltage. (Threshold voltage is the minimum required
voltage for the conduction of current) . If the applied voltage is less than the threshold voltage, no channel is
formed. Hence current cannot flow in the MOSFET. This situation is called as Cutoff region (OFF).And
after a certain level of voltage, the current becomes constant in the MOSFET. This condition is called as
saturation point. MOSFET is a voltage controlled device so the thickness of channel and the amount
of current depends upon the voltage applied across gate and source. If more voltage applied, width of
channel increases and more amount of current able to flow through the device.
MOSFET is used as a switch in many applications .One example where MOSFET is used as a switch is
automatic brightness control in street lights.

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CIRCUIT DIAGRAM:

MODEL GRAPH:

PROCEDURE:
OUTPUT CHARACTERISTICS:
1. Make the connections as per the circuit diagram.
2. Keep VGS constant at some value say 2.8 V by varying VGG.
3. Initially Vary VDS in step of 0.2V upto 3V.
4.Once current gets constant then vary VDS in steps of 1 V up to 15 volts and measure the drain current ID.
Tabulate all the readings.
4. Repeat the above procedure for VGS as 2.9V.
5. Plot the output characteristics VDS vs ID.
TRANSFER CHARACTERISTICS:
1. Make the connections as per the circuit diagram.
2. Set the voltage VDS constant at 10V by varying VDD.
3. Vary VGS by varying VGG in the step of 0.1V upto 3.2 V and note down value of drain
current ID. Tabulate all the readings.
4. Plot the transfer characteristics VGS vs ID.
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OBSERVATION:
OUTPUT CHARACTERISTICS:

S.No VGS = 2.8V VGS = 2.9V

. VDS(V) ID(mA) VDS(V) ID(mA)

TRANSFER
CHARACTERISTICS:
S.No VDS=10V
. VGS(V) ID(mA)

RESULT:

The Static Characteristics (Output and Transfer characteristics) of MOSFET is plotted.

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 6.SINGLE PHASE FULLY CONTROLLED RECTIFIER FED DC DRIVE

Aim:
To study the performance of single phase fully controlled converter using R and RL load

Apparatus Required:
1. Power Electronics Rectifier (Trainer) Kit
2. CRO
3. Connecting Wires

Procedure:
1. Make the connections as per the circuit diagram.
2. Connect CRO and multimeter (in dc) across the load(DCmotor)
3. Keep the potentiometer at the minimum position (maximum resistance).
4. Switch on the step down AC source.
5. Check the gate pulses at G1-K1, G2-K2, G3-K3, & G4-K4 respectively.
6. Observe the waveform on CRO for different phase angle adjustment (0 degree to 180 degree) and
note down the corresponding voltage and the speed of the motor.
7. Tabulate the readings in observation column.
8. Draw the waveforms observed on CRO.

CIRCUIT DIAGRAM: Single phase full converter

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Theory:
A fully controlled converter or full converter uses thyristors only and there is a wider control over the level of
dc output voltage. With pure resistive load, it is a single quadrant converter. Here, both the output voltage
and output current are positive. With RL- load it becomes a two-quadrant converter. Here, output voltage is
either positive or negative but output current is always positive. Fig.1 shows a single phase fully controlled
rectifier with resistive load. This type of full wave rectifier circuit consists of four SCRs. During positive half
cycle, SCRs T1 and T2 are forward biased. At ωt = α, SCRs T1 and T2 are triggered, then the current flows
through the L – T1- R load – T2 – N. At ωt = π, supply voltage falls to zero and the current also goes to
zero. Hence SCRs T1 and T2 turned off. During negative half cycle (π to 2π),SCRs T3 and T4 are forward
biased. At ωt = π + α, SCRs T3 and T4 are triggered, then current flows through the path N – T3 – R load-
T4 – L. At ωt = 2π, supply voltage and current goes to zero, SCRs T2 and T4 are turned off. Fig 2 shows the
current and voltage waveforms for this circuit.
2V m V avg
V out  (cos ) I avg 
 ; R

Fig 2 Voltage waveforms for R - Load

Tabulation:

Output voltage Time period(ms) Speed (Rpm)

Serial Triggering angle Vo
No. ‘α’ degree (V) Ton Toff
(measured)

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 1

Result:

Thus the performance of single phase fully controlled rectifier fed Dc drive was studied

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 7. SPEED AND DIRECTION CONTROL OF BLDC MOTOR USING DSPIC30F4011

Aim: To Construct DSPIC based Brushless DC Motor drives Using DSPIC30F4011 for Speed Control and
Direction Control function.

Apparatus required: 1. BLDC Motor Control Trainer Kit 2. Patch cords 3. BLDC Motor (24V, 4000RPM,
60W) 4. 3Pin Power cord 5. DSO

Procedure:

1. Connections are made as shown in circuit diagram

2. First turn on SW2 (pulse supply)

3. Turn on SW1 (input power supply 30VDC)

4. K1 & K2 keys are used to select the Direction and Duty (%) for controlling the motor. Press K1 to increase
the Duty and K2 to decrease the Duty.

5. Check the corresponding Direction and RPM of the motor and verify the operation.

Theory:

A MOSFET fed BLDC motor drive typically uses a three-phase inverter bridge consisting of six MOSFETs,
organized in three half-bridges (each half-bridge corresponding to one phase of the motor: A, B, and
C).Each phase of the motor is connected to the midpoint of each half-bridge. The inverter's role is to control
the current flow through the motor windings by switching the MOSFETs in the correct sequence based on
the rotor position.The most common commutation method for BLDC motors is six-step commutation or
trapezoidal control. In this method, the motor's three phases are commutated in six steps per electrical cycle
(every 60° electrical).In each step, two MOSFETs are turned on to energize two of the motor phases, while
the third phase is left floating. This commutation sequence creates a rotating magnetic field that interacts
with the rotor's magnetic field to produce torque. Pulse Width Modulation (PWM) is used to regulate the
voltage supplied to the motor phases by controlling the duty cycle of the MOSFETs' switching. By varying
the duty cycle, the average voltage and current can be adjusted, allowing precise control of the motor's speed
and torque. Most BLDC motors are equipped with Hall effect sensors to detect the rotor position. These
sensors provide feedback to the controller, which determines the proper timing for switching the MOSFETs.
The signals from the Hall sensors are read by the drive controller, which switches the MOSFETs in the
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proper sequence to achieve the desired commutation pattern.

Circuit diagram:

Pulse Pattern Generation:

22
23
Tabulation:

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Result: Thus, the Brushless DC Motor Speed Control and Direction Control function was studied Using
DSPIC30F4011.

8. CHOPPER(MOSFET) FED DC DRIVE

Aim: To study the performance of chopper fed DC drive

Apparatus required:
1. MOSFET chopper DC Motor Control Trainer Kit 2. Patch cords 3. DC Motor 4. DSO

Procedure:
1.Connect the circuit as per the circuit diagram
2.Connect the CRO across the Motor (Load)
3.Vary the duty cycle at different values for forward and reverse direction and note down the corresponding
voltage, speed of motor and PWM signal.

Theory:
A chopper is a DC-to-DC converter that regulates the output voltage by turning the input DC supply on
and off at a rapid rate. The MOSFET is used as the main switching device in the chopper circuit. It acts as
an electronic switch that can turn the DC voltage on and off at high frequencies.
When the MOSFET is on, the motor is connected to the supply voltage. When the MOSFET is off, the
motor is disconnected from the supply, and the current freewheels through a freewheeling diode. The speed
of the DC motor is controlled using Pulse Width Modulation (PWM). In this technique, the MOSFET is
switched on and off at a fixed frequency, and the ratio of the on-time to the total time period (duty cycle)
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determines the average voltage applied to the motor. A higher duty cycle means more voltage is applied to
the motor, resulting in higher speed, while a lower duty cycle reduces the speed.

Circuit Diagram:

Tabulation:
Forward direction:
S.No Duty cycle Voltage (Volts) Speed (Rpm) Time period(ms)
Min
Ton Toff
1 Minimum
2 Medium
3 Maximum

Reverse direction:
S.No Duty cycle Voltage (Volts) Speed (Rpm) Time period(ms)
Min
Ton Toff
1 Minimum
2 Medium
3 Maximum

Result: Thus, the performance of chopper fed DC drive was studied.

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