KALYANI GOVERNMENT ENGINEERING COLLEGE

SUBJECT – CONTROL SYSTEM AND

INSTRUMENTATION (EC601)

NAME – MOUMITA BISWAS

ROLL NO. – 10200322055
REGISTRATION NO. - 221020120303
B. TECH , ECE, 3rd YEAR, 6th SEM
 CONTENT
TITLE SLIDE NUMBER
1. Introduction 3

2. Difference between manual and automatic control systems 4

3. Difference between open loop and closed loop control systems 5

4. Transfer function for a closed loop system 6-7
5. Dc servo motor 8-9

6. Ac servo motor 10-12

7. Hydraulic servomotor 12-13

8. Pneumatic actuator 14-15

9. Electro-hydraulic valve 16

10. Tacho generator 17

11. Conclusion 18

12. References 19
 INTRODUCTION

 A control system is a system which provides the desired response by

controlling the output.
Input Output
 Example – Control System
• Traffic lights control system
Fig.1: Block diagram of control system
• Washing machine

 Based on the feedback path control system can be classified as –

1. Open loop control system

2. Closed loop control system

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DIFFERENCE BETWEEN MANUAL AND AUTOMATIC CONTROL SYSTEMS
SL. MANUAL OR OPEN LOOP CONTROL SYSTEM AUTOMATIC OR CLOSED LOOP CONTROL SYSTEM
NO
1. This is not a self-operating type system. This type of system is a self-operating system.

2. Manual Control system is a open loop control system. Automated Control System is a type of Closed loop control system.

3. This type of system needs an external effort to adjust and correct the errors. This type of system used to adjust and correct the errors without external effort.

4. Manual control System is less reliable. Automatic Control System is more reliable.

5. This type of system is less efficient. This type of system is more efficient.

6. Manual control System is less accurate compared to automatic. Automatic Control System is more accurate than manual type system.

7. This is less complex to develop Automated Control system is a complex thing to develop.

8. This type of system includes damages at the time of work. This type of system is safer in construction.

9. This type of system required less maintenance. This type of system required more maintenance.

10. Less cost compared to automatic. This is a costly method to use.

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DIFFERENCE BETWEEN OPEN LOOP AND CLOSED LOOP CONTROL SYSTEMS
Open loop control system Closed loop control system
A control system in which there is no feedback path is provided is The control system in which there is a feedback path present is called
called an open loop control system. a closed loop control system.
It is also called non-feedback control system It is also called a feedback control system

The major components of an open loop control system are − The main components of a closed loop control system are − Controller,
controller and plant. plant or process, feedback element and error detector (comparator).
The design and construction of an open loop control system is quite Closed loop control system has comparatively complex design
simple . and construction.
The control action is independent of the output of the overall system. The control action is dependent on the output of the system.

The reliability of open loop control system is less. The closed loop control system is more reliable.

The stability of open loop control system is more, i.e., the output of Closed loop control system is comparatively less stable.
the open loop system remains constant.
Open loop control system requires less maintenance. Comparatively more maintenance is needed in closed
loop control system
Open loop control system is less expensive. The cost of the closed loop control system is relatively high.

Example: Automatic traffic light system, automatic washing machine, Example: ACs, fridge, toaster, rocket launching system,
immersion heater, etc. radar tracking system.

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 THE TRANSFER FUNCTION FOR A CLOSED LOOP SYSTEM
Transfer function indicates the behavior of the system as it is defined as the mathematical relation
between the input and output of the system.
The gain of the system defines the ratio of output to input. Thus we can say the output of the
system is the product of transfer function and input.
Consider the closed-loop system given below.
X(s) is reference input signal , Y(s) is output signal , E(s) is the error signal,
G(s) is the open loop gain, which is function of frequency,
H(s) is the gain of feedback path, which is function of frequency .

X(s) ⊗ E(s)
G(s) Y(s)

H(s)
Fig.2: Close loop system
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So, for the above-given system,
Y(s) = E(s) . G(s) ……………….(1)
E(s) = X(s) – H(s)Y(s)
On substituting the value of E(s) in the 1st equation
Y(s) = [X(s) – H(s)Y(s)] . G(s)
Y(s) = X(s) G(s) – H(s)Y(s)G(s)
On transposing
X(s) G(s) = Y(s) + H(s)Y(s)G(s)
X(S) G(s) = Y(s) . [1+ G(s) H(s)]

This is the transfer function of a closed-loop system with negative feedback.

For a positive feedback system, it is given as:

For a unity feedback system (i.,e H(s) = 0) with a high value of gain. The transfer function
is unity.

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Write short note on DC Servomotor, AC Servomotor and Hydraulic Servomotor.

 SERVOMOTOR
• Servomotor are also called Control motor.
• Servomotors act as rotary actuators that are designed to convert electrical input into mechanical acceleration.
• It operates on servomechanism where the position feedback is used to control the speed as well as the final position of the
motor.

 • DC SERVO
A servomotor MOTOR
that uses DC electrical input to produce mechanical output like position,
velocity, or acceleration is called a DC servomotor .
• The DC Servo motor design is similar to a Permanent Magnet or separately excited DC
Motor.
• This motor’s speed control is done by controlling armature voltage.
• The servo motor is designed with high armature resistance.
• It provides quick torque response.
• A step change within the armature voltage generates a quick change in the motor’s speed.
• Used as prime movers within numerically controlled machines, computers, and many Fig.3: Dc servo motor
more wherever starts & stops are made precisely and very quickly.

 Types of DC Servo motor :

The DC servomotor is further classified on the basis of control
provided to it. DC servo motor are two types -
1. Field Controlled DC Servomotor
• The controlling is provided to the field winding. The
controlled signal received from the amplifier is fed to the field
winding. Thus, it is named so.
Fig.4: Field Controlled DC Servomotor 8
 • In the field controlled dc servomotor, the torque is in direct proportion the field flux and the armature current.
• The armature current is maintained at a constant value using a constant current source.
• The field in this type of dc servomotor can be either electromagnetic type where a salient pole is present with a field
winding wound around it and excitation to it is provided with dc current or a permanent magnet type .
2. Armature Controlled DC Servomotor
• The controlling is provided at the armature. The signal from the servo
amplifier is provided at the armature and constant current is provided
at the field winding.
• The voltage from the servo amplifier, V a(t) with resistance Ra and
inductance La is provided at the armature. This input voltage at the
armature controls the shaft.
• Here the constant field is provided using the permanent magnets and
hence no field coils are required.
• The sensitivity towards the field current should be low. As the
armature controlled motor must not respond to the field current. Fig.5: Armature control DC servomotor
• It offers a small value of the time constant so there is a rapid change in
the armature current of the motor with the change in the voltage
applied at the armature.
• It provides a faster dynamic response where the direction of rotation
changes with the change in polarity of the error signal.
 Characteristics of DC Servomotor :

The figure 6 shows the torque-speed characteristics of

armature controlled dc servomotor:

Fig.6: Torque-speed characteristics of 9

armature controlled dc servomotor
 AC SERVO MOTOR
 A type of servomotor that uses AC electrical input in order to produce mechanical output in the form
of precise angular velocity.
 This are basically two-phase induction motors with certain exceptions in designing features.
 These are low weight devices.
 It offers reliability as well as stability in operation and almost linear torque-speed characteristics.
 There is not much noise generated at the time of operation.
 Construction of AC Servomotor
It is mainly composed of two major units, stator and rotor.
 Stator :
• The stator of ac servo motor consists of two separate windings (main or fixed winding & control
winding) uniformly distributed and separated at 90°, in space.
• A constant ac signal as input is provided to the main winding of the stator.
• The control winding is provided with the variable control voltage. This variable control voltage is Fig.7: Stator of AC servomotor
obtained from the servo amplifier.
• The voltage applied to the control winding must be 90° out of phase w.r.t the input ac voltage.
 Rotor :
The rotor is generally of two types –
1. Squirrel cage :
• The length is large, the diameter is small and is constructed with aluminium conductors thus weighs
less.
Fig.8:Squirrel cage rotor
• The reduced air gaps between the aluminium bars in the squirrel cage motor facilitate a reduction in
magnetizing current. 10
2. Drag cup type :
• Consists of a laminated core of aluminium around which drag cup is present with
certain air gaps on both the side.
• Attached with a driving shaft that facilitates its operation.
• The two air gaps in both sides of the core lead to reducing the inertia thus is used
in applications where there is a low power requirement.
Fig.9: Drag cup type rotor
 Working Principle of AC Servomotor
• Initially, a constant ac voltage is provided at the main winding of the stator .The other
stator terminal of the servomotor is connected to the control transformer through the
control winding.
• Due to the provided reference voltage, the shaft of the synchro generator rotates with a
particular speed and attains a certain angular position.
• The shaft of the control transformer has a certain specific angular position which is
compared with the angular position of the shaft of the synchro generator.
• The comparison of two angular positions provides the error signal.
• This error signal corresponds to the voltage level present at the control transformer. This
signal is then provided to the servo amplifier which generates variable control voltage.
• With this applied voltage, the rotor again attains a specific speed and starts rotation and
sustains until the value of the error signal reaches 0, thereby attaining the desired
Fig.10: schematic diagram of AC servomotor
position of the motor in the AC servomotors.
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  Torque-Speed Characteristics
Fig. 11: Torque-speed characteristics of AC
Figure11 shows the torque speed servomotor
characteristics of AC servomotor.

 Applications of AC Servomotors
• These majorly finds applications in the instruments that operate on servomechanism, in position controlling
devices, computers.
• These also find applications in tracking systems, machine tools and robotics machinery.

 HYDRAULIC SERVOMOTOR
• A hydraulic servo motor is a device that uses hydraulic pressure to control the
movement of mechanical components, typically in industrial machinery.
• It converts hydraulic energy into mechanical energy to perform tasks like controlling
valves, positioning components, or driving machinery with precision.
• These motors are known for their high power density, reliability, and ability to
generate large forces, making them suitable for heavy-duty applications in various
industries such as manufacturing, construction, and automotive.

 Working Principles: Fig.12. Hydraulic servomotor

• Hydraulic servo motors operate based on the principles of fluid mechanics and hydraulics.
• They consist of a hydraulic pump, control valves, a hydraulic cylinder or motor, and feedback mechanisms.
• The hydraulic pump generates pressure by converting mechanical energy into hydraulic energy. This pressurized hydraulic
fluid is then controlled by valves to regulate the movement of the hydraulic motor or cylinder, which translates the fluid's
energy into mechanical motion.
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 Advantages of hydraulic servomotor :
1. High Power Density: Hydraulic servo motors can generate high forces and torques relative to their size and weight, making them
suitable for heavy-duty applications.
2. Precise Control: They offer accurate and responsive control over motion, allowing for precise positioning and movement.
3. Reliability: Hydraulic systems are known for their robustness and durability, with minimal maintenance requirements.
4. High Speeds: Hydraulic servo motors can operate at high speeds, enabling rapid response to control commands.

 Disadvantages of hydraulic servomotor :

1. Fluid Leakage: Hydraulic systems are susceptible to fluid leakage, which can lead to efficiency loss and environmental concerns.
2. Temperature Sensitivity: Changes in temperature can affect the viscosity of hydraulic fluid, impacting the performance of the system.
3. Complexity: Hydraulic systems require intricate control mechanisms and regular maintenance, increasing the complexity of
installation and operation.

 Applications of hydraulic servomotor :

Hydraulic servo motors find applications in various industries, including:
1. Industrial Machinery: Used in machine tools, presses, injection molding machines, and metal forming equipment for precise control
of motion.
2. Aerospace: Employed in flight control systems, landing gear mechanisms, and hydraulic actuators for aircraft control surfaces.
3. Automotive: Utilized in power steering systems, braking systems, and suspension systems for vehicles.
4. Construction: Integrated into heavy machinery such as excavators, cranes, and loaders for precise movement and lifting operations.

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Draw and explain the use of pneumatic actuator, electro-hydraulic valve and tachogenerator in control system engineering .

PNEUMATIC ACTUATOR
 Pneumatic actuator is a device that converts energy typically in the form of compressed air
into mechanical motion.
 Within the industry, pneumatic actuators are recognized by several different names including
pneumatic cylinders, air cylinders, and air actuators.
 The pneumatic actuator is constructed by using different components like a spring,
compressor, reservoir, diaphragm, and valve.
 Pneumatic actuators are reliant on the presence of some form of pressurized gas or compressed
air entering a chamber where pressure is built up.
 Once this exceeds the required pressure levels in contrast to the atmospheric pressure outside
of the chamber, it creates a controlled kinetic movement of a piston or gear which can be
directed in either a straight or circular mechanical motion.
Fig.13: Pneumatic Actuator
 There are different types of pneumatic actuators-

1. Piston Pneumatic Actuator

• This type of pneumatic actuator uses a piston within a cylinder. The piston movement can be
caused by simply applying less or more power on one face of the piston.
• Single-acting based piston style pneumatic actuator uses a spring on one face & changes force
to the other face.
• Double-acting based piston style pneumatic actuator has air pressure that is applied to both
faces of the piston.
• The piston’s linear motion can be directly used for the actuation of linear motion otherwise it
can be changed into rotary motion with a pinion & rack or related mechanical arrangement. Fig.14: Piston Pneumatic Actuator

• These actuators are simply recognized with a diameter of cylinder & length of stroke. A 14
 2. Rotary Vane Pneumatic Actuator
• The rotary vane type pneumatic actuator simply works like a piston pneumatic actuator with
two pressurized chambers.
• The housing of this actuator is shaped like a pie wedge rather than a cylinder form.
• A paddle including an output shaft simply divides the two pressurized chambers.
• Changing the degree of difference across the paddle moves the output shaft accordingly
throughout its 90 degrees of movement.
Fig.15: Rotary Vane Pneumatic Actuator
3. Spring/Diaphragm Pneumatic Actuator

• This kind of pneumatic actuator needs compressed air to thrust a diaphragm against a plate
that is opposed by a spring.
• Once the pressure is decreased then the spring will pull back the diaphragm. So by changing
the force, the position can be attained.
• This kind of actuator can fail-open/fail-closed once air force is lost by the spring returning
the actuator to the break position.
Fig.16: Spring/Diaphragm Pneumatic
Actuator
 Pneumatic actuators are well suited to a wide variety of application types, serving across many different industry areas. Some of the most
common Applications in control system include :
 Pneumatics uses pressurized gas for controlling physical systems. These are widely used on robots with compressed air to produce
mechanical motion.
 These actuators are commonly used in pistons & ignition chambers of gasoline-powered vehicles.
 These types of actuators are necessary for packaging & production machinery, air compressors, combustible automobile engines,
aviation, mail tubes & also transportation devices like aircraft & railway applications .
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 ELECTRO-HYDRAULIC VALVE

 An electro-hydraulic valve is a type of valve used in hydraulic systems to control

the flow of fluid based on electrical signals.
 It consists of a valve body, actuator, and electrical solenoid.
 The valve body directs the flow of hydraulic fluid, the actuator moves the valve,
and the solenoid converts electrical signals into mechanical motion.
 When an electrical signal is applied to the solenoid, it creates a magnetic field,
causing the solenoid to actuate. This movement either opens or closes the valve,
regulating the flow of hydraulic fluid through the system.
 They offer precise control, fast response times, and can be integrated into
automated systems for efficient operation.
 They can be more complex and expensive than purely mechanical valves, and they
require a power source to operate.
 Electro-hydraulic valves are essential components in many hydraulic systems,
providing reliable and precise control over fluid flow.
 Application in control system : Electro-hydraulic valves are used in various
industries where precise control of hydraulic systems is required, such as in Fig. 17: Electro-hydraulic valve
industrial machinery, construction equipment, and aerospace applications.

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 TACHO GENERATOR
 Tachogenerators are electromechanical devices which output a voltage
proportional to their shaft speed.
 They are used to power tachometers and to measure the speed of motors,
engines, and other rotational devices. A tacho generator is commonly used to
handle voltages between 0 to 10
 Tachogenerators can indicate the direction of rotation by the polarity of the
output voltage. When a permanent-magnet style DC generator’s rotational
direction is reversed, the polarity of its output voltage will switch. In
measurement and control systems where the directional indication is needed, Fig.18: Tachogenerator
tachogenerators provide an easy way to determine that.
 Types of Tachogenerator
1. Solid shaft : These tacho generators are connected to a shaft which, in turn, is connected to an external rotational device. It
is the rotation of the external device which turns the tacho generator shaft and thus generating a very specific range of
voltages in accordance with the speed and direction of the shaft. It can indicate rotational direction due to the fact that if a
tachogenerator shaft is reversed, the output voltage polarity will change. The solid-shaft tachogenerator is best suited to
high load applications.
2. Hollow shaft: A Hollow-shaft tachogenerator differs internally from solid shaft tachogenerators in that they are designed
with four magnetic poles rather than two. This design allows for the tachogenerator to work with lower voltage loads. An
example of the use of a DC hollow shaft tachogenerator is to sense the speed of an elevator. The DC tachogenerator is
installed in the hoisting equipment on the traction sheave that drives the cables. It enables the accurate control of cable
speed to make sure that the lift stops at the right floor and does so smoothly.
 Tachogenerators can also indicate the direction of rotation by the polarity of the output voltage. When a permanent-
magnet style DC generator’s rotational direction is reversed, the polarity of its output voltage will switch. In measurement and
control systems where the directional indication is needed, tachogenerators provide an easy way to determine that. 17
 CONCLUSION
 Control system is a system in which the behavior of the system is determined by a differential equation. It
manages the devices and the systems using control loops. Depending on whether a operator is physically
involved in the control system, they are divided into manual control and automatic control.
 The transfer function of a control system is the ratio of Laplace transform of output to that of the input while
taking the initial condition as zero. The transfer function of a closed-loop system with negative feedback
 Servomotors act as rotary actuators that are designed to convert electrical input into mechanical acceleration.
Two types of servomotors are DC servomotor and AC servomotor.
 Pneumatic actuator is a device that converts energy typically in the form of compressed air into mechanical
motion.
 Electro-hydraulic valve is a type of valve used in hydraulic systems to control the flow of fluid based on
electrical signals.
 Tachogenerators are electromechanical devices which are used to power tachometers and to measure the
speed of motors, engines, and other rotational devices.

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 REFERENCES

1. I. J. Nagrath , M. Gopal, “Control systems engineering”, New age international

publication, 5th edition.

2. K Padma Raju, Y J Reddy, “Instrumentation and control systems”, McGraw Hill

Education, 2017.

3. Katsuhiko Ogatha , “Modern control system”, PHI, 5 th edition.

4. Benjamin Kuo, “Automatic control system”.

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