control systems and simulation laboratory lab …

CONTROL SYSTEMS AND SIMULATION LAB

Dept Of EEE 1

CONTROL SYSTEMS AND SIMULATION LABORATORY

LAB MANUAL

Department of Electrical and Electronics Engineering VEMU INSTITUTE OF TECHNOLOGY::P.KOTHAKOTA

NEAR PAKALA, CHITTOOR-517112 (Approved by AICTE, New Delhi & Affiliated to JNTUA, Anantapuramu)


Dept Of EEE 2

CONTROL SYSTEMS AND SIMULATION LABORATORY

LAB MANUAL

Name:__________________________________

H.T.No:_________________________________

Year/Semester:__________________________

Department of Electrical and Electronics Engineering

VEMU INSTITUTE OF TECHNOLOGY::P.KOTHAKOTA

NEAR PAKALA, CHITTOOR-517112 (Approved by AICTE, New Delhi & Affiliated to JNTUA, Anantapuramu)


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VEMU INSTITUTE OF TECHNOLOGY

DEPT.OF ELECTRICAL AND ELECTRONICS ENGINEERING

VISION OF THE INSTITUTE

To be a premier institute for professional education producing dynamic and vibrant force of

technocrats with competent skills, innovative ideas and leadership qualities to serve the society

with ethical and benevolent approach.

MISSION OF THE INSTITUTE

To create a learning environment with state-of-the art infrastructure, well equipped laboratories,

research facilities and qualified senior faculty to impart high quality technical education.

To facilitate the learners to foster innovative ideas, inculcate competent research and

consultancy skills through Industry-Institute Interaction.

To develop hard work, honesty, leadership qualities and sense of direction in rural youth by

providing value based education.

VISION OF THE DEPARTMENT

To produce professionally deft and intellectually adept Electrical and Electronics Engineers and

equip them with the latest technological skills, research & consultancy competencies along with

social responsibility, ethics, Lifelong Learning and leadership qualities.

MISSION OF THE DEPARTMENT

To produce competent Electrical and Electronics Engineers with strong core knowledge, design

experience & exposure to research by providing quality teaching and learning environment.

To train the students in emerging technologies through state - of - the art laboratories and thus

bridge the gap between Industry and academia.

To inculcate learners with interpersonal skills, team work, social values, leadership qualities and

professional ethics for a holistic engineering professional practice through value based

education.


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PROGRAM EDUCATIONAL OBJECTIVES(PEOs)

Programme Educational Objectives (PEOs) of B.Tech (Electrical and Electronics Engineering)

program are:

Within few years of graduation, the graduates will

PEO 1: Provide sound foundation in mathematics, science and engineering fundamentals to analyze,

formulate and solve complex engineering problems.

PEO 2: Have multi-disciplinary Knowledge and innovative skills to design and develop Electrical &

Electronics products and allied systems.

PEO 3: Acquire the latest technological skills and motivation to pursue higher studies leading to

research.

PEO 4: Possess good communication skills, team spirit, ethics, modern tools usage and the life-long

learning needed for a successful professional career.

PROGRAM OUTCOMES (POs)

PO-1 Engineering knowledge: Apply the knowledge of mathematics, science, engineering

fundamentals, and an engineering specialization to the solution of complex engineering

problems.

PO-2 Problem analysis: Identify, formulate, review research literature, and analyze complex

engineering problems reaching substantiated conclusions using first principles of

mathematics, natural sciences, and engineering sciences.

PO-3 Design/development of solutions: Design solutions for complex engineering problems and

design system components or processes that meet the specified needs with appropriate

consideration for the public health and safety, and the cultural, societal, and environmental

considerations.

PO-4 Conduct investigations of complex problems: Use research-based knowledge and research

methods including design of experiments, analysis and interpretation of data, and synthesis

of the information to provide valid conclusions.

PO-5 Modern tool usage: Create, select, and apply appropriate techniques, resources, and modern

engineering and IT tools including prediction and modeling to complex engineering

activities with an understanding of the limitations.

PO-6 The engineer and society: Apply reasoning informed by the contextual knowledge to assess

societal, health, safety, legal and cultural issues and the consequent responsibilities relevant

to the professional engineering practice.

PO-7 Environment and sustainability: Understand the impact of the professional engineering

solutions in societal and environmental contexts, and demonstrate the knowledge of, and

need for sustainable development.

PO-8 Ethics: Apply ethical principles and commit to professional ethics and responsibilities and

norms of the engineering practice.


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PO-9 Individual and team work: Function effectively as an individual, and as a member or

leader in diverse teams, and in multidisciplinary settings.

PO-10 Communication: Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as, being able to comprehend and

write effective reports and design documentation, make effective presentations, and give and

receive clear instructions.

PO-11 Project management and finance: Demonstrate knowledge and understanding of the

engineering and management principles and apply these to one’s own work, as a member

and leader in a team, to manage projects and in multidisciplinary environments.

PO-12 Life-long learning: Recognize the need for, and have the preparation and ability to engage

in independent and life-long learning in the broadest context of technological change.

PROGRAM SPECIFIC OUTCOMES (PSOs)

On completion of the B.Tech. (Electrical and Electronics Engineering) degree, the graduates

will be able to

PSO-1: Higher Education: Apply the fundamental knowledge of Mathematics, Science, Electrical and

Electronics Engineering to pursue higher education in the areas of Electrical Circuits, Electrical

Machines, Electrical Drives, Power Electronics, Control Systems and Power Systems.

PSO-2: Employment: Get employed in Public/Private sectors by applying the knowledge in the

domains of design and operation of Electronic Systems, Microprocessor based control systems, Power

systems, Energy auditing etc.


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CONTENTS

(15A02405) CONTROL SYSTEMS AND SIMULATION LABORATORY

S.NO. NAME OF THE EXPERIMENT PAGE NO.

1 TIME RESPONSE OF SECOND ORDER SYSTEM 01-04

2 SYNCHRONOUS TRANSMITTER & RECEIVER 05-10

3 TRANSFER FUNCTION OF A DC MACHINE 11-16

4 EFFECT OF P,PD, PI, PID CONTROLLERS 17-20

5 LEAD, LAG AND LEAD-LAG COMPENSATORS 21-26

6 CHARACTERISTICS OF MAGNETIC AMPLIFIER 27-32

7 SPEED TORQUE CHARACTERISTICS OF A.C

SERVOMOTOR

33-36

8 STABILITY ANALYSIS OF LINEAR TIME INVARIENT

SYSTEMS USING MATLAB

37-41

9 CONVERSION OF TRANSFER FUNCTION TO STATE

SPACE MODEL

42-45

10 DETERMINATION OF STEADYSTATE ERROR USING

MATLAB

46-48

ADDITIONAL EXPERIMENTS

11 SIMULATION OF INTEGRATOR & DIFFERENTIATOR

CIRCUITS USING PSPICE

49-51

12 TEMPERATURE CONTROLLER USING P-

CONTROLLER

52-55


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JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY ANANTAPUR B. Tech II - II sem (E.E.E) L C

4 2

(15A02405) CONTROL SYSTEMS AND SIMULATION LABORATORY

The objectives of this lab course are to make the student practically learn about

• The effects of feedback on system performance

• Determination of transfer function of DC Machine.

• The design of controllers/compensators to achieve desired specifications.

• The characteristics of servo mechanisms used in automatic control applications.

Any Eight of the following experiments are to be conducted: 1. Time Response of Second Order System

2. Characteristics of Synchros

3. Programmable Logic Controller – Study and Verification of Truth Tables of Logic Gates, Simple

Boolean Expressions and Application of Speed Control of Motor.

4. Effect of Feedback on DC Servo Motor

5. Transfer Function of DC Machine

6. Effect of P, PD, PI, PID Controller on a Second Order System.

7. Lag and Lead Compensation – Magnitude and Phase Plot

8. Temperature Controller Using PID

9. Characteristics of Magnetic Amplifiers

10. Characteristics of AC Servo Motor

Any two simulation experiments are to be conducted: 1. PSPICE Simulation of Op-Amp Based Integrator and Differentiator Circuits.

2. Linear System Analysis (Time Domain Analysis, Error Analysis) Using MATLAB.

3. Stability Analysis (Bode, Root Locus, Nyquist) of Linear Time Invariant System Using MATLAB

4. State Space Model for Classical Transfer Function Using MATLAB – Verification.

OUTCOMES: At the end of the course the student should be able to

• Design the controllers/compensators to achieve desired specifications.

• Understand the effect of location of poles and zeros on transient and steady state behavior of systems.

• Assess the performance, in terms of time domain specifications, of first and second order systems.

• Use MATLAB/SIMULINK software for control system analysis and design.


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GENERAL INSTRUCTIONS FOR LABORATORY CLASSES

DO‘S

1. Without Prior permission do not enter into the Laboratory.

2. While entering into the LAB students should wear their ID cards.

3. The Students should come with proper uniform.

4. Students should sign in the LOGIN REGISTER before entering into the laboratory.

5. Students should come with observation and record note book to the laboratory.

6. Students should maintain silence inside the laboratory.

7. Circuit connections must be checked by the lab-in charge before switching the supply

DONT‘S

8. Students bringing the bags inside the laboratory..

9. Students wearing slippers/shoes insides the laboratory.

10. Students scribbling on the desk and mishandling the chairs.

11. Students using mobile phones inside the laboratory.

12. Students making noise inside the laboratory.

13. Students mishandle the devices.

14. Students write anything on the devices


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SCHEME OF EVALUATION

S.No Experiment name Date

Marks Awarded Total

30(M) Record

(10M)

Observation

(10M)

VivaVoce

(5M)

Attendance

(5M)

1 TIME RESPONSE OF SECOND

ORDER SYSTEM

2 SYNCHRONOUS

TRANSMITTER & RECEIVER

3 TRANSFER FUNCTION OF A

DC MACHINE

4 EFFECT OF P,PD, PI, PID

CONTROLLERS

5 LEAD, LAG AND LEAD-LAG

COMPENSATORS

6 CHARACTERISTICS OF

MAGNETIC AMPLIFIER

7

SPEED TORQUE

CHARACTERISTICS OF A.C

SERVOMOTOR

8

STABILITY ANALYSIS OF

LINEAR TIME INVARIENT

SYSTEMS USING MATLAB

9

CONVERSION OF TRANSFER

FUNCTION TO STATE SPACE

MODEL

10

DETERMINATION OF

STEADYSTATE ERROR USING

MATLAB

ADDITIONAL EXPERIMENTS

11

SIMULATION OF INTEGRATOR &

DIFFERENTIATOR CIRCUITS

USING PSPICE

12 TEMPERATURE CONTROLLER

USING P-CONTROLLER

Signature of Lab In-charge


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Circuit Diagram:

Model Waveform:


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Experiment - 1

TIME RESPONSE OF SECOND ORDER SYSTEM

Aim:

To obtain the time response of second order system and draw the response on the graph.

Apparatus:

S.No. Apparatus Range Quantity

1 Decade Resistance Box (0-100)Ω 01

2 Decade Capacitance Box (0-50µ)f 01

3 Decade Inductance Box (0-1)H 01

4 Function Generator (0-2M)Hz 01

5 Digital Multimeter (0-10)A 01

6 CRO (0-2M)Hz Dual Trace Oscilloscope 01

7 BNC Adaptors --- 01

8 Patch cords --- Some

Procedure:

1) Connections are made as per the circuit diagram.

2) The step input is given to the circuit.

3) The input is connected to CRO and output is observed across the capacitor in CRO

4) The output is to be plotted on the graph.

Tabular Column:

Time Domain Specifications Theoritical Values Practical Values

Delay Time (Td)

Rise Time (Tr)

Peak Time (Tp)

Storage Time (Ts)


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Theoretical Calculations :


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Formulae:

Transfer function of given circuit is

Vo/Vi = (1/LC) / (s2+(R/L)s+(1/LC))

Normal frequency, ωn = 1 / √(LC)

Damping factor, ξ = (R/2) √(C/L)

Rise time, tr = [∏-tan-1(√(1-ξ2)/ξ)] / (ωn √(1-ξ2))

Peak time, tp = ∏ / (ωn √(1-ξ2))

% Peak Overshoot = e-∂∏/√(1-ξ2) X 100

Settling time, ts = 4 / (ξωn)

Delay time, td = tr / 2

Result:

Viva Questions:

1. What is control system?

2. What are the Time domain specifications?

3. What is Rise time.?

4. What is Delay time?


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5. What is Characteristic Equation of second order system?

6. What is Maximum peak overshoot.?

7. What is Settling Time?

8. What is Settling Time with 2% tolerance band?

9. What is the relation between rise time and band width?

10. What are various types of Control Systems?

Circuit Diagram :

Front Panel view


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Experiment - 2

SYNCHRONOUS TRANSMITTER & RECEIVER

Aim: To study the Synchro Transmitter and Receiver Pair

Apparatus:


1 Synchro Transmitter and Receiver Pair Kit --- 1

2 Patch Cords --- Some

Precautions:

1) Handle the pointers for both the rotors in a gentle manner.

2) Do not attempt to pull out the pointers.

3) Do not short rotor (or) stator terminals.

Procedure:

Synchro Transmitter:


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1) Connect the main supply to the system with the help of cable provided. Do not connect any patch cords

to terminals marked S1, S2 and S3.

2) Switch ON the main supply for the unit.

3) Starting from zero position, note down the voltage between stator winding terminals i.e., VS1S2 & VS2S3 &

VS3S1 in a sequential manner.

4) Enter reading in tabular columns and plot a graph of angular position of rotor voltage for all 3-phases.

5) Note that zero position of the stator rotor coincides with VS3 VS1 voltage equal to zero voltage. Do not

disturb this condition.

Synchro Transmitter & Receiver Pair:

1) Connect the supply cable.

2) Connect the S1, S2 and S3 terminals of transmitter to S1, S2 and S3 terminals of synchro receiver by

patch cords.

3) Switch ON SW1, SW2 and also switch ON the main supply.

4) Move the pointer i.e., rotor position of synchro transmitter in steps of 300 and observe the new

rotor position.

5) Enter the input angular position and output angular position in the tabular form and plot a graph.


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Model Graphs:

Output

Receiver

0

Input Angular Displacement

Tabular Columns:

Stator Voltages for 3-ф (VS1S3, VS1S2, VS2S3)

ROTOR VOLTAGE = VR =

S.No. Position Rotor

(in degree)

Stator / VS3S1 Terminal

VS1S2

Voltage (rms)

VS2 VS3

1

2

3


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4

5

6

7

8

9

10

11

12

Synchro transmitter receiver pair:

S. No. Angular Position in Degrees

Synchro Transmitter (Input)

Angular Position in Degrees

Synchro Receiver (Output)

1

2


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3

4

5

6

7

8

9

10

11

12

Result:

Viva - Questions :


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1. What is meant by synchros?

2. What are the applications of synchros?

3. What are the types of synchros?

4. What are the uses of synchros?

5. Synchros is also called as?

6. What are the functional categories of synchros?

7. Synchro resembles what electrical machine.

8. What is the effect of feedback on a given system?

9. Compare Stability versus feedback of a given system.

10. What are the examples of closed loop control system?

Circuit diagram:


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Model graph:


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Experiment - 3

TRANSFER FUNCTION OF A DC MACHINE

Aim: To obtain transfer function of a DC shunt Machine

Apparatus:


1 DC Generator set --- 1

2 Field Rheostat 400 ohm/1.7 A 1

3 Potential Meter 500 ohms/2A 1

4 Ammeter (MI) (0-100)mA 1

5 Ammeter (MC) (0-2)A 1

6 Voltmeter(MI) (0-300) 1

7 Voltmeter(MC) (0-300) 1

8 Connecting Wires … …

Procedure:

1. Connect the circuit as shown in circuit diagram.

2. Observing the precautions close the DPST Switch and switch ON 220V D.C supply.

3. Start the Motor Generator set with the help of starter.

4. Adjust the speed of the Motor Generator Set to rated speed value by adjusting motor field rheostat.

5. Increase the excitation of the generator in steps by adjusting the potential divider and note down the

corresponding voltmeter and ammeter readings.

6. Take the readings up to a value little higher than the rated voltage of the generator.

7. To determine Kg magnetization characteristics Eg vs If of a separately excited DC generator has to be

plotted and use straight line position to determine Kg= Eg/If

8. Field resistance & inductance of generator is determined by using voltmeter and ammeter readings

Precautions:

1. Motor field rheostat must be kept in minimum resistance position.

2. Potential Divider must be kept in maximum resistance position.


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3. Starter arm must be in OFF position.

Transfer Function =


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Tabular Column: Tabular Column for OCC

S. No. If (A) Eg (V)

1

2

3

4

Tabular Column for field resistance

S. No. If (A) Vf (V)

Rf(ohm)

1

2

Tabular Column for field impedance

S. No. If (A) Vf (V)

Zf(ohm)

1

2


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Result:

Viva Questions:

1. What is transfer function?

2. Name the different types of speed control methods

3. Describe which is above rated and below rated speed control method from the above

4. Give me the formula for T/F of D.C machine by field control method

5. Give me the formula for T/F of D.C machine by Armature control method

6. What are the types of D.C machines?

7. Principle of Dc motor

8. How do you get speeds above rated speeds?

9. How do you get speeds below rated speeds?

10. Explain the operation of dc motor?


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Block Diagram:

Model Graphs:


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Experiment - 4

EFFECT OF P,PD, PI, PID CONTROLLERS

Aim:

To study P,PD,PI,PID Controllers.

Apparatus:


1 PID Controller Kit --- 01

2 Weights --- 01


Procedure:

1) Connect the speed sensor to the socket provided.

2) Connect the motor to corresponding terminals.

3) Switch ON ‘P’ Controller. Set suitable gain (maximum).

4) Set required speed using set potentiometer.

5) Now load the motor in steps of 50grams up to 250grams using the given load on the loading

arrangement.

6) Observe the speed of the motor and take the readings.


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7) Now switch ON P and I Controllers. Set suitable timing and gain (maximum).

8) Repeat steps 4 to 6 (for PI Controller).

9) Now switch ON P, I, D controllers. Set suitable timing and gain (maximum).

10) Repeat steps 4 to 6 (for PID Controller).

Tabular Columns:

P Controller:

S.No. Set Speed Weights

(gms)

Run Speed

(Gain 50%)

Run Speed

(Gain 100%)

1

2

3

4

PI Controller:


(gms)

Run Speed

(Gain 50%)

Run Speed

(Gain 100%)

1

2

3

4

PID Controller:


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(gms)

Run Speed

(Gain 50%)

Run Speed

(Gain 100%)

1

2

3

4

Result:

Viva Questions:

1. What is controller?

2. What is P, PI, PID, PD controllers?

3. PI controller resembles what type of filter?

4. PD controller resembles what type of filter?

5. PID controller resembles what type of filter?

6. PI controller resembles what type of compensator?



9. Which controller provides zero steady state error?


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10. Which controller responds very fast but it doest provide zero steady state error?

Circuit Diagrams:


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Model Waveform:

Lead Compensator:


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Experiment - 5

LEAD, LAG AND LEAD-LAG COMPENSATORS

Aim: To study the frequency response of lead, lag and lead-lag compensators.

Apparatus:


1 Decade Resistance Box (0-100)kΩ 02

2 Decade Capacitance Box (0-10µ)f 02

3 Lead Lag Compensator Kit --- 01

4 Function Generator (0-2M)Hz 01

5 Digital Multimeter (0-10)A 01

6 BNC Adaptors --- 01


Procedure:

1) Connections are made as per the circuit diagram.

2) Set the input voltage say 3V.

3) Without changing the input voltage vary the frequency in steps and note down the corresponding

voltage.

4) Compare theoretical and practical values.

Precautions:

1) Readings should be taken without the parallax error.

2) Loose connections should be avoided.

3) While varying the frequency, input voltage should be kept constant.


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Tabular Columns:

Lead Compensator:

Frequency

(Hz)

Vo

(V)

Practical Values Theoritical Values

Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

1

2

3

Lag Compensator:

Frequency

(Hz)

Vo

(V)


Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

1

2

3

Lead-Lag Compensator:

Frequency

(Hz)

Vo

(V)


Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

Magnitude

20 log(Vo/Vi)

(dB)

Phase

Difference

1

2

3


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Theoritical Calculations


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Lag Compensator:

Lead-Lag Compensator:


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Result:

Viva Questions :

1. What is meant by compensator?

2. What are the types of compensators?

3. LAG Compensator resembles what type of controller?

4. LEAD Compensator resembles what type of controller?

5. LEAD LAG Compensator resembles what type of controller?

6. LAG Compensator resembles what type of Filter?

7. LEAD Compensator resembles what type of Filter?

8. LEAD LAG Compensator resembles what type of Filter?

9. LAG Compensator improves what type of stability?

10. LEAD Compensator improves what type of stability?


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Circuit Diagram :

Series connected magnetic amplifier:

Model Graph :


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Tabular column :

S.NO Control Current Load Current

Experiment -6

CHARACTERISTICS OF MAGNETIC AMPLIFIER

Aim: To study the performance characteristics of magnetic amplifier.

Apparatus:


1 Magnetic amplifier kit (0-100)kΩ 02

2 Ammeter (0-1)A MC 02

(0-2)A MI 02



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4 lamp 100W 01

Procedure:

Series connected magnetic amplifier: Complete circuit diagram for conducting this experiment is built in the unit itself. Following

procedure has to be followed for conducting this experiment

1. Keep the slide switch in position D which will be indicated after unit is switched ON.

2. Keep control current setting knob at its extreme left position which ensures zero control at

starting.

3. With the help of plug in links connect the following terminals on the front panel.

a) Connect AC to A1

b) Connect B1 to A2

c) Connect B2 to L

4. Connect 100W lamp in the holder provided for this purpose and switch on the unit.

5. Now gradually increase the control current by rotating control current setting knob clockwise in

steps and note down control and corresponding load current.

6. Plot the graph of load current versus control current.

Parallel connected magnetic amplifier:


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Model Graph :

Tabular column :



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Parallel connected magnetic amplifier: Complete circuit diagram for conducting this experiment is built in the unit itself. Following


1.Keep the slide switch in position D which will be indicated after unit is switched ON.

2.Keep control current setting knob at its extreme left position which ensures zero control current

at starting.

3.With the help of plug in links connect the following terminals on the front panel.

a) Connect AC to A1

b) Connect A1 to A2

c) Connect B2 to L

d) Connect B1 to B2

4.Connect 100W lamp in the holder provided for this purpose and switch on the unit.

5.Now gradually increase the control current by rotating control current setting knob clockwise in


6.Plot the graph of load current versus control current.


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Self Saturated Magnetic amplifier:

Model Graph

Tabular column :



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Self Saturated Magnetic amplifier:

Complete circuit diagram for conducting this experiment is built in the unit itself. Following


1.Keep the slide switch in position ‘E ‘ which will be indicated after unit is switched ON.

2.Keep control current setting knob at its extreme left position which ensures zero control current

at starting.

3.With the help of plug in links connect the following terminals on the front panel.

a) Connect AC to C1

b) Connect A3 to B3

c) Connect B3 to L

4.Connect 100W lamp in the holder provided for this purpose and switch on the unit.

5.Now gradually increase the control current by rotating control current setting knob clockwise in


6.Plot the graph of load current versus control current.

Result:

Viva Questions:

1. Describe the basic operation of magnetic amplifier.

2. State the common usage of magnetic amplifier.

3. Describe the purpose of various components of magnetic amplifier.


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4. Describe various methods of changing inductance.

5. Describe saturable core reactor.

6. Describe in detail the circuitry of magnetic amplifier.

7. Give the purpose of saturable reactor in magnetic amplifier.

8. Explain working of magnetic amplifier in saturable reactor mode.

9. Explain working of magnetic amplifier in self saturable reactor mode.

10. Compare the input and output characteristics in both the modes.

Circuit Diagram:

Model Graph:

Torque


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(N-m)

0

N (rpm)

Part-A: BASIC ELECTRICAL ENGINEERING LAB

Department of E.E.E

Experiment - 7

SPEED TORQUE CHARACTERISTICS OF A.C SERVOMOTOR

Aim:

To obtain torque speed characteristics of an A.C Servomotor.

Apparatus:


1 A.C Servomotor Kit --- 1

2 Multi meter (0-10)A 1


Procedure:

1) Keep P1 in the minimum position and control knob in the maximum position.

2) Switch ON the main supply POWER switch.

3) Measure the AC control winding voltage, WC and AC reference winding voltage, WR by

multimeter. Adjust control winding voltage, WC by control voltage knob say 230V or 220V.

4) Now slowly load the motor by switching on SW and by varying P1 in steps of Ia note down back

emf, Eb and speed, N.

5) Tabulate the readings in the table.

6) Potentiometer P1 is brought back to minimum position and switch OFF SW switch.

7) Set the control winding voltage to new value say 210V or 220V.

8) Repeat steps 4 and 5.

9) Plot the graphs of speed Vs torque for two control winding voltages.

Note:

If the control winding voltage is reduced (less than 190V) the motor may not rotate due to

insufficient voltage.

Tabular Column:

S.No. Ia

(mA)

Eb

(V)

P

(W)

T

(N-m)

N

(rpm)

1


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2

3

4

Formulae:

P = Eb Ia (W)

T = P X 60 (N-m)

2∏N

TheoreticalCalculations :

Result:

Viva Questions :

1. What is a servo motor?

2. Compare AC Servomotor with single phase induction motor.

3. What is another name for ac servo motor?


Department of E.E.E

4. What is X/R ratio of AC servo motor?

5. Applications of AC servo motor.

6. Explain the operation of AC Servo motor.

7. Why servomotor is used for closed loop control system?

8. Why encoders used in servomotors?

9. What is the difference between DC motor and Servomotor?

10. Why servomotors can also be used as variable frequency drives?

Experiment - 8

STABILITY ANALYSIS OF LINEAR TIME INVARIENT SYSTEMS USING MATLAB

Aim : To obtain the stability analysis of a given linear time invariant system.

Apparatus:


1 Personal Computer with MATLAB software --- 01

Problem Specifications:

1) Input is num=[ ]

den=[ ]


Department of E.E.E

Procedure: 1) Construct root locus and bode plot theoretically for the given transfer function. 2) Obtain the stability of the given system represented in the form of transfer function. 3) Verify the result with MATLAB.

Sample Program:

Root locus

num=[ ]

den=[ ]

a=tf(num,den)

rlocus(a)

Bode plot

num=[ ]

den=[ ]

a=tf(num,den)

bode(a)

Theoretical calculations:


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Result:


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Viva Questions :

1. Define Order of a system.

2. Define Type of a system.

3. Define Stability of a System.

4. What is the effect of addition of pole to the system?

5. What is the effect of addition of Zero to the system?

6. How to describe the stability by root locus?

7. What is gain margin?

8. what is phase margi?.

9. What is corner frequency?

10. How to describe the stability by Bode plot?

Experiment - 9

CONVERSION OF TRANSFER FUNCTION TO STATE SPACE MODEL

Aim:

To obtain the state space model for the given transfer function.

Apparatus:


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Problem Specifications:

2) Input is num=[ ]

den=[ ]

Procedure:

1) Obtain the state space model of the given system represented in the form of transfer

function.

2) Verify the result with MATLAB.

Sample Program:

%Conversion of Transfer Function to State Space%

num=[ ]

den=[ ]

sys=tf(num,den)

[A B C D]=tf2ss(num,den)



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Result:

Viva Questions:

1. Define state variables.

2. What is state transition matrix?

3. Define state equations.

4. Define order of the system.

5. Write the properties of state transition matrix?

6. What is controllability?

7. What is observability?

8. What is the importance of state transition matrix?

9. What is diagonalisation?

10. What are the Advantages of state space analysis?


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Experiment - 10

DETERMINATION OF STEADYSTATE ERROR USING MATLAB

Aim : To obtain the steady state error for the given input.

Apparatus:



Procedure :

1. Obtain the steady state error for the given input.

2. Verify the result with matlab.

Program :

clear();

numg=[1 0]

deng=[1 2]

numg=conv(conv[1 0],[1 2])

G=tf(numg,deng)

kp=dcgain(G);

ess=5\1+kp

numsg=conv([1 0],numg)

densg=deng

sg=tf(numsg,densg)

kv=dcgain(sg)

ess=5\kv

nums2g=conv([1 0],numsg)

dens2g=densg

s2g=tf(nums2g,dens2g)

kp=dcgain(s2g)

ess=3\ka


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Result :


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Viva Questions :

1. What is order of a system ?

2. What is steady state error ?

3. For reducing steady state error which type of controller is used?

4. Which type of controller anticipates error ?

5. What is reset rate?

6. What are the standard test signals?

7. What are the various types of error constants?

8. For a step input and type 1 system the steady state error is?

9. For a ramp input and type 0 system the steady state error is?

10. For a step input and type 0 system the steady state error is?

CIRCUIT DIAGRAM :


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Experiment - 11

SIMULATION OF INTEGRATOR & DIFFERENTIATOR CIRCUITS USING PSPICE

Aim:

To simulate the OPAMP based integrator and differentiator circuits using PSPICE.


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Apparatus:

S.No. Equipment Quantity

1 Personal Computer with PSPICE Software 01

Program:

Integrator Circuit with OP-AMP DC Model:

VIN 1 0 PULSE(-1V 1V 1MS 1NS 1NS 1MS 2MS) *Pulse Waveform*

R1 1 2 2.5K

RF 2 3 1MEG

C1 2 3 0.1UF IC=0V

XA1 2 0 3 0 OPAMP-DC

.SUBCKT OPAMP-DC 1 2 3 4

RIN 1 2 2MEG

R0 5 3 75

EA 5 4 2 1 2E+5

.ENDS OPAMP-DC

.TRAN 10US 4MS UIC *Transient Analysis*

.PLOT TRAN V(3) V(1) *Prints on the output file*

.PROBE *Graphics post-processor*

.END

Differentiator Circuit with OP-AMP DC Model:

VIN 1 0 PULSE(0 1V 0 1MS 1MS 1NS 2MS)

R1 1 2 100

C1 2 3 0.4UF

RF 3 4 10K

XA1 3 0 4 0 OPAMP-DC

.SUBCKT OPAMP-DC 1 2 3 4

RIN 1 2 2MEG

R0 5 3 75

EA 5 4 2 1 2E+5

.ENDS OPAMP-DC

.TRAN 10US 4MS *Transient Analysis*


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.PLOT TRAN V(4) V(1) *Prints on the output file*

.PROBE *Graphics post-processor*

.END

Result:

Viva Questions:

1. What is integrator.

2. What is a differentiator.

3. What are the effects of integrator.

4. What are the effects of differentiator.

5. Integrator resembles what type of Filter

6. Differentiator resembles what type of Filter

7. Integrodifferenciator resembles what type of Filter

8. What are the applications of Integrodifferenciator

9. Integrodifferenciator is applicable for what range of frequency and why

10. What are the characteristics Integrodifferenciator circuits

Circuit Diagram:

Connections and Typical Settings:


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Experiment - 12

TEMPERATURE CONTROLLER USING P-CONTROLLER

Aim:

To study the phenomenon of offset for proportional controller when the load on the process is

varied.

Apparatus:


1 Proportional Controller Kit --- 01


Precautions:

1) Operate set control in a gentle fashion.

2) Study all the controls carefully before using the equipment.

3) “ADJUST” control is adjusted and is made proportional to get 50% of output power when

deviation is zero. The “ADJUST” control is not disturbed in the entire experiment.

4) Make (or) break the connections only after turning OFF the main supply.

5) Heater lamps are Philips make with rectifier 3No.s and with 100 / 150 watts.

6) During winter season in view of low ambient temperature you may have to adjust the process

for lower temperatures. (vice-versa for summer season)

Procedure:


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1) Establish the connection between the conditioning unit and the model process with the help of

cables provided.

2) Refer typical settings diagram and connect red 3 and black 1 with the help of patch cords.

3) Set the “SET” potentiometer at the position of 20Ω corresponding to 50oC of temperature.

4) Set proportional band control to 10% i.e., KI=10.

5) Now turn ON the power supply and also turn ON the fan. Place the fan regulators at low

position.

6) Wait until the deviation indicator stabilized at some point. Record the deviation readings and

percentage of power readings at interval of 15 seconds.

7) Now suddenly increase the fan speed to full level by moving fan control to high position.

8) Now note the deviation meter readings when the pointer stabilizes. Record the deviation meter

readings and the difference between the two readings i.e., step 8 and step 6 is the offset

(steady-state error) associated with the proportional control.

9) Now you may increase the gain to 100 i.e., proportional band to 1% and repeat the steps 5 to 8.

In this experiment you will observe the offset error which is reduced.

10) You may perform experiments with various gain settings

Tabular Column:

P-Controller (Typical Readings)

PROPORTIONAL ACTION 18Ω = 45OC Set

Model Graphs:

S. No.

Low Disturbance

(Fan Low Speed)

High Disturbance

(Fan High Speed)

1

2

3

4


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Result:

Viva Questions :

1. Why PID controller is used for temperature controller?

2. PID controller is what type of filter?

3. Why PID controller is called integro-differentiator circuit?

4. What is ambient temperature?

5. What are the types of control systems?

6. What are the examples of open loop control systems?

7. What are the examples of closed loop control systems

8. What is heat sink?

9. What device is used as heat sink?

10. Can you relate PID controller with control transformer?


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control systems and simulation laboratory lab …

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