DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND

ELECTRONICS ENGINEERING SIMULATION LAB

CONTROL SYSTEMS AND SIMULATION LAB

B.TECH
(III YEAR – I SEM)
(2021-22)
Prepared by:
Mr. M. Kumaraswamy Assistant Professor
Mr. P.Rajireddy Assistant Professor

Department of Electrical & Electronics Engineering

MALLA REDDY COLLEGE OF ENGINEERING & TECHNOLOGY

(Autonomous Institution – UGC, Govt. of India)
Recognized under 2(f) and 12 (B) of UGC ACT 1956
Affiliated to JNTUH, Hyderabad, Approved by AICTE - Accredited by NBA & NAAC – ‘A’ Grade - ISO 9001:2015
Certified) Maisammaguda, Dhulapally (Post Via. Kompally), Secunderabad – 500100, Telangana State, India

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EXPERIMENT NO: 1
TIME RESPONSE OF SECOND ORDER SYSTEM

AIM:-To verify the output response of a Second Order System using RLC circuit.

APPARATUS REQUIRED:
1. Second Order System (with Signal Source) unit
2. CRO
3. Probes
4. Patch Chords
THEORY:
If the output of control system for an input varies with respect to time, then it is called the time
response of the control system.
The time response consists of two parts.
1. Transient response
2. Steady state response
TIME DOMAIN SPECIFICATIONS:
1. Delay Time
2. Rise Time
3. Peak Time
4. Peak Overshoot
5. Settling time
Delay Time
It is the time required for the response to reach half of its final value from the zero instant. It is
denoted by td
Rise Time
It is the time required for the response to rise from 0% to 100% of its final value. This is applicable for
the under-damped systems.
For the over-damped systems, consider the duration from 10% to 90% of the final value.
Rise time is denoted by tr.

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
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Peak Time
It is the time required for the response to reach the peak value for the first ime. It
is denoted by tp.
Peak Overshoot
Peak overshoot Mp is defined as the deviation of the response at peak time from the final value of
response.
Settling time
It is the time required for the response to reach the steady state and stay within the specified tolerance
bands around the final value. In general, the tolerance bands are 2% and 5%.
The settling time is denoted by ts.
PROCEDURE:
1. Switch “ON” the mains supply to the kit ,observe the signal source O/P by selecting Square wave
or step input
2. Connect the front panel of the kit (RLC circuit) for the second order system.
3. Set the output 10V p-p Square wave in CRO by varying amplitude& select 3msec.t/c.
4. Connect the same output to second order system input to the circuit.
5. Set the potentiometer at minimum position i.e., R=0.
6. Draw the second order system o/p for deferent values of damping factors 0.3, 0.7, 1& 2. Compare
this with the theoretical wave forms.
7. Repeat the above procedure by varying the resistance using the pot provided.
8. For each % resistance note down the time domain specifications and draw graph
9. Select step input, adjust the amplitude potentiometer to get 5 volts DC and select 5 sec time
constant. Switch “OFF” the signal.
10. Now switch “ON” the signal, monitor the second order system O/P using a multimeter.
11. Note down the O/P voltage for every second .Draw the graph of Time Vs Voltage.
12. Repeat the same for deferent damping factors.
13. When testing a 2nd order system with low t/c-3m sec .the response of a step input stabilizes to its
final value within about 50-75m sec,in such case the system response for a step can be studied by
giving a repeated step, which is effectively, a square wave.
14. Note down the O/P of transient response curve, on a graph sheet from CRO & specify Peak Time,
Rise Time, Delay Time, Max.Over shoot, Settling Time & steady state error.

15. Tabulate the values and draw the graph. Time Vs Input

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PRECAUTIONS
1. Make the connections tight.
2. Consider only those values of for whic the rise time or settling
time is more than half of the time period of the input wave time
period.

Circuit diagram

R-10K L- 2H

Square C-0.32 µF
wave

Calculation:
1 1
Wn = = = 1250 rad/sec
LC 2 X 0.32 x 10¯ 6

1250
f = = 200Hz
2Π

R = 2δ L/C
δ = 0.3 -- R =1500 ohms
δ = 0.7 – R=3500 ohms
δ = 1.0 -- R=5000 ohms
δ = 2.0 – R=10000 ohms

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Tabular Column

Sl No R in L in C in Micro δ td tr Mp tp ts ess
Ohm Henry Farad (Damping
Factor)
1 500 2H 0.32mF
2 1000 2H 0.32mF
3 1500 2H 0.32mF
4 2000 2H 0.32mF
_ _ _
_ _ _
_ _ _
_ _ _
_ _ _
_ _ _
10000 2H 0.32mF

RESULT:-

VIVA QUESTIONS
1. What are the Open loop and closed loop control systems?
2. Give the advantages of closed loop control systems.
3. What do you mean by feedback and what are the types of feedback?
4. What is a system?
5. Define rise time, peak time, settling time, peak overshoot, damping ratio,
steady state error.

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
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EXPERIMENT NO: 2
CHARACTERISTICS OF SYNCHROS

AIM: To study the characteristics of synchro transmitter and receiver pair

APPARATUS:
1. Patch cards
2. Multimeter
3. Synchro pair kit

BLOCK DIAGRAM:

Fig – 2.1 Synchro-Transmitter Pair

THEORY:
A Synchro is an electromagnetic transducer commonly used to converter an angular position
of a shaft into an electric signal. The basic synchro is usually called a synchro transmitter. Its
construction is similar to that of a three phase alternator. The stator (stationary member) is of
laminated silicon steel and is slotted to accommodate a balanced three phase winding which is
usually of concentric coil type (three identical coils are placed in the stator with their axis 120

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degree apart) and is star connected. The rotor is a dumb bell construction and wound with a
concentric coil. AC voltage is applied to the rotor winding through slip rings.
Let an a.c. voltage Vr (t) = Vr sin (ωct) be supplied to the rotor of the synchro transmitter. This
voltage causes a flow of magnetizing current in the rotor coil which produces a sinusoidally
time varying flux directed along its axis and distributed nearly sinusoidally in the air gap along
stator periphery. Because of transformer action, voltages are induced in each of the stator
coils. As the air gap flux is sinusoidally distributed, the flux linking any stator coil is
proportional to the cosine of the angle between rotor and stator coil axis and so is the voltage
induced in each stator coil.
The stator coil voltages are of course in time phase with each other. Thus we see that the
synchro transmitter acts like single phase transformer on which rotor coil is the primary and
the stator coil form three secondaries.
Let Vs1 N, Vs2 N and Vs3 N respectively be the voltages induced in the stator coils S1, S2
and S3 with respect to the neutral. Then for the rotor position of the synchro transmitter
showed in figure, where the rotor axis makes an angle 0 with the axis of the stator coil S2.
Let
Vs1N = KVr sin (ωct )cos (θ+120)
Vs2N = KVr sin( ωct) cos (θ)
Vs3N = KVr sin (ωct) cos (θ+240)
The three terminal voltages of the stator are
Vs1s2 = Vs1N – Vs2N
= 3 KVr sin (θ+240) sin (ωct)
Vs2s3 = Vs2N – Vs3N
= 3 KVr sin (θ+124) sin (ωct)
Vs3s1 = Vs3N – Vs1N
= 3 KVr sin (θ) sin (ωct)
Where θ is zero, it is seen that maximum voltage is induced in the stator coil s2 while it
follows that the terminal voltage Vs3s1 is zero. This position of rotor is defined as the electrical
zero of the Tx and is used as a reference for specifying the angular position of the rotor.

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Thus it is seen that the synchro transmitter is the angular position of its rotor shaft and
the output is a set of three single phase voltages. The magnitude of these voltages are
functions of a shaft position.
The classical synchro system consists of two units:
1. Synchro Transmitter.
2. Synchro Receiver.
The Synchro Receiver is having almost the same constructional features. The two units are
connected as shown in figure. Initially the winding S2 of the stator of transmitter is positioned
for maximum coupling with rotor winding. Suppose its voltage is V, the coupling between S1
and S2 of the stator and primary (ROTOR) winding is a cosine function. Therefore the
effective voltages in these winding are proportional to 60 degrees or they are V/2 each. So
long as the rotors of the transmitters and receivers remain in this position, no current will flow
between windings because of voltage balance.
When the rotor of transmitter is moved to a new position, the voltage balance is distributed.
Assume that the rotor of transmitter is moved through 30 degrees, the stator winding voltages
will be changed to zero, 0.866V and 0.866V respectively. Thus there is a voltage imbalance
between the windings causes currents to flow through the close circuit producing torque that
tends to rotate the rotor of the receiver to a new position where the voltage balance is again
restored. This balance is restored only if the receiver turns through the same angle as the
transmitter and also the direction of the rotation is the same as that of transmitter.
The transmitter & receiver pair thus serves to transmit information regarding angular position
at one point to a remote point..
PROCEDURE: 1
1. Connect the main supply to the system with the help of cable provided. Do not connect any patch
cards to terminals marked S1,S2 and S3.
2. Switch on main supply for the unit.
3. Starting from zero position noted down the voltage between stator winding terminals i.e. V s1s2, Vs2s3,
Vs3s1 in a sequential manner. Enter readings in a tabular form and plot a graph of angular position of
rotor voltages for all three phases

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4. Note down that zero position of the stator rotor considers with Vs3s1 voltage equal to zero voltage. Do
not disturb this condition.

CIRCUIT DIAGRAM

Fig – 2.2 Circuit Diagram of Synchro-Transmitter Receiver

PROCEDURE: 2.
1. Connect main supply cable.
2. Connect s1, s2 &s3 terminals of transmitter to s1, s2&s3 of synchro receiver by patch cards
provided.
3. Switch on sw1 &sw2 and also switch on main supply.
4. Move the pointer i.e. rotor position of synchrotransmitter (TX) in Steps of 30 degrees and
observe the new rotor position. Observe that whenever rotor (TX) is rotated, the Tr rotor
follows it for both the directions of rotations and their positions are in good agreement.

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

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PRECAUTIONS:
1. Handle the pointer for both the rotor s in a gentle manner.
2. Do not attempt to pullout the pointer.
3. Do not start rotor or stator terminals.

OBSERVATION TABLE:

S.no. Rotor position RMS voltage of Vs1s2(V) Vs2s3(V)

in degrees stator Vs1s3(V)

STUDY OF SYNCHROTRANSMITTER AND RECEIVER PAIR:

S.no. Angular position of syn. Angular position of syn.

Transmitter in degrees receiver in degrees

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MODEL GRAPHS:

Fig – 2.3 Synchro Transmitter Characteristics

Fig – 2.4 Synchro Transmitters - Receiver Characteristics

RESULT:

VIVA QUESTIONS:
1. Define the term "synchro".
2. Name the two general classifications of Synchros.
3. List the different synchro characteristics and give a brief explanation of each.
4. Explain the operation of a basic synchro transmitter and receiver.
5. Mention the application of Synchros.

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EXPERIMENT NO: 3
PROGRAMMABLE LOGIC CONTROLLER
AIM:
Study and develop the ladder program using PLC for the following modules Logic gate
simulation, Boolean algebra
APPARATUS:
1. PLC Trainer Kit
2. Logic gate simulation module
3. Boolean algebra panel
4. DC motor Control using relays
5. Personnel Computer
6. Connecting wires
THEORY:
A Programmable Logic Controller, or PLC, is a ruggedized computer used for industrial
automation. These controllers can automate a specific process, machine function, or even an
entire production line. The PLC receives information from connected sensors or input devices,
processes the data, and triggers outputs based on pre-programmed parameters.
Depending on the inputs and outputs, a PLC can monitor and record run-time data such as
machine productivity or operating temperature, automatically start and stop processes,
generate alarms if a machine malfunctions, and more. Programmable Logic Controllers are a
flexible and robust control solution, adaptable to almost any application.

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CIRCUIT DIAGRAM:

Fig – 3.1 Logic Gate Module

INV gate AND gate: OR gate:

Q X Y X.Y X Y X+Y
0 0 0 0 0 0
0 1
0 1 0 0 1 1
1 0 1 0 0 1 0 1
1 1 1 1 1 1

EX-NOR gate:

X Y X®Y=
+XY
0 0 1
0 1 0
1 0 0
1 1 1

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Fig – 3.2 Boolean algebra Module

Demorgan’s I Law
st

A B C A. C
0 0 0 0 0
0 0 1 0 0
0 1 0 0 0
0 1 1 0 0
1 0 0 0 0
1 0 1 1 1
1 1 0 0 0
1 1 1 0 0

Demorgan’s IInd Law

A B C A +C
0 0 0 1 1
0 0 1 1 1
0 1 0 0 0
0 1 1 1 1
1 0 0 1 1
1 0 1 1 1
1 1 0 1 1
1 1 1 1 1

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PROCEDURE:
1 Press the start button
2 Click on the program folder
3 Click on the WPL soft
4 Execute WPL2
5 After the ‘RUN’ operation what operated next is the WPL window will show up.
6 After WPL soft is activated we are to undertake the creating of new documents.
7 After the setting is completed, three windows will show up: one is the ladder diagram mode
window, the other is the command mode window and the third one is the SFC editing mode.
8 Users are to choose the editing mode of their interests to proceed with the program editing.
9 The ladder diagram mode :(after the diagram is edited , convert the ladder diagram to the
command mode and the SFC diagram through compiling)
10 The command mode (after the command is edited, convert it to the ladder and the SFC diagram
through compiling)
11 The SFC mode: (after the SFC diagram is edited convert it to the command code through
compiling and to convert it to the ladder diagram, users have to go through the command code
compiling in order to achieve the ladder diagram conversion.)
12 When WPL soft is activated, the first image to show up is; there are five selections on the
function panel: File (F), communication(C), option (o), window (W), Help (H).
13 Click on ‘New’ under ‘’File’’, and the following image will show up; there will be some other
selections listed on the function panel: Edit (E), Compile (P), Comment (L), Search(S), and View
(V).
RESULT:
VIVA QUESTIONS:

1. Where in the PLC memory is is each timer storing its data?

2. How does the operation of an OFF -delay timer differ from that of an on-delay timer?
3. How does each type of timer get reset back to zero?

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EXPERIMENT NO: 4
EFFECT OF FEED BACK ON DC SERVO MOTOR

AIM:-To study the effect of feedback on DC Servo motor in Regenerative

and Degenerative mode.

Apparatus:

DC Servo Motor kit consisting of

1. Input Potentiometer
2. Output potentiometer
3. Amplitude potentiometer
4. Feedback potentiometer
5. Null Indicator
THEORY:
Angular position control using a D.C motor forms a fine example of feedback controlled
system. A D.C. motor whose speed can be varied by application of various voltages is used
through an appropriate gear drive to rotate a shaft. The angular position of the shaft is sensed
using an .appropriate sensor, and depending on the set value and the measured value of the
angular position, an error voltage is obtained which is amplified and fed back to control the
motor. When in equilibrium, the shaft position will correspond to the angular position
dictated by the set value. However, in this simple feedback system, the performance of the
system will be highly under damped, and as a result, the system will take a long time to come
to stable shaft position. As theory shows, it is advantageous to use either tachometric
feedback or derivative feedback to increase the damping of the system to acceptable limits.
In its simplest form, The output (Controlled ) and derived (reference) position θ1 and θ2 are
respectively measured and compared by a potentiometer pair whose output voltage is
proportional to the error in angular position θ E= θ1- θ2. The error voltage is amplified and
applied to servomotor which positions the load and output such that the error is reduced to
zero...
Please refer to the figures 1 and 2 before go through the following. Assume SW! in upward

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position(Tachoout) P1 is output potentiometer and P2 is output position sensing potentiometer,

the control problem is to position the mechanical load J in accordance with the input command
from input pot P1.
Assume that system is in equilibrium i.e. θ1 = θ2.
If Pl is disturbed and wiper is moved in the upward Direction (move + ve) then the error
detector IC1 gets a +ve error Signal. This signal is amplified and then power is amplified by
the Servo amplifier, making the D.C. servomotor terminal A +ve w.r.t. the ground. This sets
the motor into rotation and through the gear train the output shaft (Ø2) is also set into rotation
along with the Load J. This will take the wiper contact of P2 in upward position, thus
increasing the positive potential available on it. This voltage is inverted by the opamp and the
output of Error amplifier becomes more -ve than its previous value. Note that the error detector
is working a summation amplifier and hence, effectively the net input i.e. error signal for error
detector becomes zero and the motor comes to a rest. The entire system is again in equilibrium
position.
If Pl wiper contact is moved in the downward direction the servo amplifier output terminal A
is made -ve & the D.C. motor rotated in the opposite direction and P2 wiper contact to the
downward position until the motor stops again. The output angle θ2 again becomes equal to the
desired input θ1. As soon as P1 becomes equal to P2, the motor stops. That is now any variation
in the desired input θ 1 is transferred to the output position θ 2 along with the load. In
accordance with the input changes θ 1 the load is also positioned suitably. This constitutes the
basic closed loop control system.
a. to follow the input in a smooth fashion without oscillation. down the readings of input, output
potentiometer and null indicator

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PROCEDURE (with out feedback)

1. Before switch “ON” the main power supply see that TACHO in OUT and
SW3 &SW4 in “IN” position, SW1 &SW2 in “OFF” position.
2. Keep that input potentiometer P1 in 10° position, potentiometer P3 should in mid position 3.Now
switch “ON” the main unit, led R and led G should glow.
4. Now vary the potentiometer P1 and note down values at P3 and null indicator (Operation
with stabilization fed back)

a) Now put the SW1 in lower position i.e., Tacho IN position, SW2 must be in down ward
position i.e., degenerative mode, keep P4 in fully antilock wise direction.
b) Now take the pot P1 to 180° position and effect the step input changes in one of the
direction ,output again indicates oscillations .Now advance the pot P4 in clockwise
direction the output now is observed to follow the input in a smooth fashion without
oscillation. down the readings of input, output potentiometer and null indicator
4. Now keep the switch TACHO in IN and feed back in Degenerative (-ve feedback) mode
5. Keep the amplitude potentiometer (Gain) at 50% and feedback potentiometer at 25% and
vary the input pot.
6. Vary the input pot and take the readings.

7. Repeat the above four steps for 50%, 75 % and 100 % of feedback.
PRECAUTUIONS
1. Don’t cross zero position by varying the pot P1, ie, between 350° and 10°.

2. Don’t rotate the output potentiometer physically.

3. Don’t allow the machine to work for a larger time in Regenerative mode.

4. Before switch “ON”, ensure that SW3 and SW4 are in always in ON position.

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CONCLUSION
1. When given no feedback than the error is more for a less amplifier gain.

2. As we go on increasing the amplifier gain than the error are decreased & the result is obtained very
fast.
3. When the feedback is given and the amplifier gain is maintain at 100% the oscillations are less for
low feedback control and as the feedback control is increased ,than the response is obtained very
slowly ie,oscillations increases.
4. Now if the gain is decreased gradually then the response is obtained faster but inaccurate.

S.No Input (P1) Input (P2) Error(Null Indicator) Gain(P3)

1
2
3
4

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OBSERVATIONS:-
With stabilizing feedback – degenerative:-
1) Feed Back (P4) = 10%

S.No Input (P1) Input (P2) Error(Null Indicator) Gain(P3)

1
2
3
4
2) Feed Back(P4) = 50%
S.No Input (P1) Input (P2) Error(Null Gain(P3)
Indicator)

3) Feed Back(P4) = 100%

S.No Input (P1) Input (P2) Error(Null Gain(P3)
Indicator)

RESULT:
VIVA QUESTIONS.
What are the uses of DC servo motor?
What are the types of DC servo motors
In which wattage the DC servo motors are available?
What are the special features of DC SERVO MOTORS?
How the direction of rotation of DC servo motor can be changed?

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EXPERIMENT NO: 5

TRANSFER FUNCTION OF DC MOTOR

AIM: To determine the transfer function of armature controlled DC Motor.

APPARATUS:
DC Motor (armature controlled) set up, consisting the following;
1) AC IN: Terminals to Connect 230v AC Mains Supply.
2) MCB: 2 Pole / 6A MCB to Turn OFF/ON AC Supply to the controller.
3) ARMATURE: VA Potentiometer to vary the Armature voltage from 0-200V.
: OFF/ON Switch for Armature voltage with soft start.
: 0-200V Variable DC. For Arm. (1-Ф, 1/2 control bridge rectifier)
: 0-230V Variable AC. to find Inductance of Field Coil (AC Voltage Control)
4) FIELD: VF Potentiometer to vary the Field voltage from 100V-200V.
: 100-200V Variable DC supply
: 220V/2A Rectified DC Supply for field supply of DC Motor or Generator.
5) DIGITAL VOLTMETER: To measure AC/DC Voltage with AC/DC selector switch.
6) DIGITAL AMMETER :To measure AC/DC Current with AC/DC selector
switch
7) CONTROLLER : Unit to vary the Arm. Volt. & Field Voltages.
8) TACHOMETER : Digital contact type for measure the speed of DC
Motor.
9) DC MOTOR: 0.5 HP / 220V / 1500 RPM with mech.loading arrangement.
DC MOTOR:

Armature Resistance R A - 15Ω

Armature Inductance LA - 135mH
Field Resistance RF - 255 Ω
Field Inductance LF - 21H
Moment of Inertia J - 0.024Kg-m2
Friction Co-efficient B - 0.8

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RESULT:

VIVA QUESTIONS

1. Why does the speed fall slightly when the D.C. shunt motor is loaded?
2. What will happen if the field current of the D.C. shunt motor gets interrupted?
3. What are the possible errors in the experiment?
4. How will you avoid the breaking arrangements getting heated?
5. Up to what capacity of motor can this type of test be done?

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EXPERIMENT NO: 6

TRANSFER FUNCTION OF DC GENERATOR

AIM: To determine the transfer function of armature controlled DC Generator.

APPARATUS:

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RESULT:
VIVA QUESTIONS:
1. By varying the field resistance in the transfer function, check the stability and speed
control of generator.
2. By varying the armature resistance in the transfer function, check the stability and
speed control of generator.

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EXPERIMENT NO: 7
TEMPERATURE CONTROLLER USING PID

AIM:
To study the performance of P, PI, PID controller’s used to control the temperature of an oven.
APPRATUS:
Temperature control kit.
Oven
Patch cards
Stop watch
THEORY:
The system consists of a versatile controller and electrically heated model process and a
conditioning unit.
The model is an aluminium process block surrounded by a symmetrically located lamp bank
which serves to heat the process block. Platinum resistance thermometer is used in order to sense
the temperature of the process block. The model is a speeded version of an industrial process
with the time constants shortened to make the experiments of appropriate duration for
engineering college laboratories and university labs.
The control problem investigated that of maintaining the process temperature under variation
of heat losses by changing the flow of cooling air passed through the model.
The conditioning unit uses a stabilized power supply feeding a bridge circuit for which PT-100
element forms one of the four arms. The required process temperature is adjusted with the help
of a precision ten turn helical potentiometer with dial.
The error signal is suitably modified to drive a temp. Deviation meter.
Following are the various modes of control which can be patched on the system.
1. Proportional controller (P)
2. Proportional + Integral (P+I)
3. Proportional + Derivative (P+D)
4. Proportional + Integral + Derivative ( P+I+D)
All the normal parameters such as proportional band, integral and derivative time etc. are

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adjusted over a wide range. The percentage of power indicates output as the percentage of
full power supplied to the heater.
The control of power to the process heater (lamp bank) is obtained by using a solid state
relay. The control section is electrically isolated from the conditioning unit with help of an
optocoupler isolator ( L.E.D. and photo transistor link) The flow of cooling air is generated
with the help of a fan which is controlled from a solid state regulator using a triac circuit.
CIRCUIT DIAGRAMS

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PROCEDURE:-
1) Before connection keep all the pots are in fully anticlockwise and all switches in downward
position means X10 sec. position. Do not connect heater and 5 pin socket. Keep the fan
regulator OFF.
2) For the calibration plug the main socket & switch ON the unit. Connect the 5pin socket
(RTD) .Short the Red 3 & block 1 by using link as per fig. no.6.By adjusting the 10 turn pot
set the deviation meter on 0° C. Note the 10 turn pot reading in ohms & multiply by 2.5° C.
the answer is room temperature because ; 1= 2.5°C .
3) Adjusting the pot 2 OHMS towards the – ve & +ve respectively for calibration.
4) Set the temperature by using 10 turn pot by adding 20° C in the room temperature. Switch
ON the fan at slow position & start to take reading as per table. Take the reading till +2°C &
suddenly increase fan speed for 2nd table.
5) In P controller you can observe the offset error .For removing this error add INTEGRAL
means P+I. Keep the fan speed as constant.
6) Do the connection as per fig.7. & press the reset button of the integral till 5Secs. & remove.
This is for discharging the condenser or reset the system.
7) And take the readings as per table fan in slow (slow disturbance) & fast position(High
disturbance) & plot the graph. In this case you can see the error for some time then there is
no error. But the load is increase then the system will again disturb & it will take again some
time for removing the error.
8) For removing this draw back We must add P+D means proportional + Derivative. Do the
connection as per fig.No.8 again press the derivative RESET button till 5 Seconds for
discharging the condenser. And start to take reading as table in slow & Fast speed. Plot the
graph.
9) Then finally for observing PID do the connection as per fig. 9.
10) PID means the process which find , remove the error from control system.
Experiment No.1.
Aim: To study phenomenon of offset for proportional controller when the load on the
process is varied.

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Procedure:-
1. Established the connection between the conditioning unit and the model
process with the help of cables provided.
2. Refer figure 6. And connect Red 3 and Black 1 with the help of patch card.
3. Set the “SET” potentiometer at the position of 18 Ohms corresponds to 45
degree centigrade of temperature.
4. Set the proportional band control to 10% i.e. K1=10
5. Now turn ON the power supply and also turn ON the fan. Place the fan
regulator at low position.
6. Wait until the deviation indicator stabilizes at some point. Record the deviation
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 down the deviation meter reading when the pointer stabilizes.
Record the deviation meter readings. The difference between the two readings
i.e.step8 and step 6 is the offset(steady state error)
9. Now you may increase the gain to 100 i.e. proportional band to 1% and
Repeat the steps 5 to 8
In this expt. You will observe that the offset error is reduced.
10. Draw the graph of Time v/s deviation.
11. You may perform experiments with various gain settings.
Experiment No.2. (P+I)
Aim:- To show the effect of integral action in eliminating the offset. To observe that the
integral action has destabilizing effect on the process when load changes occur.
PROCEDURE:-
1.Establish the connections as per fig.5 with the help of patch cards. Get the
Indicated settings for the various controls.
a) SET= 18 ohms (i.e.45 degree centigrade)
b) PB= 10%
c) Coarse control for integral action= 10seconds.

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d) Fine control = Midway.

2. Turn on the fan with control on low position.
3. Wait until the process stabilizes with almost zero deviation.
4. Now suddenly increase the fan speed to high position with the help of a stop watch record
the deviation meter readings at an interval of 15seconds.Continue the process until the
deviation meter almost stabilize at zero deviation. There might be negligible error (around 0.2
degree centigrade or so)
5. You can observe that the integral action gives zero offset but transient response is
hampered.
Experiment No.3. (P+D)
Aim:- To observe the stabilizing effect of the derivative action.
PROCEDURE:-
1.Establish the connections as per fig.8 with the help of patch cards. Get the
Indicated settings for the various controls.
a) SET= 18 ohms i.e.45 degree centigrade)
b) PB= 10%
c) Coarse control for derivative action= 5 seconds.
d) Fine control = Midway.
2. Turn on the fan with control on low position.
3. Wait until the process stabilizes .
4. Now introduce the load change by moving the fan control to high position. With the
help of a stop watch record the deviation meter readings at an interval of 5 to
10seconds.You may observe that the process comes to almost zero deviation point
quickly. In fact in this process the performance of P+D and P+I+D are almost
identical.
5. You may perform experiments for other settings of derivative time and PB.
Experiment No.4. (P+I+D)
Aim:- To study the performance of P+I+D action.
PROCEDURE:-
1. Establish the connections as per fig.9 with the help of patch cards. Get the indicated

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settings for the various controls.

2. Turn on the fan with control on low position.

3. Wait until the process stabilizes.

4. Now introduce the load change by moving the fan control to high position. With the
help of a stop watch record the deviation meter readings at an interval of 5 to
10seconds.You may observe that the process comes to almost zero deviation point
quickly. Thus the transient response is improved and offset is also avoided.
5. You may perform experiments with various other settings. You may also study
The response of the system by change in set point by moving SET to 17 to 25 ohms.
P.I.D. CONTROLLER (TYPICAL READINGS)
PROPORTIONAL ACTION 18.= 45° C SET
Low Disturbance (Fan Low speed)

Sl no Time in Deviation
seconds Degree C
1 0 -5
2 30 -4
3 60 -3
4 90 -2
5 120 -1
6 150 0.00
7 180 +1.0
8 210 +2.0
9 240 +2.0
10 270 +2.0
11 300 +2.0
12 330 +2.0
REMAINS STABLE AT TIME INTERVAL

Low Disturbance (Fan Low speed)

Sl no Time in Deviation
seconds Degree C
1
2
3
4
5
6

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7
8
9
10
REMAINS STABLE AT TIME INTERVAL

P+I PROPORTIONAL + INTEGRAL ACTION 18.= 45 °C SET

High Disturbance (High speed)

Sl no Time in Deviation
seconds Degree C
1
2
3
4
5
6
7
8
9
10
High Disturbance (Fan high speed)

Sl no Time in Deviation
seconds Degree C
1 0 +2.00
2 30 +1.5
3 60 +1.0
4 90 0.00
5 120 -1
6 150 -1.5
7 180 +2.0
8 210 -2.0
9 240 -2.0
10 270 -2.0
11 300 -2.0
12 330 -2.0

REMAINS STABLE AT TIME INTERVAL

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P.I.D. CONTROLLER (Tabular column)

P+I PROPORTIONAL + INTEGRAL ACTION 18.= 45 °C SET Low

Disturbance (Fan Low speed)

Sl no Time in Deviation
seconds Degree C
1
2
3
4
5
6
7
8
9
10

REMAINS STABLE AT TIME INTERVAL

P+D PROPORTIONAL +DERIVATIVE ACTION 18.= 45 °C SET

High Disturbance (High speed)

Sl no Time in Deviation
seconds Degree C
1
2
3
4
5
6
7
8
9
10

REMAINS STABLE AT TIME INTERVAL

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PRECAUTIONS:-
1. Operate SET control pot in a gentle fashion.
2. Study all the controls carefully before using the equipment.
3. “ADJUST” control is adjusted in proportional mode to get 50% of output power when
deviation is zero. Then the adjust control is not disturbed in the entire expt.
4. Make or break the connection only after turning OFF the mains supply.
Note: - Heater lamps are of Philips make with reflector 3 Nos. with 100/150 Watts.
5. During winter season in view of low ambient temp. You may have to adjust the process for low
temperatures and vice versa for summer season.

RESULT:

VIVA QUESTIONS:

1. Define P controller, PI controller and PID controller.

2. What is a driver circuit?
3. What are the applications of temperature controller system?

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EXPERIMENT NO: 8
CHARACTERISTICS OF AC.SERVO MOTOR

AIM:-To study the speed torque characteristics of AC.Servo Motor

APPARATUS REQUIRED:
1. AC.Servo Motor study unit containing of
a) Ammeter

b) Control Voltage Transformer

c) Load Potentiometer

d) Speed Indicator

2. Digital Multi Meter

THEORY: Servo Motors are also called Control motors. They are used in feedback control
systems as output actuators and does not use for continuous energy conversion. The principle
of the Servomotor is similar to that of the other electromagnetic motor, but the construction
and the operation are different. Their power rating varies from a fraction of a watt to a few
hundred watts.
The stator of the Two Phase AC Servo Motor has the two distributed windings which are
displaced from each other by 90 degrees electrical. One winding is known as a Reference or
Fixed Phase, which is supplied from a constant voltage source. The other one is known as
Control Phase, and it is provided with a variable voltage
The control phase is usually supplied from a servo amplifier. The speed and torque of the
rotor are controlled by the phase difference between the control voltage and the reference
phase voltage. By reversing the phase difference from leading to lagging or vice versa, the
direction of the rotation of the rotor can be reversed.

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CIRCUIT DIAGRAM:

PROCEDURE

1. Study all the controls carefully on the front panel. Initially keep load current switch at off

position, indicating that the armature circuit of dc machine is not connected to auxiliary dc
supply -12 V ,keep servo motor supply switch at OFF position. Ensure load potentiometer and
control voltage auto transformer at minimum position.
2. Now switch ON main supply to the unit and also AC Servo motor supply switch. Vary the

control voltage transformer ,you can observe that the AC Servo motor will starts rotating and the
speed will be indicated by the tachometer
3. With load switch in OFF position ,vary the speed of the AC Servo motor by varying the

control voltage and note down back emf generated by the dc machine for deferent values of
speed (now working as dc generator or Taco).Enter results in tabular column.

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Sl.No Speed –RPM Back EMF (E b)Volts

4. switch at OFF position,switch „ON‟ AC Servo motor and keep the speed in minimum position

.You can observe that the AC Servo motor starts moving with speed being indicated by the
tacho meter .Now vary the control winding voltage by varying the auto transformer and set the
speed for maximum speed .Now switch ON the load switch and start AC Servo motor by
varying the load potentiometer slowly.
5. Note down the corresponding values of Ia ,Speed & E b at controlvoltages of150,175,220V.
6. Take appropriate readings till speed is below 500 rpm and take more readings for above speed.

7. Calculate the power and torque developed.

Draw the graphs between Back emf ( E b ) Vs Speed ,and Speed Vs Torque

1. TABULAR COLUMN FOR SPEED (N)Vs (Eb) Back E.M.F

Sl.No Ia N-rpm E b -Back emf P-watts T-Torque

(mA) E b*Ia (NM)

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MODEL GRAPHS

SPEED (N) Vs Back e.m.f (Eb) SPEED (N) Vs Torque

Eb (V)

Speed(rpm)

Speed (rpm) Torque(Nm)

RESULT:

VIVA QUESTIONS:

1) What is AC servo motor?

2) What is the use of AC servo motor?

3) What are the advantages of AC servo motor?

4) What is the important parameter of AC servo motor?

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EXPERIMENT NO: 9
EFFECT OF P, PI, PID CONTROLLER

AIM:To observe the effect of P, PI, PID, PD Controller for open loop and closed loop
Of second order system.

APPARATUS REQUIRED:-
1) PID Controller kit, consisting of,
a. DC Supply
b. Inbuilt function generator
c. PID Controller with variables P,I,D parameters
d. Unity Gain Inverter Amplifier
e. Digital Voltmeter
f. Process consisting of 1st order & 2 nd order system, time constant, integrator.
2) Connecting wires
THEORY: PID Controllers are Very often used in industrial process control to ensure that
a Parameter such as speed temperature flow etc is maintained to be a constant desired value.
P-I-D stands for Proportional Integral Derivative control, as the Controller uses all these in
the feedback. One can also have P control, PI or PD
Controllers depending on the requirement. All these are feedback controllers with
Variable values for P, I and D.
PROCEDURE:
(Open Loop Proportional Controller)
1) Make connections as shown in figure.
2) Switch ON the power supply and apply a DC Voltage of 0.5 V
3) Switch ON P controller and keep I & D controller at OFF position.
4) By varying the P-gain pot note down the output voltage.
(Closed Loop For P, PI, Pd, ID, PID Controllers)

1) Connect the circuit as shown in the figure.

2) Keep
a. P in ON and ID in OFF position for P Control

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b. I in ON and PD in OFF position for I Control

c. P and I in ON and D in OFF position for PI Control
d. P and D in ON and I in OFF position for PD Control
e. P, I and D in ON for PID Control
3) Apply some input DC Voltage to system.

4) Now for deferent gain values note down Vs, Vf and Ve Voltages.

BLOCK DIAGRAM OF THE SYSTEM

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Tabular Form: 1

S.NO. Vin Gain Vout

Tabular Form: 2

S.NO. P-Gain Set Voltage(VS) Feedback Error Calculated

Voltage(VF) Voltage(Er) Error=Vs/(1+G)

Tabular Form:3

S.NO. P-Gain I-Gain Set Feedback Error

Voltage(VS) Voltage(VF) Voltage(Er)

RESULT:

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VIVA QUESTIONS:
1. What is a controller?
2. What is the difference between a compensator and controller?
3. Write a brief note about Proportional Controller.
4. Write a brief note about Derivative Controller.
5. Write a brief note about Integral Controller.

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EXPERIMENT NO: 10
LAG-LEAD COMPENSASTION
AIM:-To Study The Characteristics Of Lead Lag Compensating Networks. And to plot
Graph for Frequency Vs Gain & Frequency Vs Phase angle.
APPARATUS:
1. Lead lags Experimental kit, having sine wave source (50Hz to 1000Hz), and Frequency
meter and peak detector
2. Resistors-10KΩ
3. Capacitor – 0.1µF
4. Connecting Wires
THEORY:
Every control system designed for a specific application has to meet certain performance
specification. Setting the gain is the first step in adjusting the system for satisfactory
performances. In many practical cases, however the adjustment of the gain alone may not
provide sufficient alteration of the system behavior to meet the given performance. As if
frequently the case, increasing the gain value will improve the steady state behavior but will
result in poor stability or instability. It is then necessary to redesign the system in order to alter
the overall behavior so that the system will behave as desired,
An additional device inserted in the system for such purpose is called a COMPENSATOR.
This device compensates for deficient performance of the original system.
If the compensator Gc (s) is placed in series with the unalterable transfer function G(s), then
the compensation is called series compensation.
If the compensator is placed in the feedback path, what we have is feedback compensation. In
general series compensation may be simpler than feedback compensation. However the series
compensation frequently requires additional amplifier to increase the gain and/ or to provide
isolation.
Numerous physical devices are used as compensators. Among the many compensators the
widely employed series compensators are the so called LEAD compensators, LAG
compensators and LEAD LAG compensators. This system is designed to make a detailed
study of these types of compensators. They are usually electrical, mechanical, pneumatic,
hydraulic and consist of R-C networks (electrical, mechanical, pneumatic and hydraulic) and
amplifiers.
We shall study compensating network in the form of electrical R-C networks.

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This proposed study of the compensators will be done in the following.

(1) Simple phase lead and phase lag networks.
(2) Lead, Lag and Lead Lag compensating networks that are used in the control systems.

CIRCUIT DIAGRAM:

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PROCEDURE:
1) Switch ON the supply to the circuit unit, observe the sin wave signal by varying
frequency and amplitude potentiometer.
2) Now make the network connections depending on the lead lag or lag lead networks.
Connect sine wave output to network input.
3) connect the network input to peak detector output using a digital multimeter keeping in
the V dc mode .Now the meter will show V peak . Set the amplitude of sine wave to
some value 3 volts peak.
4) Now vary the frequency and note down the frequency, phased angle deference and V
peak for deferent frequencies and enter readings in the tabular column.
5) Now calculate the theoretical values of phase angle deference and gain. Compare with
the measured values.
6) Plot the graph of Phase angle Vs Frequency &Frequency Vs Gain
7) Repeat the same for deferent R and C values, or different sine wave amplitude

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Tabular Column
For Lag Compensation
S.NO Frequency Indicated Calculated
Hz Ø VOUT /V IN Ø VOUT /V IN

For Lead Compensation

S.NO Frequency Indicated Calculated
Hz Ø VOUT /V IN Ø VOUT /V IN

PRECAUTIONS:-
1. All connection should be made tight
2. The input sine wave should be properly observed for its peak to
peak voltage before giving it as input to the compensator.
CALCULATIONS:
Lag Network:
Phase angle, Φ = tan-1ωRC
1
Gain = RC


ω2 + 1
RC 
2

Lead Network:
1) Ø=tan-1 1
WRC
R WRC
2) Gain G(jw) = =
√ R + [1/WC]
2 2
√ 1+ (WRC) 2

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RESULT:

VIVA QUESTIONS:

1) Write a brief note about Lag Compensator.

2) Write a brief note about Lead Compensator.

3) Write a brief note about Lag Lead Compensator.

4) Which compensation is adopted for improving transient response of a negative

unity feedback system?

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EXPERIMENT NO: 11
STABILITY ANALYSIS OF LTI SYSTEMS USING MATLAB

AIM:
To analyze frequency response of a system by plotting Root locus, Bode plot and Nyquist
plot using MATLAB software.

APPRATUS:

MATLAB 7 Software

Personal Computer

PROCEDURE:
1) Click on MATLAB icon.

2) From FILE menu click on NEW button and select SCRIPT to open Untitled window

3) Enter the following program in untitled window.

PROGRAM:
For Root Locus Plot:
%Root Locus Plot
clear all;
clc;

disp(‘Transfer Function of given system is : \n’);

num = input (‘Enter Numerator of the Transfer Function:\ n’);

den = input (‘Enter Denominator of the Transfer Function :\ n’);

G = tf(num,den);

figure(1);

rlocus(G);

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For Bode Plot

%Bode Plot
clear all;

clc;

disp(‘Transfer Function of given system is : \n’);

num = input (‘Enter Numerator of the Transfer Function : \ n’);

den = input (‘Enter Denominator of the Transfer Function : \ n’);

G = tf(num,den);

figure(2);
bode (G);

%margin(G); It can be used to get Gain Margin, Phase Margin etc

Gm,Pm,Wpc,Wgc] = margin(G);

Disp (‘Phase Cross Over frequency is : \n’);

Wpc

disp(‘Gain Cross Over frequency is : \n’);

Wgc

Disp (‘Phase Margin in degrees is : \n’);

Pm
Disp (‘Gain Margin in db is : \n’);
Gm
Gm = 20*log(Gm)
If (Wgc<Wpc)
disp (‘Closed loop system is stable’)
else
if (Wgc>Wpc)
disp (‘Closed loop system is unstable’)
else

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disp(‘Closed loop system is Marginally stable’)

end
For Nyquist Plot:
% Nyquist plot
Clear all;
clc;
disp(‘ Transfer function of given system is \n’);
num = input (‘ enter numerator of Transfer function: \n ‘);
den = input (‘ enter denominator of Transfer function: \n ‘);
G= tf (num, den)
figure(1);
nyquist(G)
%margin(G);
[gm, pm, wpc, wgc] = margin (G)
Disp (‘ gain margin in degrees is: \n’)
End
1) Save the above program by clicking on SAVE button from FILE menu (or) Ctrl+S

2) Run the program by clicking RUN button (or) F5 and clear the errors (if any).

3) Observe the output on the MATLAB Command Window and plots from figure
window.
PROGRAM for ROOT LOCUS:
A given Transfer function ; Ex = 1
S(S+1)(S+2)
Num=[0 0 0 1];
Den=[1 3 2 0];
Rlocus(num,den);
PROGRAM for BODE PLOT:
A given Transfer function; Ex = 1
S(S+1)(S+2)

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
ELECTRONICS ENGINEERING SIMULATION LAB

Num=[0 0 0 1];
Den=[1 3 2 0];
bode(num,den);

PROGRAM for NYQUIST

A given Transfer function; Ex = 0.5

S3+2S2 +S+0.5
num=[0 0 0 0.5];
den=[1 2 1 0.5];
nyquist(num,den);

GRAPHS

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
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RESULT:

VIVA QUESTIONS:
1) What is gain margin and phase margin?

2) What is gain cross over frequency and phase crossover frequency?

3) What are the different types of stability conditions?

4) What are the advantages and disadvantages of root locus, bode & nyquist plot?

5) What are the advantages of frequency response analysis?

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
ELECTRONICS ENGINEERING SIMULATION LAB

EXPERIMENT NO:12
STATE SPACE MODEL FOR CLASSICAL TRANSFER FUNCTION
USING MATLAB – VERIFICATION
AIM:-To develop state space model for a transfer function using MAT LAB

Apparatus: A Personal Computer with MATLAB Soft ware installed.

1. Select M-file for performing experiment on MATLAB software

2. Write the program given below in file and save program.
3. Now close the M-file and back to main command page.
4. For executing the program to see the O/P graph, type the file name and press enter.
PROGRAM 1:-

A=[0 1 0 ; 0 0 1 ; -5 -25 -5 ]

B=[0 ; 25 ; -120 ]

C=[1 0 ]

D=[0]

[num,den]=ss2tf(A,B,C,D)

num =0 0.0000 25.0000 5.0000

den =1.0000 5.0000 25.0000 5.0000

PROGRAM 2:

Num=[0 0 0 1]

Den=[1 3 2 0]

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

A=

B=

C=

D=

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
ELECTRONICS ENGINEERING SIMULATION LAB

RESULT:

VIVA QUESTIONS:

1) What are the advantages & disadvantages of state space analysis?

2) What are the disadvantages of transfer function?

3) What are the different functions in MATLAB?

4) What is workspace and command window?

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DEPARTMENT OF ELECTRICAL AND CONTROL SYSTEMS AND
ELECTRONICS ENGINEERING SIMULATION LAB

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