Beruflich Dokumente
Kultur Dokumente
REFERENCE MANUAL
EE0311 MEASUREMENTS & CONTROL
SYSTEMS LAB
SRM UNIVERSITY
LIST OF EXPERIMENTS
Sl.No.
10
11
12
13
14
15
Page No.
software
SRM UNIVERSITY
Exp. No.1
MAXWELLS CAPACITANCE BRIDGE
Aim
To measure the
i)
Inductance of a coil
ii)
Apparatus Required
Sl.No.
Apparatus
Range
Quantity
--
Inductive coil
--
Headphone
--
Theory
In this bridge, an inductance is measured by comparison with a standard variable
capacitance
Under balanced condition
R4
(R1 jL1 )
R2 R3
jC4 R4
R1R4 + j L1R4
R2R3 + j R2R3C4R4
=
Separating the real and imaginary parts,
RR
R1
andL1
=
=
R4
R2R3C4
R2
Rm
C1
0.1F
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Procedure
Connection to be made as per the circuit diagram
L1 Unknown inductance
R1 Effective resistance of inductor,
C4 Variable standard capacitor
R2, R3, R4 Known non-inductive resistance
Phasor Diagram
E3 = E4
= I 1 R3 = I4 R4
= IC / C4
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Tabulation
Maxwells bridge method
Sr.
No.
Unit
Given Inductance
L
Henry
Capacitance
C
F
Resistance
Rm
K
Resistance
R2
K
L = PRC
600
0.6
1000
1000
600
520
0.5
1000
1000
500
550
0.6
1000
1000
600
mH
Model calculation
P = 1000
R = 1000
-6
C = 0.655 x 10 F
L = PRC
-6
SRM UNIVERSITY
ANDERSONS BRIDGE
Aim
To determine the self inductance of the given coil by Anderson bridge.
Apparatus Required
Sl.No.
Apparatus
Range
Quantity
--
Oscillator
--
--
Head phone
--
Patch card
--
Theory
It is modification of the Maxwells inductance Capacitance Bridge. In this method, the
self-inductance is measured in terms of a standard capacitor. This method at balance/
I1 = I 3
and
I2 = IC + I4
I1 R 3
IC x 1 / jC
IC
I1jCR3
I2R2+ICr
RR
R1 =
R4
And L1 = C R3 (r(R4 R2 ) R2 R4 )
R4
Formula Used
R1
(R2R3/R4) r1
L1
(C R3/R4)[r (R4+R2)+R2R4]
SRM UNIVERSITY
ANDERSONS BRIDGE
Phasor Diagram
Procedure
Connection to be made as per the circuit diagram.
With a particular value of C the balanced condition is obtained by adjusting the value of
resistance.
All the values in the bridge are noted down
Repeat it with different values of C and calculate every time the value of L.
SRM UNIVERSITY
Tabulation
Sr.
No.
Unit
Given Inductance
L
Henry
Capacitance
C
F
Resistance
Rm
K
Resistance
R2
K
L=
(RQ+m(S+R)
mH
68
0.05
1060
6500
71
45
0.05
1010
4050
45.7
Model calculation
P = 1000
R = 1000
Q = 1000
L = C [PQ = [R+S] m)
6
= 71.95 10
= 71 mH
Model Calculation
R = 1000, Q = 1000 Q
L = C [RQ + (R+S) M)
= 0.005 10-6 [1000 1000 + (1000+1060) 6500]
= 71.95
= 71 MH
Result
Thus the values of inductance and resistance are measured by Andersons bridge.
Resistance of the coil =
Inductance of the coil =
SRM UNIVERSITY
SCHERINGS BRIDGE
Aim
To determine the (a) unknown capacitance and resistive loss in the capacitor and (b)
dissipation factor of the capacitor.
Apparatus Required
Sl.No.
Apparatus
Range
Quantity
Oscillator
Standard capacitance
Headphone
Unknown capacitance
Patch card
Theory
Schering bridge is widely used for capacitance and dissipation factor measurement. It is
extensively used in the measurement of capacitance.
At balance,
(r1 + 1 / jCx) (R4 / (1 + jC4R4)
1 / j C2 x R3
r1 R4 jR4 / Cx
-jR3 / C2 + R3R4C4 / C2
R3 C4 / C 2
Cx
C2 (R4 / R3)
D1
Dissipation factor,
Tan = C1r1
C4 R4
Formula Used
Cx
Where,
C2 (R4 / R3)
C2
R3, R4 =
Standard capacitor
Non-inductive resistance
SRM UNIVERSITY
SCHERINGS BRIDGE
Cx Unknown capacitance
C4 variable Capacitor
R3, R4 Non inductive resistance
Phasor Diagram
Procedure
The trainer is switched ON and the unknown capacitance is connected in the terminals
Cx .
Initially the resistance R3 is kept some value and by varying the value of resistance R4 the
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Tabulation
Sr.
No.
Unit
R3 (1)
C2
R4 (2)
Set Value
Cx
Obs Value
F
100
0.05
800
0.4
0.4
10
0.05
80
0.4
0.4
100
0.05
600
0.3
0.3
10
0.05
60
0.3
0.3
Model calculation
R4 = 40 20 = 800
R3 = 100
C2 = 0.05F
C1 =
CR
2
R3
cx = c2 (R4/R3)
= 0.4 F
Result
The value of unknown capacitance is found out using Scherings bridge
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Apparatus
Range
Quantity
--
Unknown resistance
--
Galvanometer
--
Patch card
--
Theory
It is used for the measurement of medium resistances. Very high degrees of accuracy can
be achieved with the Wheatstone bridge. It has four resistive arms, consisting of resistances R 1,
R2, R3 and R4 together with a battery source and a null detector usually a galvanometer or other
sensitive current meter. The current through the galvanometer depends on the potential difference
between points C and D. The bridge is said to be balanced when there is no current through the
galvanometer or when the potential difference across the galvanometer is zero.
For bridge balance we can write,
I1 R1 = I2 R2 (1) For galvanometer current to be zero, the following conditions also
exist:
E
I
1
I3 R 1 R 4
I4
AndI 2
E
R2 R 3
(2)
(3)
R1 R3
R
2
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Formula Used
Unknown resistance Rx
Where
R1 R3
R3
R2
= ratio arm.
R2
Procedure
The unknown resistance is connected to the kit. Ratio arm is set to some value.
Tabulation
Sr.No.
Value marked
R2
Rm
Unknown
resistance Rx
Unit
1000
1000
1000
1000
2000
1000
1000
2200
3100
1000
1000
3300
3400
1000
1000
3700
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Model calculation
R = (P/Q) S
P = 1000
Q = 1000
(i)
S = 1000
S=
(ii)
S = 2000
R=
(iii)
1000
1000
S = 3000
R=
1000
Result
Thus the value of the medium resistance is measured using Wheatstone bridge.
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Apparatus
Range
Quantity
--
Galvanometer
--
Patch cards
--
Unknown resistance
--
Theory
It is a modification of Wheatstone bridge. In the figure P and Q are the first set of ratio
arms. P and Q are the second set of ratio arms and is used to connect the galvanometer to a point
d at the appropriate potential between points m and n to eliminate the effect of connecting lead of
resistance r between the resistance Rx and the standard resistance S. The ratio p/q is made equal
to P/Q. Under balanced conditions there is no current through the galvanometer.
Eab
Eab
E
Eand
P E
P Q ac and
ac
IRx
IRx
When Eab
( p q)r
( p q r)
AndEand
Rx R S
pr
( p q r)
Eand
qr
P p
pqr Q
Q
If P/Q = p/q, then Rx P.S
Q
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Formula Used
Unknown resistane of Kelvins double bridge
R
PS / Q in ohms
Procedure
The value of S is adjusted for proper balance and the value of S is noted and R is
calculated from the formula
Unknown resistance = R = PS / Q in
Tabulation
Sr.
No.
Set value Rx
Unit
Measured
value
R=P S/Q
Ohms
10
10
10
10
90
100
P, Q
p,q
Rx
Unknown resistance
Standard resistance
Galvanometer
Internal Battery
Ohms
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Model Calculation
R PXS 1000X10 10ohms
Q
1000
Result
The unknown value of resistance is found out using Kelvins bridge.
R = 10 ohms
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Apparatus
Range
Quantity
230V, 5A UPF
Wattmeter
Energy meter
Voltmeter
0-230V
Ammeter
0-10A
Resistive load
10 A
Precautions
Procedure
By observing the precaution, both the current coils and the pressure coil are supplied
with the rated voltage in this case 230V.
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DIRECT LOADING
Ammeter
Reading
I
2
Wattmeter
M.F 4
Revolution
N
Time Taken
Sec / T
Voltmeter
Reading
V
220
100
29
220
3.8
200
14
220
5.7
400
220
7.5
500
True Energy
ET
3.22
Percentage Error
3.11
3.33
7.07
3.0
3.33
11
3.11
3.33
7.07
3.416
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Calculation
Power measured by wattmeter is P = Wattmeter read x multiplication fator
True Energy, ET = P x t . . . . wh
Energy recorded by the energy mete is
EM = energy meter constant x N . . . . . .Wh
Percentage Error = (EM ET) x 100%
Result
Thus the single phase energy meter was calibrated by Direct Load
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Apparatus
Range
Quantity
Ammeter
0-10A MI
Voltmeter
0-600V MI
Wattmeter
Energy meter
Precautions
At the time of switching on the supply, the variac must be in the minimum potential
position.
Procedure
Load is gradually applied and the number of revolutions of energy meter, disc and
meter readings are taken.
Theory
Calibration of all instruments is important once it affords the opportunity to check the
instrument against a known standard and to find error and accuracy. Polyphase or 3-phase
energymeters in a n conductors system requires (n-1) measuring elements for measurement of
total energy. Thus a 3-phase 4 wire system requires a 3 element energy system. Polyphase
EE0311-Measurements & Control System Lab
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energymeters may be multidisc type each element divides a separate disc. In the single disc type
meter all elements drive the same disc.
Circuit Diagram
Tabular Column
V
(v)
420
I
(A)
2
MF
1
900
Time for 1
revolution
1
Wattmeter x Time
Readings (kw-sec)
31
420
3.8
1600
14
420
5.8
2200
True Energy
% error
7.75
Energy Meter
(Em)
4.16
6.72
4.16
-33%
5.88
4.16
-29%
-46%
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Calculation
Power measured by wattmeter is P = wattmeter read x multiplication factor
True Energy, ET = P x t . . . . wh
Energy recorded by the energy mete is
EM = energy meter constant x N . . . . . .Wh
Percentage Error = (EM ET) x 100%
Result
Hence given 3-phase energy meter was calibrated.
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Tabular Column
Inductive Load
Voltage
(V)
228
Current
(A)
1.1
Power Factor
(Lagging)
0.95
228
1.25
0.93
228
1.4
0.97
228
1.5
0.85
228
1.6
0.82
CAPACITIVE LOAD
Capacitive Load
Voltage
(V)
230
Current
(A)
0.25
Power Factor
(Lagging)
0.74
230
0.5
0.85
230
0.6
0.93
230
0.75
95
230
0.85
0.97
230
0.95
0.98
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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 n the stator with their axis 120 degree apart) and is Y connected.
The rotor is a dumb bell construction and wound with a concentric coil. An AC voltage is applied
to the rotor winding through slip rings. Ref. Fig. No.1A.
Let an AC voltage Vr (t) = Vr sin Wct (1) be supplied to the rotor of the synchro
transmitter. Thisvoltage causes a flow of magnetizing current in the rotor coil which produces a
sinusoidally time varying flux directed along its axis and distributed nearly sinusoidal, 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 (TX) acts like single phase transformer in which rotor coil is the primary and
the stator coils form three secondaries.
Let Vs1 N, Vs2 N and Vs3 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 transistor shown in
fig.No.1 where the rotor axis makes an angle 0 with the axis of the stator coil S2.
LetVs1N = KVr sin Wct cos (0+120)
(2)
(3)
(4)
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(5)
(6)
(7)
When 0 is zero from equation (2) and (3) it is seen that maximum voltage is induced in the stator
coil s2 while it follows from equation (7) 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.
Thus it is seen that the input to the synchro transmitter is the angular position of its rotor
shaft and the output is a set of three single phase voltages given by equation (5), (6) and (7). The
magnitudes of these voltage are functions of a shaft position.
The classical synchro systems consists of two units.
1. Synchro transmitter (Tx)
2. Synchro rceiver (Tr)
The synchro receiver is having almost the same constructional features. The two units are
connected as shown in figure No.2. Initially the winding S2 of te 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 cos 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 Tx is moved to a new position, the voltage balance is disturbed.
Assume that the rotor of Tx 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 1 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.
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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 Tx.
The Tx Tr pair thus serves to transmit information regarding angular position at one point
to a remote point.
System Description and Operation
The system set up is made up of synchro transmitter and synchro receiver on a single
rigid base provided with suitable swithes and anodized angular plates. The system also contains a
step down transformer for providing excitation to the rotors. Suitable test points for rotor (R1 and
R2) and stator (S1, S2 and S3) for both Tx and Tr are provided.
Operating Instructions
Experiment No.1 : Study of synchro transmitter
In this part of the experiment we can see how, because of the transformer action, the
angular position of the rotor of synchro transmitter is transformed into a unique set of stator
voltages.
Procedure:
1.
connect the mains supply to the system with the help of cable provided. Do not connected
any patch cords to terminals marked S1, S2 and S3
2.
3.
Starting from zero position, note down the voltage between stator winding terminals i.e
Vs1s2, Vs2s3 and 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.
4.
Note that zero position of the stator rotor coinsides with Vs2s1 voltage equal to zero
voltage. Do not disturb this condition.
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Procedure
1.
2.
3.
Switch on SW1 and SW2 and also switch on the mains supply.
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4.
Move the pointer i.e rotor position of synchrono transmitter Tx in steps of 30 degrees and
observe the new rotor position. Observe that whenever Tx rotor 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.
Precautions
1.
2.
3.
Note: 1) Connect S1, S2, S3 of synchro transmitter to S1, S2, S3 of synchro receiver respectively
by mans of patch cords.
2) SW1 & SW2 are switches for rotor supply (excitation) of synchro TX & TR.
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Stator / Vs3S1
Terminal VS1S2
Position rotor
degrees
00
0.1
60.3
Voltages (RMS)
VS2S3
59.8
30
33.8
34.5
68.6
60
58.9
1.1
60.7
90
69.1
33.7
34.9
120
60.1
59.1
0.4
150
36.2
68.9
32.6
180
0.9
60.3
59.3
210
33.9
34.8
68.9
240
59.1
0.3
59.6
10
270
68.8
33.5
34.9
11
300
59.7
60
0.4
12
330
33.5
69.2
35.1
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30.0
30.5
60.0
61.0
90.0
89.0
120.0
119.0
150.0
148.0
180.0
178.0
210.0
209.0
240.0
240.0
10
270.0
269.0
11
300.0
299.0
12
330.0
329.0
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An AC servo motor is basically a two phase induction motor except for certain special
design feature. A two phase induction motor consisting of two stator windings oriented 90
degrees electrically apart in space and excited by ac voltage which magnitude and 90 degrees.
Generally voltages of equal magnitude and 90 degrees phase difference are applied to the two
stator phases thus making their respective fields 90 degrees apart in both time and space, at
synchronous speed. As the field sweeps over the rotor, voltages are induced in it producing
current in the short circuited rotor. The rotating magnetic field interacts with these currents
producing a torque on the rotor in the direction of field rotation.
The shape of the characteristics depends upon ratio of the rotor reactance (X) to the rotor
resistance (R). In normal induction motors X/R ratio is generally kept high so as to obtain the
maximum torque close to the operating region which is usually around 5% slip.
A two phase servo motor differs in two ways from normal induction motor.
1.
The rotor of the servo motor is built with high resistance so that its X/R ratio is small and
the torque speed characteristics is as shown in the figure (2).
Curve (3) is nearly linear in contrast to highly non linear characteristics with large X/R. It
must emphasized that if a conventional induction motor with high X/R ratio is used for
servo applications, then because of the positive slope for part of the characteristics, the
system using such a motor becomes unstable.
The motor construction is usually squirrel cage or drag cup type. The diameter of the
rotor is kept small in order to reduce intertia and thus to obtain good accelerating
characteristics. Drag cup construction is used for a very low intertia operations.
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2.
In servo applications, the voltages applied to the two stator windings are seldom
balanced. On of the phases known as the phase known as the control phase with respect
to the voltage supplied to the reference windings and it has a variable magnitude and
polarity. (fig.2). The control winding voltage is supplied from a servo amplifier. For low
power applications, AC servo motors are preferred because they are light weight, rugged
and there are no brush contacts to maintain.
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second and hence to the rpm of the motor under test. There is a preset in services with the meter
which works as a calibrating control.
A full wave output of a rectifier produces a fixed frequency of 100Hz (within + or 1%
accuracy) and the same is used as a standard frequency for effecting calibration on the speed
indication. The preset marked PR1 is to be adjusted for 20% of F.S.D or to 300 rpm. The
switch SW4 is thrown back to normal mode after carrying out calibration check up.
Torque Measurement
In order to measure torque produced by the AC servo motor, we must have an
arrangement to produce a variable load on the AC servo motor. The ac servomotor is
mechanically coupled to a small dc machine (a permanent magnet dc motor or generator) on the
remaining side of the extended shaft. A variable dc current is required to be passed on through
the dc motor. The polarity of the current is such as to produce an opposite torque as a result of its
interaction with the field of the permanent magnet.
In can be proved that the electrical power developed by the AC servo motor is given by
the product of back emf generated by the dc machine and current we are forcing through the
armature by means of a variable resistance and the constant voltage source. By varying the
resistance, the current is changing and the opposite torque is also changing. We have to use the
following formula to find the torque in gm-cm.
4
T p 1.019 10 60 gm cm
2 pi
= Eb x Ia
N = R.P.M
It P is in milliwatt, proper substitution must be made in the result.
In this formula, Eb can be found by measuring the generated emf across the armature
terminal for a given speed. As the field is constant the output emf (hence back emf) is
proportional to the shaft speed, with armature circuit open circuited, we can run the machine as a
dc generator and find slope (volt/rpm) for the given dc machine.
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Ia is measured by ammeter which is connected in series with the power supply and the
variable resistance (LOAD CONTROL). This method does not take into account the no load
torque developed by the ac servomotor. To measure the torque developed at no load (i.e torque
just required to rotate speed measuring disc, rotor of ac servomotor, rotor of dc motor) the ac
servomotor is switched off. Now the dc machine run as the motor with the help of the dc power
supply, speed bring controlled by variable resistance. Again we have to effect the measurement
of Ia for a given speed. From the product of Eb (back emf developed by the motor) and armature
current taken, we can find the mechanical power developed at the motor shaft. Again we must
use the formula
P 2 pi NT
60
4
Torque P 1.019 10 60
29i N
For various speeds, we can note down the no load torque required to be developed by motor. This
torque is negligible and may not be taken into account for normal testing.
Speed torque characteristics of AC servo motor.
Study all the controls carefully on the front panel.
1.
Keep the switch SW3 in upward position, indicating that the armature circuit of dc
machine is not connected to auxiliary power supply (12 volts), switch SW2 should also
be in off position.
2.
3.
Now, switch on SW1 and also switch on SW2. You can observe that AC servomotor will
start rotating and the speed will be indicated by the meter M1 on the front panel. (It is
assumed that calibration procedure is already carried out for speed measurement).
4.
With SW3 in OFF condition, vary the speed of the AC servomotor by moving P1 in
clockwise direction and note the emf generated by the dc machine (Now working as dc
generator or tacho). Enter the results in Table No.1 (Use a dc voltmeter in the range 0 to 2
volts or so).
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Speed R.P.M
320
-0.409
500
-0.585
700
-0.835
900
-1.057
1100
-1.29
1300
-1.52
5.
Now switch SW3 in off condition, switch ON SW2 and keep the pot P1 in minimum
position. You can observe that the ac servo motor starts moving with speed being
indicated by the RPM indicator. You can measure the reference winding voltage (about
100 volts ac and control winding voltage (which is variable by P1). Note the speed of ac
servomotor. Now switch on SW3 and start loading ac servo motor by controlling pot P2
in a slow fashion. Note down corresponding values on Ia and N. Enter these values in
Table.2.
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Ia
Speed N
Eb
Pmw = Eb x Ia
Torque
No.
mA
RPM
Volt.
Millwatt
Gm-cms
200
1300
1.3
260.0
19.46
400
1175
1.175
470.0
30.92
500
1050
1.05
525.5
48.65
600
975
0.97
585.0
58.38
700
800
0.80
560.0
68.00
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Ia
Speed N
Eb
Pmw = Eb x Ia
Torque
No.
mA
RPM
Volt.
Millwatt
Gm-cms
200
1400
1.4
280.00
19.46
300
1350
1.35
405.00
29.19
400
1300
1.3
520.00
38.92
600
1200
1.2
720.00
58.38
700
1175
1.17
822.5
68.11
Ia
Speed N
Eb
Pmw = Eb x Ia
Torque
No.
mA
RPM
Volt.
Millwatt
Gm-cms
0.05
850
-0.15
-0.0075
-0.858
0.15
780
0.66
0.099
12.350
0.20
700
1.24
0.248
34.47
0.25
620
1.77
0.4425
69.449
0.35
550
2.57
0.899
159.053
6.
Now you may set control winding voltage to a new value of 30 volts after switching of
SW3. Again repeat the process as indicated in step No.5 i.e. Table 2 for a new value of
control winding voltage.
7.
Plot the speed torque characteristics for various values of control winding voltages. Study
their nature.
Precautions
1.
Before switch on, P1 and P2 should be always brought to most anticlockwise position.
2.
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Check for loose or broken connections and transformer voltages, fuses etc.
2.
For photoelectric pick up, the lamp (6 volts, 0.06 amps) should be glowing. Check for
loose connection or blown lamp.
3.
+5 volt DC should be present for photo electric pick up circuit measurable at the
connector.
4.
Check for (500 Ohm 3 Watt) load control potentiometer & 10 Kilo Ohm / 3 Watt speed
control potentiometer.
5.
For speed indicator, throw the internal DPDT switch marked cal / read, in cal position.
The meter should indicate 300 rpm if no indication is available check for IC 741, IC555
on speed indicator PCB DPDT switch should be in read position, for normal operation.
6.
Figure 1
Schematic Diagram of Two Phase Induction Motor
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Figure 2
Torque Speed Characteristics of Induction motor
Characteristics (3) = AC Servomotor
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2 pi N
4
'T ' 0.1632 1.019 10
60 2 3.142 850
T = 18.68 Gm Cm.
Therefore point A (18,68,850), which is plotted on graph 2.
ANALYSIS OF AC SERVOMOTOR SPEED-TORQUE CHARACTERISTICS
We observed that the torque speed curves are not straight lines. Therefore a linear
differential equation cannot be used to represent the exact motor characteristics. Sufficient
accuracy may be obtained by approximating the characteristics by straight lines. The following
analysis is based on this assumption.
(Reference : - feedback control system analysis & synthesis by J.J.DAZZO & H.Houpis . Page
No.48)
The torque generated is a function of both the speed W & the control winding voltage
ec. In terms of partial derivatives, the torque equation is
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ec
ec ec
(1)
t(ec , w)
T
ec
kc &
Kw
partial derivative
(2)
for a load consisting of inertial & damping, the load torque required is,
TL = JDW = BW
(3)
Where D is operator
Since the generated load & torque must be equal, from equations (1) & (3) we have,
Kcec + Kww = JDw + Bw
(4)
Rearranging terms,
JDw + (B-Kw)w = Kcec
(5)
JD 6 + (B-Kw) DQ = Kcec
(6)
In order for the system to be stable, the coefficient (b-Kw) must be positive. Observation
of the motor characteristics shows that Kw -
T
W
K
c
ec
wconstan t
9 gm cm
10V
(7)
= 0.9gm-cm/V0H
and K w T
w
ecconstan t
3 gm cm
50rpm
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SRM UNIVERSITY
JD Q + (B+0.0063) DQ =
0.9gm cmec
V
(8)
Where values for J and B can be inserted if B is negligible, only J value need be
introduced.
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Apparatus
Ammeter
Voltmeter
Rheostat
Quantity
1
1
1
1
2
1
1
Formula
The transfer function of a field controlled DC motor is
m
( )
E f ( ) {(1 ST f )(1 STm )}
Tm
J
Lf
=
=
Km
Tf
Procedure
I)
2.
3.
Adjust the motor field rheostat and bring the motor to rated speed
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II)
4.
5.
Readings are taken for different field event keeping armature current cut
Retardation Test:1.
2.
3.
Motor field rheostat is adjusted to bring the motor slightly above the rated speed
4.
Using DPDT switch supply is cut off and motor is allowed to retard
5.
6.
7.
DPDT switch is thrown off such that supply to armature is cut off, but a known
resistance R is connected to the armature and the motor is allowed to retard.
8.
Time taken of 5% fall in speed, voltmeter voltmeter and current readings are
noted.
9.
To find Rf:
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To find Lf:
Model Graph:
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To find Ra:
LOAD TEST
3 Point Starter
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Load Test:
Sl.
If
Torque
No.
(Volts)
Ia kept
emf)
(rpm)
S1
(Kg)
S2
(Kg)
S1 ~ S2 (Kg)
T=9.81 R X S1 ~ S2 N-m
200
0.4
1498
200
0.5
1438
1.147
200
0.54
1390
2.295
200
0.6
1360
1.5
4.5
5.164
200
0.65
1354
6.886
Retardation Test:
Without load resistance
N (rpm)
Time (s)
I (A)
V (volts)
N (rpm)
t (sec)
1600-1500
1.42
2.8
175
1600-1500
0.79
1500-1400
1.45
2.7
170
1500-1400
0.89
1400-1300
1.74
2.65
160
1400-1300
0.82
To find Rf :
1
Sl.No.
V (volts)
I (A)
Rf = V/If ()
11
0.32
343.75
130
0.4
325
170
0.5
340
200
0.6
333.33
Average
333.52
Age : 333.52
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To fine Lf:
1
Sl. No.
V (volts)
If (mA)
Zf (Vf/If ()
60
13
4.61510
100
20
5.010
140
27
5.18510
180
33
5.4510
220
39
5.6410
Average
3
3
Xf
Lf
4602.70
14.65
4988.13
15.87
5174.13
16.46
5436.66
17.31
5630.01
17.92
5167.04
16.44
Model Calculation
Obtain s Kt T from T If curve
I f
dN is calculated from N-t curve obtained from Retardation test without R
dT
P P1 (
t
t t1
2 (V1 I1 V2 I 2 ) 2 (I12 Ra I 22 Ra )
t = Time taken for speed reduction during retardation test without load R t
= Time taken for speed reduction during retardation test with load R.
Now, P = 0.0109 JN
dN
dt
t 2 t1
N1
log log
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SRM UNIVERSITY
Find B =
J
Tm
K
m
K t
Rf B
Substituting the values for different constants in the general formula for TF, we get the transfer
function of the given M/C
Result
Hence the transfer functions of the field controlled DC motor was found to be
( )
2.094
E f ( ) {(1 S 0.565)(1 S14.893)}
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Apparatus
Resistor
2
3
4
Capacitor
Function Generator
CRO
Quantity
1
1
1
1
1
Description
Compensation is essentially a compromise between steady state accuracy and relative
stability.
a) Load Compensation: There are many ways to realize continuous time lead compensators
of which one is an electrical RC network. Lead compensators essentially yields an
appreciable improvement in transient response and a small change in steady state
accuracy. It way accentuate high frequency noise effects. A lead compensator is
basically a high pass filter i. high frequencies are passed.
b) Lag Compensation: This yields an appreciable improvement in steady state accuracy at the
expense of increasing the transient response time. It will suppers the effect of high
frequency noise effects. It permits a high gain at low frequencies which improves
steady state performance. In lag compensation we use attenuation characteristic at
high frequencies rather than the phase lag characteristic. Lag compensation increases
the low frequency gain and thus improves the steady accuracy of the system, but
reduced the speed of response due to reduced bandwidth.
Procedure
1. The connections are given as per the circuit diagram
2. Using function generator, input is given and the output is observed at the CRO
3. For different values of frequencies, the values of a, b and output voltage are determined.
4. The graph is drawn by taking frequencies along X-axis and magnitude and phase along Yaxis.
EE0311-Measurements & Control System Lab
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2)
Lag Network
Tabulations
Lead Network
-1
Output
Voltage
(V0)
5.60.5=3.0
= sin
(a/b) deg
11
Input
Voltage
(V)
42=8
2.8
20.92
Gain = 20
log
(V0/Vi)db
-9.11
10.1=0.1k
42=8
50.5=3.0
0.2
2.6
4.41
10.1
11.5=1.5k
42=8
6.20.5=3.1
1.4
3.2
25.94
8.23
12=2k
42=8
70.5=3.5
1.8
3.6
30.0
7.18
13=3k
42=8
4.21=64
2.2
27.03
5.59
101=10k
3.82=7.6
6.41=64
1.2
3.4
20.66
1.49
1001=100k
3.62=7.2
6.81=6.8
0.6
3.6
9.59
0.96
Sl.
No.
Frequency
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Lag Network
-1
Output
Voltage
(V0)
30.5
= sin
(a/b) deg
0.08k
Input
Voltage
(V)
4.21
1.4
2.2
39.52
Gain = 20
log
(V0/Vi)db
-8.93
0.1k
4.21
30.5
1.4
44.42
-8.943
1k
4.21
40.1
2.2
65.38
-20.42
2k
4.21
2.20.1
1.8
2.2
54.9
-25.61
5k
4.21
2.250mV
1.2
2.2
33.05
-31.63
10k
4.21
2.250mV
0.2
2.2
5.21
-31.63
20k
4.21
2.250mV
0.2
2.2
7.83
-31.63
Sl.
No.
Frequency
Formula
1.
where = R2 / R1 + R2,
T = R 1 C1
S T
2.
S
S
where
R R
1
1
T
1
R2
T = R 2 C2
Result
The transfer function of lead and lag networks were determined and was found to be
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Apparatus
Rheostat
Ammeter
Voltmeter
1-phase Variac
Formula
Quantity
1
1
1
1
2
1
1
(s)
Ka
Ra B
P P' t .J
t t'
J
B
T
Tm
T
a
L
a
P
dN
0.0106N dt
t2
log
/
Kgm2 rad
N1
log N2
e
Ra
Procedure
I
Load Test
1.
The supply is switched on and the motor is started with a 3-point starter
2.
Motor field rheostat is adjusted and the motor is brought to rated speed
3.
Speed, Ammeter, Voltmeter and spring balance readings are noted down
4.
are
noted down.
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Retardation Test
Model Graphs
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Load Test
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To find Ra
To find La
II
Retardation Test
1. Motor is started on noload using 3-point starter
2.
Adjust motor field rheostat and run motor at speed slightly greater than
rated
speed.
3.
Using DPST switch cut off the supply and allow the motor to retard
4.
5.
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6.
DPST switch is used to cut off armature supply but a known resistance is added
to armature circuit & motor is allowed to retard.
7.
Time for 5% fall on speed & corresponding voltmeter, ammeter readings are
noted down.
Tabulations
Load Test
Sl.
Speed
No.
(volts)
(A)
S1
(Kg)
S2
(Kg)
S1 ~ S2
(Kg)
(rpm)
(N-m)
220
1490
220
1.5
1.5
3.5
1475
0.229
220
1.6
4.6
1440
2.410
220
2.5
1430
4.017
220
7.4
5.4
1425
5.968
220
3.5
8.4
6.4
1420
6.088
220
1415
7.142
220
4.5
10
1410
8.248
No Load Test
Sl. No.
1
Speed (rpm)
1500
V (volts)
215
Ia (A)
Eb (V)
0.26
206.04
1400
208
0.242
198.068
1250
180
0.184
178.096
1100
164
0.162
162.152
8.
III
To find Ra:
1.
2.
3.
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SRM UNIVERSITY
IV
To find La:
1.
2.
3.
From these values, the values of Z are obtained. From Z and Ra, the value of Xa
Ia (A)
Ra = Va / Ia ()
3.1
2.58
10
3.5
2.857
12
4.0
3.0
13
4.5
2.88
2.831
Average
To find La:
Va(V)
Ia (A)
Za = Va / Ia ()
Xa ()
La (H)
40
40
39.89
0.126
88
44
43.90
0.139
134
44.64
44.57
0.141
112
2.5
44.8
44.71
0.1423
Average
0.137H
Retardation Test:
(Without load R)
With load R
N (rpm)
Time (s)
N (rpm)
V (volts)
I (A)
Time, T(s)
1600-1500
1.3
1600-1500
200
2.5
0.7
1500-1400
1.8
1500-1400
180
2.4
1.8
1400-1300
2.2
1400-1300
165
2.3
2.2
Model Calculation:
Find Kb and Kt from Eb Vs N and TVs Ia
graphs Find La from Ra and Xa measurements
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where P
t2
N1
log
P'
t1
,J
log N2
t
P
dN
0.0109N dt
J
T
t t'
(s)
38.61
Ra (s) {(1 S0.0412)(1 S5.783) 5.67}
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The bode plot can be drawn for both open loop and closed loop transfer function. Usually
the bode plot is drawn for open loop system. The standard representation of the logarithmic
magnitude of open loop transfer function of G(jw) is 20 where the base of the logarithm is 10.
The nit used in this representation of the magnitude is the decibel, usually abbreviated db. The
curve are drawn on semi log paper, using the log scale (abscissa) for frequency and the linear
scale (ordinate) for either magnitude (in decibels) or phase angle (in degrees).
The main advantage of the bode plot is that multiplication of magnitudes can be
converted into addition. Also a simple method for sketching an approximate log magnitude curve
is available.
Determination of phase and gain margin from bode plot
The gain margin in db is given by the negative of db magnitude of G(jw) at the phase
cross-over frequency, wpc. The wpc is the frequency at which phase of G(jw) is 1800. If the db
magnitude of G(jw) at wpc is negative then gain margin is positive and vice versa.
Let gc be the phase angle of G(jw) at gain cross over frequency wgc. The wgc is the
frequency at which the db magnitude of G(jw) is zero. Now the phase margin, is given by, =
1800+ gc. If gc is less than 1800 then phase margin is positive and vice versa.
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If the G(S) H(S) contour in the G(S) H(S) plane corresponding to Nyquist contour in the
s-plane encircles the point (-1+j0) in the anticlockwise direction as many times as the number of
halfs-plan poles of G(S) H(S), then the closed loop system is stable.
In examining the stability of linear control systems using the Nyquist stability criterion,
the following three situations.
1.
There is no encirclement of -1+j0 point. This implies that the system is stable if there are
no poles of G(S) H(S) in the right half s-plan. If there are poles on right half s-plane then
the system is unstable.
Bode Diagram
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Frequency (rad/sec)
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2.
An anticlowise encirclement or (or encirclements) of -1+j0 point. In this case the system
is stable if the number of anticlociwise encirclement is same as the number of poles of
G(S) H(S) in the right half s-plane. If the number of encirclement is not equal to number
of poles on right half s-plane then the system is unstable.
3.
There is a clockwise encirclement (or encirclement) of the -1+j0 point. In this case the
system is always unstable.
Procedure
1.
2.
3.
4.
Calculate the theoretical values for the time domain specifications and compare with the
observed values.
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% Nyquist plot
s=tf(s);
G=75*(1+0.2*s)/(s*(s^s+16*s+100));
nyquist(G);
axis equal;
% Bode plot
s=tf(s);
G=75*(1+0.2*s)/(s*(s^s+16*s+100));
bode(G);
axis equal;
Result
The response of the given transfer using Bode plot, Nyquist Plot & Root locus obtained
using the MATLAB. The theoretical values and practical values are compared.
70