BANNARI AMMAN INSTITUTE OF TECHNOLOGY

(An Autonomous Institution Affiliated to Anna University-Chennai

Approved by AICTE - Accredited by NBA and NAAC with A Grade)
SATHYAMANGALAM 638 401 Erode District Tamil Nadu

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

LAB MANUVAL

11E608-CONTROL ENGINEERING LABORATORY

S6 B.E. ELECTRICAL AND ELECTRONICS ENGINEERING

Year of Release 2015

BANNARI AMMAN INSTITUTE OF TECHNOLOGY

(An Autonomous Institution Affiliated to Anna University-Chennai
Approved by AICTE - Accredited by NBA and NAAC with A Grade)
SATHYAMANGALAM 638 401 Erode District Tamil Nadu

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

LAB MANUVAL

11E608-CONTROL ENGINEERING LABORATORY

S6 B.E. ELECTRICAL AND ELECTRONICS ENGINEERING
Prepared by
K.Senthilnathan

Approved by
Dr.R.Senthilkumar

M.Lakshmanan

HOD/EEE
Year of Release 2015

R 2011: 11E608: Control Engineering Laboratory

List of Experiments as per the syllabus
Sl.No.
1

Name of the Experiment

Determination of transfer function of armature controlled DC motor.

Determination of transfer function of field controlled DC motor.

Determination of transfer function of AC servo motor

4.

Design and simulation of SISO transfer function with non linearity

Design and simulation of transfer function of Type 0 and Type 1 systems for different
input signals

Design and simulate time response of a linear system

Design and simulate frequency response of a lead network.

Performance evaluation of P,PI and PID controllers.

Stability analysis of linear systems simulation

9

10

Study of Characteristics of synchros.

Study of stepper motor.

Design and simulate Lead compensator, Lag compensator and Lead - Lag compensator.

List of Experiments

Sl.No

Name of the Experiment

Determination of transfer function of armature controlled DC

motor.

Determination of transfer function of field controlled DC motor.

Determination of transfer function of AC servo motor

4.

Design and simulation of SISO transfer function with nonlinearity

Design and simulation of transfer function of Type 0 and Type

1 systems for different input signals

Design and simulate time response of a linear system whose

damping ratio must be between 0.4 and 0.8

Design and simulate frequency response of a lead network.

Performance evaluation of P,PI and PID controllers.

Stability analysis of linear systems simulation

10

Study of Characteristics of synchros.

Study of stepper motor.
Design and simulate three types of compensators for system
stability whose Velocity error constant should be greater than or
equal to 50.

Armature Controlled DC Motor:

Page No

Measurement of Ra:

DETERMINATION OF TRANSFER FUNCTION OF ARMATURE CONTROLLED DC

MOTOR

Exp No: 1

Date:

AIM: To find the Transfer function of DC Motor with the control signal applied to Armature.
GENERAL OBJECTIVE
To assess the DC motor performance using transfer function
SPECIFIC OBJECTIVES
1. Understand the two types of speed control.
2. Find the speed in terms of current.
3. Determine the transfer function
APPARATUS REQUIRED
S.NO
APPARATUS
1
DC shunt motor

RANGE/ TYPE
-

QUANTITY
1

Voltmeter

0-300V /MC

Ammeter

0-10A /MC

Tachometer

Digital

THEORY:

A DC machine can run as a motor, when a DC supply is given to its field winding

to produce magnetic flux while the same DC source is used to supply current to the armature.
Now the armature becomes a current carrying conductor and as it is kept in a magnetic field, it
develops mechanical force. The direction of the force is given by Flemings Left Hand Rule. DC
motor in control applications is used for delivering mechanical power to control elements while
taking electrical control signal as input.

Electrical input to DC motor is called control signal

and that can be applied in two ways. In one method, the control signal is applied to the field
winding while fixed voltage is applied to armature winding. This method is called Field
controlled motor. In another method, control signal is applied to armature winding and constant
voltage is applied to field winding. This method is called Armature controlled motor. Here the
transfer function of armature controlled motor is to be found out.

Measurement of La:

Model Graph:

DERIVATION OF TRANSFER FUNCTION:

According to Kirchhoffs Voltage Law (KVL),

V a i a R a La

dia
eb
dt

(1)

The expression for back emf is

eb (t) P Z n/A
Where n = speed of the shaft in revolutions per second
Hence

eb (t) (t )
d

e b (t) K b (t ) K b dt

(2)

Substituting eqn.(2) for eb in eqn.(1)

V a ia R a La

d ia
d
Kb
dt
dt

Ia (s)[R a s L a ] K b s (s) V a (s)

Torque in a motor

(3)

T(t) (t) i a ( t)

Here control signal is applied to the armature and field is constant excited
Hence T(t) i a ( t)
T(t) K a i a ( t)

(4)

This torque rotates the armature with inertia J and Friction Coefficient B , hence

Determination of Ka:
Sl.No

Voltage Across

Armature

Speed in

armature , Va

Current, Ia

Rpm, N

w, rad/sec

Eb= V - IaRa

1.

174

0.7

1474

154.36

165.36

2.

153

0.7

1318

138.02

151.28

3.

144

0.7

1257

131.63

137.28

4.

130

0.7

1130

118.3

123.28

5.

120

0.7

1047

109.64

113.28

To find Armature Resistance, Za:

Sl.No

Armature

Armature

Current,Ia(A) Voltage,Va(V)

Armature
Resistance,
Za = Va/ Ia ()

1.

1.5

7.5

2.

10

3.

2.3

12

5.2

4.

2.4

14

5.83

Za=5.25 ohm

 (s)
Ka

2
Va(s) (Js Bs)(Ra sLa) Ka Kb s

Ka
Ra Bs[(1

J
La
Ka Kb
s)(1
s)
]
B
Ra
Ra B

Ka
Ra B
s[(1 sTm)(1 sTa)

Ka Kb
]
Ra B

where La/Ra = Armature Time Constant, Ta

J/B = Mechanical Time Constant , Tm
PREREQUISITE KNOWLEDGE

Derivation of transfer function, speed control of DC shunt motor

PROCEDURE:
1. Determination of Ka
Power developed in d.c motor

eb I a (

2N
)T
60

K b (t ) I a (t )T
Since for armature controlled motor, torque T = Ka Ia

K b (t ) I a (t ) K a I a
Hence

Ka Kb

The connections are made as shown in the circuit diagram 1 for the determination of back
emf of the d.c motor for different speeds. Initially 100 ohms resistance is connected in
series with the armature. Field winding rheostat is kept at its minimum. When supply for
the motor is given, there will be tendency for the armature current to increase to a high
value as back emf is zero at starting. But the current is limited by the 100 ohms armature
rheostat. When the motor has started the armature resistance is gradually cut down
completely to increase the motor speed. Further to bring the motor speed to rated value,
resistance in field rheostat is increased so that motor reaches rated speed. This excitation
is called rated or normal excitation and it is not disturbed.
Once again the armature resistance is included to the maximum 100 ohms while
keeping the field excitation undisturbed. Now the slow speed at full armature resistance is
noted and correspondingly the voltage across the armature is noted down. The speed is
increased in steps by cutting the armature resistance each time noting the speed and
voltage across the armature. By measuring the armature resistance back emf for each
speed can be calculated. The readings are tabulated as in Table 1.
Graph: Back emf , eb
Measurement of Ra

vs

angular speed, w rad/sec

Connections are made as per the circuit diagram 2 where

armature of the d.c motor is connected in series with low resistive load having current
capacity equal to full load current of the armature. A voltmeter is connected across the
armature and an ammeter is connected in series with the armature. First keeping the
maximum resistance in the armature supply is given. The voltmeter reading and ammeter
reading are noted down. Then armature resistance is decreased so that the armature
current becomes half the rated value. The readings are taken. Again the armature
resistance is further decreased so that the armature current is rated value. Again the
readings are taken and tabulated.
3. Measurement of Time constant of the motor, Tm
The connections are made as shown in the circuit diagram 1. The experiment is no
load test on the motor. The armature of the d.c motor is kept at maximum resistance by
connecting a 100

Ohms rheostat in series with the armature. The field rheostat is kept in its minimum
position. The motor is started and armature resistance is cut slowly so that the motor is
allowed to pick up speed. After fully cutting the armature resistance, motor field resistance is
increased to a position so that motor reaches rated speed. The field current of the motor at
this position is called rated excitation. This field rheostat position is maintained for rated
excitation.
Before starting the experiment, once again armature resistance of the motor is brought to
the maximum value of 100 ohms without disturbing the rated field excitation. Now the supply
for the motor is given and sufficient time is allowed so that the motor reaches a steady speed, N s
whose value is noted. From this steady speed, 0.632 times of the steady speed is calculated
which is equal to 0.632 N s. Let the mechanical Time constant of the motor with 100 ohms
armature resistance be Tmh. The Time constant Tmh is the time taken for the motor to reach 0.632
Ns from starting. To find out Tmh the supply is disconnected and the motor is restarted with
switching on a stop watch. The time taken by the motor to reach 0.632 N s is Tmh. The actual
motor time constant Tm without the external resistance of 100 ohms will be much lower and it is
calculated as follows.

Tm R a
T mh R a R ex
Tm R a
T mh R a R ex
T m T mh (

Ra )
R a R ex

(7)

The actual Time constant, Tm of the motor will be a fraction of a second and difficult to
measure. Hence the higher Time constant with 100 ohms included in the armature, Tmh is
measured . From which Tm is found out by equation (7)

4. Determination of La
The connections are made similar to the circuit diagram 2 except 230V ac is applied instead
of dc. The voltmeter and ammeter are ac meters of appropriate range. The experiment is repeated
as was done for measurement of armature resistance.
Armature time constant , Ta = La/Ra
Formative Assesment
1. A control system in which control action is somehow dependent on output is known
as
a) open loop system
b) closed loop system
c) semi closed system
d) automatic control system
2. Which of the following activities may be included in a real-time software design process?
a) Platform selection
b) Timing analysis
c) Process design
d) All of the mentioned
Result :

Application
1. To analysis the performance of DC motor
Viva Questions:
1. What is meant by armature controlled method?

2. What is meant by Time constant?

3. Define armature Time constant.

4. Define Mechanical Time constant.
5. Prove Ka = Kb
6. How inductance is encountered in DC motor?
7. What is the significance of back emf?
8. Define torque.
9. Write the formula for electrical time constant.
10. Write the formula for the mechanical time constant.
Simulating Questions:
1. Why are you determining armature Time constant?
2. Why are you determining Mechanical Time constant?
3. Draw the equivalent circuit of armature controlled DC motor.

Field Controlled DC Motor

Determination of Ra:

DETERMINATION OF TRANSFER FUNCTION OF FIELD CONTROLLED DC

MOTOR
Exp No: 2

Date:

AIM:
To find the Transfer function of DC Motor with the control signal applied to Field.
GENERAL OBJECTIVE
To assess the DC motor performance using transfer function
SPECIFIC OBJECTIVES
1. Understand the two types of speed control.
2. Find the speed in terms of current.
3. Determine the transfer function
APPARATUS REQUIRED
S.NO
APPARATUS
1
DC shunt motor

RANGE/ TYPE
-

QUANTITY
1

Voltmeter

0-300V /MC

Ammeter

0-1A /MC

Ammeter

0-10A /MC

Tachometer

Digital

THEORY:
A DC machine can run as a motor, when a DC supply is given to its field winding to
produce magnetic flux while the same DC source is used to supply current to the armature. Now
the armature becomes a current carrying conductor and as it is kept in a magnetic field, it
develops mechanical force and the direction of the force is given by Flemings Left Hand Rule.
DC motor in control applications is used for delivering mechanical power to control elements for
electrical control signal as input.

Electrical input to DC motor is called control signal and that can be applied in two ways.
In one method, the control signal is applied to the field winding while fixed voltage is applied to
armature winding and hence mechanical power is developed and that depends totally on the
magnitude of the
Determination of Lf:

Determination of Rf:

control signal applied to field. This method is called Field controlled motor. In another method,
control signal is applied to armature winding and constant voltage is applied to field winding.
The mechanical power developed here depends on the control signal that goes to armature. This
method is called Armature controlled motor.
DERIVATION OF TRANSFER FUNCTION:
According to Kirchoff Voltage Law(KVL)

R f If ( t) Lf

dif
V f ( t)
dt

If(s)[Rf sLf] Vf(s)

T(t) if (t)
T(t) Kf if (t)

(1)

T(s) K f if (s)
J

(2)

d 2
d
B
T(t)
2
dt
dt

(Js 2 Bs) (s) T(s)

(3)

Multiplying eqn.(1) by Kf

K f if (s) [R f s Lf ] K f Vf (s)

Model Graph:

(4)

substituting

Kf If(s) (Js 2 Bs) (s)

in eqn.(4),

(Js 2 Bs) (s) [Rf sLf] Kf Vf(s)

(s)
Kf

2
Vf(s) (Js Bs) Rf sLf

(s)/Vf(s)

Kf
s Js B Rf sLf

Kf
Rf B

J
Lf
s(1 ( )s)(1 ( )s)
B
Rf

Km
s(1 sTm)(1 sTf)

where Km = Motor Gain Constant

Tf = Field Time Constant

Tm = Mechanical Time Constant

Determination of Kf:
Sl.No

Supply
Voltage,
V(Volts)

Armature

Speed in

Current, Ia Rpm, N
A)

Angular
Velocity,
w(rad/sec)

Back emf,
Eb(V)

1.

76

1.1

650

68.06

72.92

2.

80

1.15

672

70.37

76.78

3.

102

1.2

860

90.95

98.96

4.

118

1.3

981

102.73

114.36

5.

136

1.35

1142

119.58

132.22

6.

144

1.4

1208

126.50

140.08

Steady state speed ,N=0.632*Nm1=0.632 X 1500=948

Mechanical time constant ,Tmh
To find field inductance, Lf:

=18 sec

Sl.No

field

Field

Armature Resistance,

Current,If(A) Voltage,Vf(V)

Zf = Vf/ If ()

1.

42

8.4

2.

5.1

62

12.15

3.

90

11.25

4.

96

10.66

Mean Zf = 10.62ohm

PROCEDURE:
Measurement of Time constant of the motor, Tm

The connections are made as shown in the circuit diagram. The experiment is no
load test on the motor. The armature of the d.c motor is kept at maximum resistance by
connecting a 100 ohms rheostat in series with the armature. The field rheostat is kept in
its minimum position. The motor is started and armature resistance is cut slowly so that
the motor is allowed to pick up speed. After fully cutting the armature resistance, motor
field resistance is increased to a position so that motor reaches rated speed. The field
current of the motor at this position is called rated excitation. This field rheostat position
is maintained for rated excitation.
Before starting the experiment, once again armature resistance of the motor is
brought to the maximum value of 100 ohms without disturbing the rated field excitation.
Now the supply for the motor is given and sufficient time is
allowed so that the motor reaches a steady speed, Ns whose value is noted. From this steady
speed, 0.632 times of the steady speed is calculated which is equal to

0.632 N s. Let

the mechanical Time constant of the motor with 100 ohms armature resistance be Tmh. The Time
constant Tmh is the time taken for the motor to reach 0.632 N s from starting. To find out Tmh the

supply is disconnected and the motor is restarted with switching on a stop watch. The time
taken by the motor to reach 0.632 N s is Tmh. The actual motor time constant Tm without the
external resistance of 100 ohms will be much lower and it is calculated as follows.

Tm R a
T mh R a R ex
Tm R a
T mh R a R ex

T m T mh (

Ra )
R a R ex

(5)

The actual Time constant, Tm of the motor will be a fraction of a second and difficult to
measure. Hence the higher Time constant with 100 ohms included in the armature, Tmh is
measured . From which Tm is found out by equation (5)
2. Determination Of Field Resistance of the Motor, Rf
The motor field resistance is measured by passing known current through the field
winding. The voltage across the field winding is measured using a appropriate voltmeter. The
connections are made as shown in circuit diagram 2. Normally resistance of the field winding of
d.c machine will be around 200 ohms. Hence an external variable resistance of 350 ohms/1.1
amps rheostat shall be connected in series with the field winding of the motor. The rated 220
volts d.c shall be applied to the field winding of the motor in series with the 350 ohms/1.1 amps
rheostat kept at its maximum resistance. An ammeter is connected in series with the field
winding to measure the current and a voltmeter across the winding to measure the voltage drop
in the winding.
Keeping the resistance of the 350 ohms/1.1 amps rheostat in its maximum value, the ammeter
and voltmeter readings are noted. The resistance of the rheostat is reduced in steps each time

noting the ammeter and voltmeter readings. Three sets of readings are taken and the average of
the three resistances measured is the motor field resistance.
3. Determination of Field winding inductance, Lf
The connections are made as shown in circuit 3 which is almost similar to circuit2 except
a.c voltage is applied instead of d.c voltage. The ammeter and voltmeters are also a.c meters of
appropriate range. Three sets of readings are taken . The ratio of voltage to current gives the
impedance, Zf. The average of the impedances measured gives the impedance of the field
winding, Zf.

Z2 = Rf2 + Xf2
Xf = (Z2 - Rf2)1/2
Lf = (Z2 - Rf2)1/2 / 2

4. Determination of Kf
T(t) = Ka Ia(t)
= Kf If (t)
K b Ia = K f If
Torque = Kf If = Ka Ia (rated)
Kf = Ka Ia (rated) / If(rated)
Result :

Formative Assesment
1. Which of the following is an open loop control system?

a) Ward Leonard control

b) Field controlled dc motor
c) Metadyne
d) Stroboscope
2. Which of the following activities may be included in a real-time software design process?
a) inductance
b) Charge
c) Current
d) resistance
Application
1. To analysis the performance of DC motor
Viva Questions:
1. What is meant by field controlled DC motor?
2. What is meant by Time constant of a device?

3. Define field Time constant of the motor.

4. Define Mechanical Time constant of the motor.
5. Write the formula for electrical time constant.
6. Write the formula for the mechanical time constant.
7. Define transfer function.
8. What is meant by Motor time constant?
9. Draw the block diagram for field controlled DC Motor.
10. Define moment of inertia.
Simulating Questions:
1. How Mechanical Time constant is determined?
2. Why high resistance is included in the armature to determine the mechanical Time constant?

Symbolic Representation of AC Servomotor:

Circuit Diagram:

Block Diagram of AC Servo Motor Transfer Function:

DETERMINATION OF TRANSFER FUNCTION OF AC SERVO MOTOR

Exp No: 3

Date:

AIM:
To derive the transfer function of the given AC servo motor and experimentally
determine the transfer function parameters of field controlled DC motor.
GENERAL OBJECTIVE
To assess the AC servo motor performance using transfer function
SPECIFIC OBJECTIVES
1. Understand the two types AC motor.
2. Find the speed in terms of current.
3. Determine the transfer function
APPARATUS REQUIRED

S.NO
1

2
3

APPARATUS
Two phase AC Servo Motor
Speed Control and Transfer
Function Study Trainer Kit
Patch Chards
AC Voltmeter

RANGE/ TYPE

QUANTITY

As
required

(0-20)V/MI

Pre-requisite concepts.
Derivation of transfer function, speed control of AC servo motor
PROCEDURE:
The AC servo motor needs two phase supply for its operation. In a three phase supply,
the voltage between terminals R and N will be in quadrature with voltage between Y and B as
per the vector diagram. Thus, two phase ac voltages obtained.

Torque (T) in Nm

1. G1K1 of pulse isolation output is connected to G1K1 of SCR1.

2. G2K2 of pulse isolation output is connected to G2K2 of SCR1.
3. Switch S1 is used to choose the control mode of operation.
4. 9-pin D-Connector is connected to backside of the trainer.
5. Speed indicator switch is kept in P.V mode.
Model Graph:

VC3

VC1

VC2

Speed - Torque Characteristics of AC Servo Motor

TABULATION 1:

Speed ( rad/sec)

Radius r=0.68m

Sl.No.

Speed
N in rpm

Angular
Velocity
in rad/sec

Control Voltage VC1 = 10

Load

Torque

S in grams

T = 9.81*r*S*10-3 (Nm)

1.

1405

147.05

2.

1143

119.634

13.5

0.09

3.

809

84.68

27

0.18

4.

511

53.49

40.5

0.27

5.

26

2.72

53

0.36

6. The voltmeter is connected across the control winding C1 & C2.

7. 230 V AC Supply is switched on at which the running winding is applied with rated voltage.
8. Pulse ON / OFF Switch S2 is switched on.
9. Rated voltage is applied (12 V) to the control phase winding by using control voltage (C.V)
pot.
10. The motor is loaded with known weights in steps.
11. For each step, the speed N in rpm is observed and angular speed
in rad/sec =
2**N/60 is calculated.
12. The procedure is continued till the motor reaches 0 rpm.
13. All the loads are removed and the control voltage pot is adjusted to 3/4th of the rated voltage.
14. The same procedure is repeated and the readings are observed and tabulated.
15. For each load, torque is calculated using the formula
T = 9.81*r*S*10-3 (in Nm)
where r is the radius of the shaft in m
S is the applied voltage in kg
16. The graph Angular Speed, (rad/sec) Vs Torque, T (Nm) is plotted for the two control
voltages.

17. The slope of any one of the characteristics

18.

T
gives the motor constant Km.

Kc can be found from the characteristics as follows:

A vertical line to represent constant is drawn from axis to meet the characteristics
of both control voltages.
From the intersecting points of the characteristics by the vertical axis for two known
control voltages, a horizontal line towards the torque axis is drawn.
The ratio of change in torque to the change in control voltage
which gives the value of Kc.

T
is calculated
Vc

TABULATION 2:
Control Voltage VC2 =

Sl.No.

Speed
N in rpm

V
Angular
Velocity
in rad/sec

Load

Torque

S in grams

T = 9.81*r*S*10-3 (Nm)

1.

1806

189.02

2.

1637

171.34

13.7

0.0913

3.

1469

153.76

13.7 X 2

0.1827

4.

1146

119.95

13.7 X 3

0.2741

5.

404

42.29

13.7 X 4

0.3655

6.

189

19.78

13.7 X 5

0.4569

Derivation of Transfer Function:

As we know,
T

T(t) = Vc V (t) Vc (t)

c

T(t) = KcVc(t) + Km (t)

The developed torque used to rotate the load on the shaft with inertia J and friction coefficient B,
with an angular speed of (t ) is given by
T(t) = J

d (t )
B (t)
dt

Taking Laplace Transformation for equations (4) and (5) and equating them
KcVc(s) + Km (s ) = (Js + B) (s )
The input to the motor is control signal Vc(s) and the resulting mechanical output is (s ) . Rearranging the above equation(Js + B - K m) (s ) = KcVc(s)
Transfer function =

(s)
Kc

V c ( s) Js B - Km

MODEL CALCULATIONS:

Moment of Inertia J =

520 X 10-4

Friction Coefficient B =

0.0187

For Control Voltage VC1 = 10

Speed N = 1143

Nm/rad/sec

V:

rpm

Angular Velocity = 2**N/60 =

Load S = 13.5

kg/cm2

119.634

rad/sec

grams

Torque T = 9.81*r*S*10-3 =

Nm

From the charactersitics,

KC =

T
=
Vc

0.06

Motor Constant Km =

Nm/rad/sec

T
= 3 X 10-3

Nm/rad/sec

Therefore, Transfer function of AC servo motor

(s)
Kc

V c ( s) Js B - Km

Mechancial Time Constant T =

J
=
(B - Km)

3.31 seconds

RESULT:

Viva Questions:
1.
2.
3.
4.
5.
6.
Applications

What type of motor is used as AC servomotor? Why?

What improvements are made in the servomotor characteristics?
How voltage constant Kc and speed constant Km are determined?
Does the negative value of speed constant affect stability of the element?
How two phase AC voltage is obtained from three phase AC?
Does the motor run when control winding voltage is zero?

1. To analysis the performance of AC servo motor

Stimulating Questions
1. Plot the frequency response of the above system and comment on stability.
2. Obtain Bode plot of the above system using MATLAB and give your comments.

Formative Assesment
1. Which speed control method preferred for constant torque drive?
a) Field controlled
b) Armature control
c) Mechanical control
d) Torque control
2.The synchronous speed for the seventh space harmonic mmf wave of 8 pole, 50 Hz
induction machine will be
a) 107.14 rpm forward direction
b) 107.14 rpm reverse direction
c) 5250 rpm forward directio
d) 5250 rpm forward directio

Non Linear System Example 1:

Non Linear System Example 2:

DESIGN AND SIMULATION OF SISO TRANSFER FUNCTION WITH NON

LINEARITY
Exp No: 4
Date:
AIM: To digitally simulate the time response characteristics of a linear system with simple nonlinearities like saturation and dead zone.
GENERAL OBJECTIVE
To determine the time response characteristics of a linear system with simple non-linearities like
saturation and dead zone.
SPECIFIC OBJECTIVES
1. Define saturation and dead zone
2. Understand the time response characteristics of linear system.
3. Determine the time response of linear system with simple non-linearities .on
APPARATUS REQUIRED
S.NO

APPARATUS

RANGE/ TYPE

QUANTITY

PC with MATLAB software

PRE-REQUISITE CONCEPTS.
Derivation of transfer function, linear and nonlinear system
PROCEDURE:
1. Derivation of transfer function of the given SISO linear system:
Apply Kirchhoffs voltage law or Kirchhoffs current law to form the
differential equations describing electrical circuits comprising of resistors,
capacitors, and inductors.

Apply Newtons Laws to form the equations of motion for lumped parameter
mechanical systems (Translational and rotational) comprising of masses,
springs, and dampers.

Form transfer functions from the describing differential equations.

2. Digital simulation of time response characteristics of the above system:

Write MATLAB script and build the block diagram for the above system using
SIMULINK blocks.

Plot the time response characteristics by simulating the system for step,
impulse and sinusoidal inputs.

Determine the time domain specifications analytically and verify with the
simulated results.

Identify real systems with similar characteristics.

3. Digital simulation of time response characteristics of the above system with simple
non-linearity:

In the SIMULINK Block of the above linear system, include simple nonlinearities like saturation and dead zone.

Plot the time response characteristics by simulating the system for step,
impulse and sinusoidal inputs.

Discuss the effect of non-linearity.

RESULT:

Applications

To analysis the performance of SISO linear system

Viva Voice Questions
1.Define Dead zone.
2.Define saturation .
3. What are non-linear systems?
4. Give some examples of non-linearities
5. Why negative feedback is invariably preferred in a closed loop system? Justify.
Stimulating Questions/Ideas/Applications
1. How to analyse non-linear systems?
2. What is MATLAB? Discuss its significance over other simulation softwares.

Formative Assesment
1. In case of an open loop control system which of following statement is true?
a) output is dependant on the control unit
b) output is independant on the control unit
c) output is dependant on the input and control
d) output is independant on the input and control
2.The synchronous speed for the seventh space harmonic mmf wave of 8 pole, 50 Hz
induction machine will be
a) 107.14 rpm forward direction
b) 107.14 rpm reverse direction
c) 5250 rpm forward directio
d) 5250 rpm forward directio

TYPE -0 System:

TYPE -1 System:

DESIGN AND SIMULATION OF TRANSFER FUNCTION OF TYPE 0 AND TYPE 1

SYSTEMS FOR DIFFERENT INPUT SIGNALS
Exp No: 5

Date:

AIM
To digitally simulate the time response characteristics of first and second order linear system for
different input signals
GENERAL OBJECTIVE.
To Drive and simulate the time response of first and second order system.
SPECIFIC OBJECTIVES:
Students will be able to
1. Define tye number

2. Draw the time response of first order system

3. Draw the time response of second order system
APPARATUS / INSTRUMENTS USED:
S.NO

ITEM

PC with MATLAB Software

QUANTITY
1

PRE-REQUISITE CONCEPTS.
Order of the system
PROCEDURE:
Digital simulation of time response characteristics of the given system:

Write MATLAB script and build the block diagram for the above system using
SIMULINK blocks.
Plot the time response characteristics by simulating the system for step,
impulse and sinusoidal inputs.
Determine the time domain specifications analytically and verify with the
simulated results.

PROGRAM
Type - 0 system step input
nuw= [0 20 0];
den=[0 20 50];
a=tf(nuw,den);
step(a)

Type - 0 system impulse input

nuw= [0 20 0];
den=[0 20 50];
a=tf(nuw,den);
impulse(a)

PROGRAM
Type - 1 system step input
nuw= [1];
den=[0.8 6 1];
a=tf(nuw,den);
step(a)

Type - 1 system impulse input

nuw= [1];
den=[0.8 6 1];
a=tf(nuw,den);
impulse(a)

RESULT:
Type - 0 system step input

Type - 0 system impulse input

Type - 1 system step input

Type - 1 system impulse input

APPLICATIONS
To find the time domain specification.
VIVA VOICE QUESTIONS
1.
2.
3.
4.

What is analog simulation?

Brief digital simulation.
What do u mean by type and order of the system?
Brief the effect on stability of a system when increasing &/ decreasing the type &/ order
of the system.
5.What is damping ratio? Brief its significance w.r.t stability.

STIMULATING QUESTIONS
1. Give a practical example for the type 0 and type 1 system.
2. What are the time domain specifications and what do u infer from them?
FORMATIVE ASSESMENT
1. Time taken for the response to raise from zero to 100 % for very first time is called
a) rise time
b) peak time
c) settling time
d) delay time
2.An open loop, represented by the transfer function G ( s ) = ( s - 1 ) / ( s + 2 )( s + 3 ), is
a) stable and of non-minimum phase type
b) stable and of minimum phase type
c) unstable and of nonminimum phase type
d) unstable and of minimum phase type

Second Order system:

DESIGN AND SIMULATE TIME RESPONSE OF A LINEAR SYSTEM

Exp No: 6
Date:
AIM:
To digitally simulate the time response characteristics of a linear system.
GENERAL OBJECTIVE:
To Drive and simulate the time response characteristics of a linear system.
SPECIFIC OBJECTIVES:

Students will be able to

1. Define different time domain specification.
2. Draw the time response characteristics of a linear system
3. Analysis the linear system.
APPARATUS / INSTRUMENTS USED:
ITEM

S.NO
1

PC with MATLAB Software

PRE-REQUISITE CONCEPTS:

Linear and nonlinear system

PROGRAM
num=[0.025 1];
den=[0.009 0.035 1];
a=tf(num,den);
step(a)

QUANTITY
1

Comments on Time Domain Specifications:

Except for certain applications where oscillations cannot be tolerated, it is desirable that
the transient response be sufficiently fast & sufficiently damped

Thus, for a desirable transient response of a second-order system, the damping ratio
must be between 0.4 and 0.8.
(Small values of (<0.4) yield excessive overshoot
Large values of (>0.8) responds sluggishly)

PROCEDURE:

1.Derivation of transfer function of the given SISO linear system:

Apply Kirchhoffs voltage law or Kirchhoffs current law to form the
differential equations describing electrical circuits comprising of resistors,
capacitors, and inductors.

Apply Newtons Laws to form the equations of motion for lumped parameter
mechanical systems (Translational and rotational) comprising of masses,
springs, and dampers.

Form transfer functions from the describing differential equations.

2.Digital simulation of time response characteristics of the above system:

RESULT:

Write MATLAB script and build the block diagram for the above system using
SIMULINK blocks.

Plot the time response characteristics by simulating the system for step,
impulse and sinusoidal inputs.

Determine the time domain specifications analytically and verify with the
simulated results.

Identify real systems with similar characteristics.

APPLICATIONS
To find the time domain specification of different system.
VIVA VOICE QUESTIONS
1.
2.
3.
4.
5.

Why do u go for time response analysis?

State newtons law. What is its significance in transfer function derivation.
From where do u get the blocks for analysis of a system in a matlab software?
What does an analogous system mean?
List the time domain specifications. Give their usage in determining condition of a
system.

STIMULATING QUESTIONS
1. What does an analogous system mean?
2. What do u infer from the experiment?
FORMATIVE ASSESMENT
1. Laplace transform of step function
a) 1/s
b) s
c) 1
d) 2s
2.An open loop, represented by the transfer function G ( s ) = ( s - 1 ) / ( s + 2 )( s + 3 ), is
a) stable and of non-minimum phase type
b) stable and of minimum phase type
c) unstable and of nonminimum phase type
d) unstable and of minimum phase type

DESIGN AND SIMULATE FREQUENCY RESPONSE OF A LEAD NETWORK

EXP.NO: 7
Date:
AIM:
To determine the frequency response of a system with a given specifications using lead
network
GENERAL OBJECTIVE:
To determine and simulate the frequency response of lead network.
SPECIFIC OBJECTIVES:
Students will be able to

1. Define lead compensator.

2. Draw the frequency response of un compensator system.
3. Design lead compensator and simulate.

APPARATUS / INSTRUMENTS USED:

1. PC with MATLAB software
PRE-REQUISITE CONCEPTS:
Time domain specification
PROCEDURE:
Write a M-file to draw the Bode plot.
Calculate the Phase margin and Gain margin values.
If the specifications are not matched with the desired value, a suitable compensation
network should be designed based on the required value.
Find the transfer function of the compensating network.
Draw the Bode plot for the compensated network and verify the result with the desired
value.

PROGRAM
num=[44 201.6 80];
den=[0.0288 2.116 17.755 35.506 1 0];
a=tf(num,den);
bode(a)

RESULT:

VIVA QUESTIONS:
1. What the advantages are of bode plot?
2. Define phase margin?
3. Define gain margin?
4. What is phase and gain cross-over frequency?
5. What is bode plot?
APPLICATIONS
To find the time domain specification of different system.
STIMULATING QUESTIONS
1.What does an analogous system mean?
2.What do u infer from the experiment?

FORMATIVE ASSESMENT
1. Laplace transform of step function

a) 1/s
b) s
c) 1
d) 2s
3. An open loop, represented by the transfer function G ( s ) = ( s - 1 ) / ( s + 2 )( s + 3 ), is
a) stable and of non-minimum phase type
b) stable and of minimum phase type
c) unstable and of nonminimum phase type
d) unstable and of minimum phase type

PERFORMANCE EVALUATION OF P,PI AND PID CONTROLLERS

EXP No: 8

Date:

AIM: To performance evaluation of P, PI and PID controllers the tuning process controller using
first order system.
GENERAL OBJECTIVE:
To design and evaluate the performance of P, PI and PID controller.
SPECIFIC OBJECTIVES:
Students will be able to
1. Define feedback compensator.
2. Draw the frequency response of uncompensator system.
3. Design P, PI, PID compensator ans simulate.
APPARATUS / INSTRUMENTS USED:
S.NO

ITEM

QUANTITY

Level Trainer

PC

PRE-REQUISITE CONCEPTS:

Time domain specification

THEORY
PROPORTIONAL CONTROLLER
In proportional mode, a smooth linear relationship exists between the controller output
and the error. Each value of error has a unique value of controller output and has one to one
correspondence. The range of error covering 0% to 100% controller output is called proportional
band.
P = Kp + Po
Kp = Proportional Gain , Po = Controller Gain
[Controller output P = Error * 100/ proportional Band]
PROGRAM
P Controller

num=[2 0];
den=[1 3 2];
g=tf(num,den);
step(g)
PI Controller
num=[2 1];
den=[1 3 2];
g=tf(num,den);
step(g)
PID Controller
num=[3 2 1];
den=[1 3 2];
g=tf(num,den);
step(g)

If error is zero, the output is constant and equal to Po. For every 1% of error a convection
of Kp % is added or subtracted from P.

INTEGRAL CONTROLLER
In this mode, there will be a infinite signal change in the rate of controller output with
infinitesimal change in the error. This mode is often referred to as reset action.
dp/dt = Ki ep
dp/dt = rate of controller output change
Ki = constant relating the rate of the error
The inverse of Ki is called the integral time Ti(=1/Ki). If we integrate the above equation,
we can find the actual controller output at any time as where Po is the controller output at t = 0.
This equation shows that the present controller output P(t) decreases on the history of error from
the time when observation has started at t=0. From the equation di/dt =Ki ep, if the error doubles,
the rate of controller output change also doubles. If the error is zero, the output stays fixed at a
value. It is equal to what it was when the error is zero. If the error is not zero, the output will
begin to increase or decrease at a rate of Ki % per second for every 1% of error.
DERIVATIVE CONTROLLER
In this mode, the controller output depends on the rate of change of error. This mode is
also known as rate of anticipating control. This mode cannot be used alone because when the
error is zero or constant, the controller has no output.
The expression for the derivative controller is given by

P = Kd dep /dt
Kd = derivative gain constant
dep /dt = rate of change of error

PROPORTIONAL INTEGRAL CONTROLLER

The expression for the controller output is given by
In this mode, the one-to-one correspondence of proportional mode is available and the integral
mode eliminates the inherent offset. The proportional gain by design changes the net integration
mode gain but Ki can be independently adjusted.

PROPORTIONAL INTEGRAL-DERIVATIVE CONTROLLER

One the most powerful but complex controller mode operation combines the
proportional, integral and derivative modes. This system can be used for virtually any process
conditions. This mode eliminates the offset of the proportional mode and still provides fast
response.

PROCEDURE

1. Connections are given as per circuit diagram.

2. Before the controller can be used, the parameters must be programmed. The program mode is
selected with the key operated switch.
3. DPC 5010 displace the prompt and the currently set values of each parameter. Press ENTER if
you dont wish to change the present values.
4. Enter the new value, most significant digit as follows.
5. Press , digits starts increasing.
6. Press , for entering new value.
7. If all the digits have been entered, go to step 10.
8. Press selected digits are shifted to left. Repeat from step 6 for the next digit.
9. Press shift +Enter to enter the value in program memory.
10. Vary the parameters and analyze the system performance.

RESULT:

APPLICATIONS
1. To find the correct time domain specification of different system.
VIVA VOICE QUESTIONS
What is the effect of PD controller on the system performance?
2. What is the disadvantage in proportional controller?
3. What is the effect of PI controller on the system performance?
4. Why derivative controller is not used in control systems?
5. Write the transfer function of PID controller.
6. What is the effect on system performance when a proportional controller is introduced in a
system?
STIMULATING QUESTIONS
1. Why PI is most used.
2. What do u infer from the experiment?

FORMATIVE ASSESMENT
1. Steady state stability limit is
a)

Equal to transient stability limit.

b)

Greater than transient stability limit.

c)

Lesser than transient stability limit.

d)

None of these.

2.The steady-state stability limit of a synchronous generator can be increased by

a)

an increase in the excitation of the M/C.

b)

an increase in its reactance.

c)

a decrease in the moment of inertia of the machine.

d)

an increase in the moment of inertia of the machine.

STUDY OF SYNCHROS
EX.No :9a

DATE

AIM:
To study the characteristics of synchros as error detector.
GENERAL OBJECTIVE
To understand the construction and working of synchros error detector.
SPECIFIC OBJECTIVE
1. Define synchros .
2. Explain the construction of synchros
APPARATUS / INSTRUMENTS USED:
S.NO

ITEM

QUANTITY

Synchronous
Transmitter and
Receiver

1 Set

Patch Chards

As required

Multimeter

PRE-REQUISITE CONCEPTS
Synchros generator
THEORY:

A synchro is an electromagnetic transducer commonly used to convert converting angular

position difference between output shaft and input command dial into a proportional AC voltage.
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 120o apart) and is star connected. The
rotor is a dumb bell construction and wound with a concentric coil.

The rotor winding is applied with an AC supply voltage through slip rings and this rotor
is held fixed in a desired angular position say r (i.e. input or reference).
Let the AC voltage applied to the rotor of the transmitter be
Ei(t) = Em sin (2 f t) -------------> (1)

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 the synchro
transmitter acts like a single phase transformer in which rotor coil is the primary and the stator
coil form three secondaries.
Let e1n, e2n and e3n be the voltages induced in the stator coils S1, S2 and S3
respectively with respect to neutral. Then for the rotor position of the synchro transmitter shown
in figure, the rotor axis makes an angle 0 with the axis of the stator coil S1. Thus for r = 0o, the
corresponding voltage induced by transformer section across the stator winding 1n is given by,
e1n = K Em sin (2 f t) cos r = K Em sin (2 f t) cos 0
K Em sin (2 f t) --------------------->

(2)

where K is the constant of proportionality. As the stator windings 2n and 3n are 240 and 120
apart (angle measured as positive in anti-clockwise direction) with respect to the winding 1n, the
voltages induced across them are,
e2n = K Em sin (2 f t) cos (r + 240)
= K Em sin (2 f t) cos (0 + 240)
= K Em sin (2 f t) cos (240)
= -0.5 K Em sin (2 f t) ---------------------------(3)
e3n = K Em sin (2 f t) cos(120)
= K Em sin (2 f t) cos(r + 120)
= K Em sin (2 f t) cos(120)
= -0.5 K Em sin (2 f t) -------------------------(4)

TABULATION :

Sl.No

Angular Displacement of Rotor in degrees

t

Output
Voltage
in Volts

30

32

48.4

60

62

48.5

90

92

48.5

120

122

48.4

150

152

48.5

180

180

48.4

210

210

48.3

240

242

48.3

270

273

48.3

10

300

303

48.3

11

330

333

48.8

12

360

360

48.8

Equations (2), (3) and (4) indicate that three voltages e1n, e2n and e3n are single phase voltages
of same frequency and have same phase but their magnitudes depend on rotor position.
Now, if the rotor of the synchro transmitter shifts in anti-clockwise direction through an angle ,
the voltages in the stator coils are,
e1n = K Em sin (2 f t) cos r ---------------------------------(5)
e2n = K Em sin (2 f t) cos(240 - r) -----------------------(6)
e3n = K Em sin (2 f t) cos(120 - r) -------------------------(7)
Equations (5), (6) and (7) reveal that magnitudes of the voltages e1n, e2n and e3n vary
sinusoidally with respect to r as shown in figure .

It is seen that when r = 0o, the maximum voltage is induced in the stator coil S1. This
position of rotor is defined as electrical zero of the transmitter and is used as reference for

specifying the angular position of the rotor. Hence it is inferred 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 the figure 2. . The locations of transmitter and receiver can be away from
each other. The rotor of synchro transmitter is salient pole type and that of synchro receiver is
cylindrical type.
The rotor of the synchro receiver is coupled to the output shaft of the control system. If
the position of the output shaft is indicated as o this results in an angular error e = (r - o)
between the positions of the input (reference) and the output shafts.
Initially the winding S2 of the stator 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 windings are
proportional to 60o 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 the windings because of voltage balance.
When the rotor transmitter is moved to a new position, the voltage balance is distributed.
Assume the rotor of the transmitter is moved through 30o, the stator winding voltages will be
changed to zero, 0.866 V and 0.866 V respectively. Thus there is a voltage imbalance between
the windings cause a currents to flow through the close circuit producing a 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 and receiver pair thus serves to transmit information regarding the
angular position at one point to a remote point.
The magnitude of the output induced voltage eo developed across the rotor of the receiver is
given by the following relation:
eo = Kr sin (r - o) (8)

where Kr is a constant of proportionality.

In control systems the angular error, i.e. (r - o) is usually small and expressed in radian,
therefore,
sin (r - o) (r - o) radian
Hence, eo = Kr (r - o)
(r - o) is expressed as e (angular error)
eo = Kr e (radian)
where Kr is expressed in V/rad.
The above equation indicates that angular error is converted into a proportional voltage.
Laplace transform of the above equation
Eo(s) = Kr e(s)

The Transfer function is given by (9)

Eo(s)/ e(s) =Kr
Where Kr is known as the sensitivity or the gain of synchro-error detector.
PRECAUTIONS:

The pointers for both rotors are to be handled gently.

The pointers should not pulled out
The rotor and stator terminals should not be shorted.

PROCEDURE:

To obtain the Input Output characteristics of Synchro Transmitter:

1.The main supply to the system is connected with the help of cable provided (the
interconnections S1 , S2 and S3 to S1, S2 and S3 should not be made).
2.The mains supply to the unit is switched ON.The supply to the rotor transmitter is also
switched ON.

3.The magnitude of the AC voltage supplied to the rotor is fixed as 40 V.

4.The magnitude of the AC voltage of between each of the stator terminals VS1S2,
VS2S3 and VS3S1 are measured and tabulated for different rotor positions at equal
intervals.
5. The graph, angular position Vs rotor voltages for all the three phases are plotted as
shown in figure 3.

To obtain the Input Output characteristics of Synchro Transmitter & Receiver pair:
1. The mains supply cable is connected.
2. The terminals of transmitter S1, S2 and S3 are connected to S1, S2 and S3 of receiver using
patch cords respectively.
3. The mains supply is switched ON.
4. The rotor supply of both transmitter and receiver are also switched ON.
5. The rotor of receiver is tightly held at 0o.
6. The rotor position of synchro transmitter (pointer) is moved in steps of 10o and the new rotor
position of receiver is observed.
7. The output voltage is also observed and it varies sinusoidally with angular error.
8. The plot input angular position in degrees Vs output angular position in degrees is plotted as
shown in figure 4.
STEPPER MOTOR THEORY OF OPERATION

STUDY OF DC STEPPER MOTOR

THEORY:
The stepper motor is a special type of synchronous motor which is designed to rotate
through a specific angle for each electrical pulse received from its control unit
In recent years, the growth of computer industry induced a wide-spread demand for stepper
motor can be controlled directly by computers, microprocessors and programmable controllers.

The stepping motor ideally suited for precision positioning of an object or precision
control of speed without using a closed loop feed back. The shaft of the stepper motor rotates in a
series of discrete angular intervals or steps, one step being taken each time a command pulse is
received. When a definite number of pulses are supplied, the shaft turns through a definite known
angle this makes the motor well suited for open loop position control because no feedback is
required from the shaft. The only moving part in a stepping motor its rotor which has no
winding, commutator or brushes.

STEP ANGLE
The angle through which the motor shaft rotates for each command pulse is called step
angle . Smaller the step angle, greater the number of steps / revolution and higher the resolution
or accuracy of positioning obtained. The step angle can be as small as 0.72 degrees or as large
as 90 . But most common step sizes are 1.8 , 2.5 , 7.5 & 15 . The value of step angle can be
expressed either in terms of a rotor and stator poles (teeth) Nr and Ns respectively or in terms of
the number of stator phases (m) and number of rotor teeth (Nr).

The stepper motor has the extraordinary ability to operate at very high stepping rate of
20,000 steps per second in some motors. Operation at very high speed is called slewing. When
in the slewing range, the motor generally emits an audible whine having a fundamental
frequency equal to stepping rate .if f is the stepping frequency (or) pulse rate in pulse per second
and is step angle then the motor shaft speed is given by

Stepping motors are designed to operate for long periods with the rotor held in a fixed position
and with the rated current flowing in the stator winding for other motors this will result in
collapse of back emf and very high current which can lead to quick burn out the stator winding.
Permanent-Magnet Stepping Motor
Construction: It has a wound stator poles and the rotor is made of permanent magnet material
like magnetically hard ferrite. As shown in the Fig.1, the rotor has projecting poles but the
rotor is cylindrical and has radially magnetized permanent magnets. The operating principle of
such a motor can be understood with the help of Fig.1 (a) where the rotor has two poles and the
stator has four poles. Since two stator poles are energized by one winding, the motor has two
windings or phases marked A and B. The step angle of this motor = 360/mNr = 360 / 2 x 2 =
90 or =(4 - 2) x 360 /2 x 4 = 90.
Working: When a particular stator phase is energized, the rotor magnetic poles move into
alignment with the excited stator poles. The stator windings A and B can be excited with either
polarity current. Fig.1 (a) shows the condition when phase A is excited with positive current.
Here, = 0. If excitation is now switched to Phase B as in Fig.1 (b), the rotor rotates by full step
of 90 in the clockwise direction. Next, when phase A is excited with negative current, the rotor
turns through another 90 in CW direction as shown in Fig. 1 (c). Similarly, excitation of phase B
with negative current further turns the rotor through another 90 in the same direction as shown
in Fig. 1 (d). After this, excitation of phase A with positive current makes, the rotor turn through
one complete revolution of 360. It will be noted that in a permanent-magnet stepper motor, the
direction of rotation depends on the polarity of the phase currents.

Single Step ON mode

Truth tables for three possible current sequences for producing clockwise rotation are
given in Fig.2. Table No.1 applies when only one phase is energized at a time in I-phase-ON
mode giving step size of 90. Table No.2 represents 2-phase-ON mode when two phases are
energized simultaneously. The resulting steps are of the same size but the effective rotor pole
positions are mid way between the two adjacent full-step positions. Table No.3 represents halfstepping when 1-phase-ON and2-phase-ON modes are used alternately. In this case, the step size
becomes half of the normal step or one-fourth of the pole-pitch (i.e. 90 / 2 = 45 or 180/4 =
45). Micro step can also be employed which will give further reduced step size there by
increasing the resolution

The specification of the Stepper Motor:

1. Permanent magnet stepper motor

2. Number of phases =2
3. Step per revolution = 200
4. Step angle = 1.8 0.1 Non-cumulative.
5. Holding Torque = 2.8 Kg. cm. to 84 Kg. cm. covered in different frame size (1 Kg. cm. =0.1
N.m)

Procedure:
1. Select the stepping rate by patching on the top panel to either 100 Hz or 10 Hz or 1 Hz pulse
output
2. Set the direction control toggle switch to CCW rotation.
3. Set the CON/OSC toggle switch to the CON position.
4. Connect the motor by plugging the socket on to the controller unit.
5. Switch on the AC main supply then the stepper motor will start stepping in the CCW direction
on the continuous basis.
6. Repeat the above procedure at different stepping rate selectable by the patch card connection.
7. Repeat the above procedure for CW direction of rotation.
8. Repeat the above procedure for OSC mode of operation.
9. Repeat the above procedure for single step operation by linking the step rate socket to ground
and single pulse command given through the push switch marked MONO.

10. Observe the wave forms of the control logic and driver stage circuitry on a high input
impedance oscilloscope (10 M or more) and the plot the wave forms.
11. Measure the frequency of pulse output at socket marked 100 Hz and measures the rotation
speed of the shaft with a non contact digital tachometer. The rotational speed related to the pulse
frequency as per the following expression.

Viva questions:
1. What is step angle?
2. Define reluctance.
3. What is stepper motor?
4. What is application of stepper motor?
5. What is full-step, half-step and micro-step?
Stimulating questions:
1. What do infer from the experiment?
2. How do u adjust the speed of stepper motor?
3. On what basis does the stepping angle varied?
4. Give a practical field where stepper motor is used wildly.
5. What are the different types of stepper motor?
FORMATIVE ASSESSMENT
1.For a 1.8, 2 - bipolar stepper motor, the stepping rate is 100 step / second. The rotational
speed of the motor in rpm is
a)

15.

b)

30.

c)

60.

d)

90.

2.A stepper motor has a step-angle of 2.5. Determine the resolution?

a)

140.

b)

143.

c)

144.

d)

145.

Lead compensator:
Transfer function:
15
------s^2 + s
Enter the desired phase margin:45
beta = 0.2677
ma = -5.7241
wm = 5.3385
T = 0.3621
Transfer function:
5.431 s + 15

--------------------------0.09691 s^3 + 1.097 s^2 + s

DESIGN AND SIMULATE LEAD COMPENSATOR, LAG COMPENSATOR AND LEAD

- LAG COMPENSATOR
EXP NO:10
AIM:
To design lag, lead, lag-lead compensator for a system to be stable.
GENERAL OBJECTIVE:
To understand the concepts of compensator and design a compensator
SPECIFIC OBJECTIVE
1. To draw the bode plot
2. To analysis the un compensator
3. To design a compensator
APPARATUS REQUIRED

Date:

1. PC with MATLAB
PRE-REQUISITE CONCEPTS
Bode plot, frequency domain specification
THEORY:
The components of the system are altered to get the desired specification or behaviour of
the system, such addition or redesign is called as compensation. A device inserted to the system
for the purpose of satisfying the specifications is called compensators.Compensators use
pole/zero in open loop transfer function to modify the performance of the system.
LAG COMPENSATOR
A compensator having the characteristic of lag network is called a lag compensator. If a
sinusoidal input is given to the lag network, then in steady state the output will have the phase
lag. Lag compensator results in large improvement in steady state performance but results in
slower response due to reduced band width. The attenuation due to the lag compensator will shift
the gain
PROGRAM:
clc;
num=[15];
den=[1 1 0];
g=tf(num,den)
margin(g);
[gm pm]=margin(g);
figure(1);
w=logspace(-1,2,100);
dpm=input('Enter the desired phase margin:');
p=dpm-pm+5;
beta=((1-sin(p*pi/180))/(1+sin(p*pi/180)))

ma=-20*log10(1/sqrt(beta))
mm=sqrt(beta);
[mag,phase,w1]=bode(g,w);
mag=reshape(mag,100,1);
phase=reshape(phase,100,1);
wm=interp1(mag,w,mm)
T=1/(wm*sqrt(beta))
pc=T*beta;
num1=[T 1];
den1=[pc 1];
num2=conv(num,num1)
crossover frequency to lower frequency point where the phase margin is acceptable. Thus
the lag compensator will reduce the band width of the system and results in the slower transient
response.
LEAD COMPENSAOR
A compensator having the characteristic of lead network is called a lead compensator. If a
sinusoidal input is given to the lead network, then in steady state the output will have the phase
lead.
Lead compensation increases the bandwidth, which improves the speed of response and also
reduces the amount of overshoot. Lead compensation appreciably improves the transient
response, whereas there is a small change in steady state accuracy. Generally, lead compensation
is provided to make an unstable system to a stable system.
Lead compensator is basically a high pass filter and so it amplifies high frequency noise signals.
If the pole introduced by the compensator is not cancelled by a zero in the system , then the lead
compensation increases the order of the system by one.

Transfer function of the system is 15/s(s+1)

LAG LEAD COMPENSATOR

Among the simplest dynamic structures used in compensator design is the lead-lag compensator.
A lead-lag compensator has a transfer function of the form

The phase plot of Gc hints at the origin of the name lead-lag. The phase lags at lower
frequencies and leads at higher frequencies. The basic idea in lead-lag design is to choose the
lead portion of the compensator (p2 and z2) to add phase in the vicinity of the desired value of
0c. The lag portion (p1 and z1) then attenuates the magnitude so that 0c is actually the
crossover frequency. The phase lag is merely an artifact of the compensator structure and plays
no role in achieving the specifications.

m Pm]=margin(go)
den2=conv(den,den1);
go=tf(num2,den2)
figure(2);
margin(go);

LAG - LEAD COMPENSATOR

% The transfer function is 30/(0.33s^3 + 1.33s^2 + s);
clc;
figure(1);
num=[30];
den=[0.33 1.33 1 0];

sys=tf(num,den)
margin(sys);
w=logspace(-1,2,100);
[mag ph]=bode(sys,w);
ph1=reshape(ph,100,1);
mag1=reshape(mag,100,1);
pm=input('Enter the desired phase margin :');

RESULT
Lag uncompensated system

Lag compensated system

Lead uncompensated

Lag Lead Compensated:

Application
To get desired output
VIVA QUESTIONS:
1. What is compensation?
2. What are the two types of compensation schemes?
3. What are the factors to be considered for choosing series or shunt/feedback compensation?
4. What is lag compensation?
5. Draw the bode plot of lag compensator.
STIMULATING QUESTIONS:
1. What is lead compensation?
2. Write the transfer function of lead compensator and draw its pole-zero plot.
3. What is lag- lead compensator?

4. Write the transfer function of lag-lead compensator and draw its pole-zero plot.
5. When lag/lead/lag-lead compensation is employed?
6. Why compensation is necessary in feedback control system?
FORMATIVE ASSESSMENT
1. A lead compensator used for a closed loop controller has the following transfer function

For such a lead compensator

a)

a < b.

b)

b < a.

c)

a > kb.

d)

a < kb.

2.Time taken for the response to raise from zero to 100 % for very first time is called
a)

rise time.

b)

settling time.

c)

delay time.

d)

peak time.