1. A. AC SERVO MOTOR

G.PULLA REDDY ENGINEERING COLLEGE (AUTONOMOUS): KURNOOL

ELECTRICAL & ELECTRONICS ENGINEERING DEPARTMENT

VI Semester B.Tech. - E.E.E. (Scheme-2013)

Control Systems & Automation (CSAP) LABORATORY

TITLE: STUDY OF AC SERVOMOTOR GPREC/DEEE/EXPT-CSAP-1-A

Date: 01-11-2016

________________________________________________________

Prepared by: Approved by: Page 1 of 6

Dr. N. Ravi Sankara Reddy Dr. T.Bramhananda Reddy Revision No.: 1

Associate Professor HEAD, EEE Dept.

1. A. AC SERVO MOTOR

AIM: To study speed-torque characteristics of an AC servo motor

APPRATUS: AC Servomotor and Digital Multimeter

THEORY: Most of the servomotors used in the low power servomechanism are

a.c. servomotors. The a.c. servomotor is basically two phase induction motor. The

output power of a.c. servomotor varies from fraction of watts to few hundred of

watts. The operating frequency is 50 Hz to 400 Hz. The a.c. servomotor is

basically consists of a stator and a rotor. The stator carries two windings,

uniformly distributed and displaced by 90o in space, from each other. On winding

is called as main winding or fixed winding or reference winding. The reference

winding is excited by a constant voltage a.c. supply. The other winding is called

as control winding. It is excited by variable control voltage, which is obtained

from a servo amplifier. The winding are 90o away from each other and control

voltage is 90o out of phase with respect to the voltage applied to the reference

winding. This is necessary to obtain rotating magnetic field. The rotor is generally

of two types. The two types of rotors are,

1. Squirrel cage rotor

2. Drag cup type rotor

The operating principle of two phase a.c. servomotor is same as that of

normal three phase induction motor. The control voltage applied to the control

winding and the voltage applied to the reference winding are 90o out of phase.

Hence the flux produces by current through control winding is also 90o out of

phase with respect to the flux produced by the current through the reference

winding. The resultant flux in the air gap is hence rotating flux sweeps over the

rotor, the e.m.f. gets induced in the rotor. This e.m.f. circulates the current through

the rotor. The rotor current produces its own flux called as rotor flux. This flux

interacts with the rotating magnetic field, producing a torque on the rotor and rotor

starts rotating.






Date: 01-11-2016

________________________________________________________




CIRCUIT:






Date: 01-11-2016

________________________________________________________




PROCEDURE:

1. Keep the load switch in OFF position, indicating that the armature

circuit of DC machine is not connected to auxiliary power supply (6V),

AC servo meter switch should also be in OFF position.

2. Ensure speed control pot and load control pot are fully in anticlockwise

position

3. Now switch on power switch and also AC servo motor switch. You can

observe that AC servo motor will start rotating and the speed will be

indicated by RPM meter on the front panel.

4. With load switch in OFF position, vary the speed of the AC servo Motor

by varying speed control pot in clockwise direction and note the back

e.m.f. generated by the DC machine at DC TP1. Enter the results in

table No.1.(use a DC voltmeter in the range 0 to 10V)

5. Now switch ON load and start loading AC servomotor by varying load

control pot P2 in a slow fashion. Note down corresponding values on

current (Ia) and speed (N). Enter these values in Table2.

6. Now you may set AC servo control winding voltage to a new value after

switching OFF load switch. Again repeat the process as indicated in step

No.5 i.e. table 2 for new value of control winding voltage.

7. Plot the speed torque characteristics for various values of control

winding voltages study their nature.

TABLE- 1 Sl.No. Speed (RPM) Back EMF(Eb)in volts at DCTP1






Date: 01-11-2016

________________________________________________________




TABLE _ 2 Sl.No. Ia (Amps) Speed (N- RPM) Back

EMF(Eb)

Volts -

DC TP2

P=Eb x Ia Torque (T)

P x60

T= ----------

2πN

PRECAUTIONS

1. Before switch on P1 and P2 should be always brought to most

anticlockwise position.

2. Control P1 and P2 should be operated in a gentle fashion.

J.F.

Se

rvo

Am

plifie

r

Reference

Winding

Actual

Signal

Control

winding SCHEMATIC DIAGRAM OF TWO PHASE INDUCTION MOTOR






Date: 01-11-2016

________________________________________________________




TORQUE-SPEED CHARACTERISTICS OF INDUCTION MOTOR

RESULT:

Back

EMF

(mv)

Speed (RPM)

Speed

(RPM)

Torque (N-m)






Date: 01-11-2016

________________________________________________________




QUIZ:

1. What is AC servo motor?

2 What is the use of AC servo motor?

3 What are the advantages of AC servo motor?

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

5 On what factor does the direction of rotation of AC servo motor Depend.

6. What is the drawback of AC servo motor?

7 How to overcome the drawback of AC servo motor?

8 What is the input of AC servo motor in feedback control application?

9 What is the phase relationship between reference voltage and control Voltage?

10 What are the types of AC servo motor?





TITLE: DC SERVO MOTOR CONTROL SYSTEM GPREC/DEEE/EXPT-CSAP-1-B

Date: 01-11-2016

Prepared by: Approved by:

Dr. N. Ravi Sankara Reddy Dr. T.Bramhananda Reddy Page 1of8

Associate Professor HEAD, EEE Dept. Revision No. 1

1. B- DC SERVO MOTOR CONTROL SYSTEM

EPERIMENT NO.1: SPEED Vs VOLTAGE CHARACTERISTICS

AIM: To obtain the speed Vs voltage characteristics of the DC motor.

APPRATUS: DC servo motor, ITB-PEC00S unit, Digital Multimeter/CRO

THEORY: In servo applications a DC motor is required to produce rapid

accelerations from standstill. Therefore the physical requirements of such a motor

are low inertia and high starting torque. Low inertia is attained with reduced

armature diameter with a consequent increase in the armature length such that the

desired power output is achieved. Thus, except for minor differences in

constructional features a DC servomotor is essentially an ordinary DC motor. A

DC servomotor is a torque transducer which converts electrical energy into

mechanical energy. It is basically a separately excited type DC motor. The torque

developed on the motor shaft is directly proportional to the field flux and armature

current, Tm = Km Φ Ia. The back emf developed by the motor is Eb = Kb Φ ωm.. In

an armature controlled DC Servo motor, the field winding is supplied with

constant current hence the flux remains constant. Therefore these motors are also

called as constant magnetic flux motors. Armature control scheme is suitable for

large size motors.






Date: 01-11-2016




CIRCUIT:






Date: 01-11-2016




PROCEDURE:

1. Before switch ON the unit

(i) EXT/INT switch should be in INT mode

(ii) Integral open/close switch in open (OL) mode.

(iii) Signal conditioner switch in open(OL) mode.

(iv) Interface the motor supply sensor with module.

2. Initially, pulse ON/OFF switch should be in OFF module.

3. Switch ON the unit, and keep the pulse ON/OFF to ON mode.

4. Set the proportional gain pK at minimum

5. Set refV =1 Volt. Slowly increase the gain pK voltage by means of the

proportional gain adjustment pot, and find the voltage at which the

motor just starts running.

6. Vary the reference voltage in steps, and for each step, note down the

motor speed and armature voltage. Tabulate the readings as shown in

table.1

7. Plot the ω verses aV characteristics. It will be as shown in fig.1

TABLE: Speed (ω) verses Voltage (Va) Characteristics

SL.No. Vref (v) Va(v) N (rpm) ω (rad/Sec)






Date: 01-11-2016




Va(volts)

ω

(rad/sec)

SAMPLE GRAPH:

Fig. 1. SPEED Vs VOLTAGE CHARACTERISTICS

RESULT:






Date: 01-11-2016




EPERIMENT NO.2: SPEED Vs TORQUE CHARACTERISTICS

AIM: To obtain the speed Vs Torque characteristics of the DC motor.

APPRATUS: DC servo motor, ITB-PEC00S unit, Digital Multimeter/CRO

THEORY: The dc servo motors are separately excited or permanent magnet dc

servo motors. The armature of dc servo motor has large resistance therefore its

torque speed characteristics is linear. The dc sevo motors can be controlled from

the armature side or wheel side. in the field controlled dc servo motor L/R ratio is

large i.e time constant for the field circuit is large. Due to which the response is

low and hence they are not commonly used. The speed of motor can be controlled

by adjusting the voltage applied to the armature. In the armature controlled type

the time constant is small and hence the response is fast. The efficiency of the

armature controlled dc servomotor is better than field controlled motor.






Date: 01-11-2016




CIRCUIT:






Date: 01-11-2016




PROCEDURE: 1. Before switch ON the unit

(i) EXT/INT switch should be in INT mode

(ii) Integral open/close switch in open (OL) mode.

(iii) Signal conditioner switch in open(OL) mode.

(iv) Interface the motor supply sensor with module.

2. Initially, pulse ON/OFF switch should be in OFF module.

3. Set the proportional gain pK at minimum

4. Switch ON the unit, and keep the pulse ON/OFF to ON mode

5. Run the motor at 1500 rpm by suitably adjusting the refV and pK . Note

down the armature voltage(Va) armature current (Ia) and speed (N) as

shown in table 2.

6. Apply load by brake magnet close to the disc. Apply the load in steps

such a way that the current is increased by 0.25A in each step. Note the

armature current, voltage and speed of the each step. Tabulate the

readings.

7. It may noticed that the motor armature current may not be increased when

the speed drops below a certain value. This is because the speed is low the

eddy current induced in the disc becomes less, which reduces the load

torque.

8. Decrease the load and reduce the gain to minimum.

9. Switch OFF the power supply.

10. Calculate the torque as atIkT where Kt is torque constant

11. Plot the ω verses Torque Characteristics.

12. Plot the Ia verses Torque Characteristics.

TABLE: ω verses Ta and Ia verses TL Characteristics

SL.No. Vref (v) Va(v) N (rpm) ω (rad/Sec)






Date: 01-11-2016




Torque

(volts)

ω

(rad/sec)

Torque

(volts)

Ia

(amps)

SAMPLE GRAPH:

ω verses T Characteristics Ia verses T Characteristics

RESULT:

QUIZ:

1 What are the uses of DC servo motor?

2. What are the types of DC servo motors?

3. How the speed of DC servo motor is controlled?

4. What is the relation between torque and speed of DC servo motor?

5. Why the speed torque characteristics of DC servo motor has large Negative

Slope?

6. What is the effect of negative slope?

7. In which wattage the DC servo motors are available?

8. What are the special features of DC SERVO MOTORS?

9. How the direction of rotation of DC servo motor can be changed?

10. What is transfer function of DC SERVO MOTOR?



VI Semester B.Tech - EEE (Scheme-2013)


TITLE: LINERA SYSTEM SIMULATOR GPREC/DEEE/EXPT-CSAP-2-A

Date: 01-11-2016

Prepared by: Approved by Page 1of6


Associate Professor HEAD, EEE Dept

2. A- LINEAR SYSTEM SIMULATOR

AIM: To study the Transient response of first order and second order type zero

system

APPRATUS: Linear system simulator Kit, CRO, Connecting probes

THEORY: The type number of the system is obtained from the number of poles

located at origin in a given system. Type – 0 system means there is no pole at

origin. Type – 1 system means there is one pole located at the origin. The order of

the system is obtained from the highest power of s in the denominator of closed

loop transfer function of the system. The first order system is characterized by one

pole or a zero. Examples of first order systems are a pure integrator and a single

time constant having transfer function of the form K/s and K/(sT+1). The second

order system is characterized by two poles and up to two zeros. The standard form

of a second order system is G(s) = n2

/ (s2 + 2ns + n

2) where is damping

ratio and n is undamped natural frequency. The time response characteristics of

control systems are specified in terms of time domain specifications. Systems

with energy storage elements cannot respond instantaneously and will exhibit

transient responses, whenever they are subjected to inputs or disturbances.

The desired performance characteristics of a system of any order may be

specified in terms of transient response to a unit step input signal. The transient

response characteristics of a control system to a unit step input is specified in

terms of the following time domain specifications

Delay time td

Rise time tr

Peak time tp

Maximum peak overshoot Mp

Settling time ts






Date: 01-11-2016




CIRCUIT:

First Order System






Date: 01-11-2016




Second Order System






Date: 01-11-2016




PROCEDURE:

1. The transfer function of the system is

C(s) θc(s)

--------- = --------

R(s) θR(s)

2. By varying the values of gain ‘A’ at each step calculate the values

of ωr, rise time, peak time, peak overshoot, settling time. The value

of ‘A’ is varied from A= 100.200,…… [A is gain]

3. Calculate the time domain specifications, ωd, rise time, peak time,

peak overshoot, settling time

drt

where

21 1

tan

dpt

and

nst

4 for 2% error

100*21

eM p

TABLE: only for second order system

GAIN.

DAMPING

RATIO

ς

ωn ωd Tr Tp Ts Μp ς






Date: 01-11-2016




Step

Input

Output K 1/S

--1

Step

Input Output K

1/(TS+1)

--1

K 1/(TS+1)

2

Output Step

Input

First Order Type-I System

First Order Type-0 System

Second Order Type-0 System

Second Order Type-I System

K 1/(TS+1) Output Step

Input

1/(TS+1)






Date: 01-11-2016




RESULT:

QUIZ:

1. What are time domain specifications?

2. Define steady state error.

3. What is transfer function.

4. What is peak overshoot.

5. What is Peak time?

6. What is settling time

7. What is rise time

8. What is transient response?

9. What is damping ratio?

10. What is steady state system?





TITLE: STEPPER MOTOR CONTROL GPREC/DEEE/EXPT-CSAP – 2-B

Date: 01-11-2016

Prepared By: Approved By: Page 1 of 4

Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1 Associate Professor HEAD, EEE Dept.

2. B- STEPPER MOTOR CONTROL

OBJECTIVE: To study the operating characteristic of a stepper motor and its

controller.

APPARATUS: Trainer kit

THEORY: The stepper motor is a special type of motor which is designed to

rotate through a specific angle called step for each electrical pulse received

from its control unit. It is used in digitally controlled position control system in

open loop mode. The input command is in form of a train of pulses to turn the

shaft through a specified angle. the main unit is designed to interface with

microcontroller kit. The stepper motor controller card remains active while the

pulse sequence generator disabled as given plug is connected with

microcontroller interface socket.

Opto-

Coupler

Sensor

INT/EXT Switch

Flash EEP(R ON)

MICRO CONTROLLER

Driver

RPM

Display

S1 S1 S1 Push Button

P1.0 - P1.3

P0.0 – P0.7

P2.0 – P2.7

INT 0

INT 1

P1.4 - P1.7






Date: 01-11-2016



PROCEDURE:

Forward Speed Control Mode:

.

1. Push the switch button SW1 to position ‘1’

2. Push the switch SW3 to position ‘1’ for increasing speed mode of operation and

to position ‘0’ for decreasing speed mode of operation.

3. Note down the speed readings for pulses and see how the speed varies with each

pulse.

Reverse Speed Control Mode:

1. Push the switch button SW1 to position ‘1’ and SW2 to position ‘2’




pulse

Manual Mode of operation:

1. Push the switch button SW1 to position ‘zero’ and SW2 to position ‘1’ for the

manual mode of operation.




pulse

4. Observe the angle of rotation of the stepper motor and note down one

corresponding speed.






Date: 01-11-2016



OBSERVATIONS:

SWITCH POSITION:

INT/EXT S1 S2 S3

0 1 1 1 Motor rotates in forward direction and speed can

be increased by pressing the PUSH BUTTON

0 1 1 0 Motor rotates in forward direction and speed can

be decreased by pressing the PUSH BUTTON

0 1 0 1 Motor rotates in reverse direction and speed can

be increased by pressing PUSH BUTTON

0 1 0 0 Motor rotates in reverse direction and speed can

be decreased by pressing the PUSH BUTTON

0 0 0 X

PUSH BUTTON is pressed, motor rotates 90o in

forward direction from its current position. If once

again push button is pressed, motor rotates 90o

reverse direction and comes to its original

position.

0 0 1 0 Motor rotates 1.8

o step angle in reverse direction

whenever the PUSH BUTTON is pressed.

0 0 1 1 Motor rotates 1.8

o step angle in forward direction

whenever the PUSH BUTTON is pressed.

1 X X X External mode is enabled. The user program takes

control of MOSFET driver input pulses.

X= Don’t care

0= Switch position low

1= Switch position high

RESULT:

REMARKS IF ANY:






Date: 01-11-2016



QUIZ:

1. Why the application of stepper motor is increasing?

2. What is stable condition of rotor in stepper motor ?

3. What are the modes of operation of stepper motor?

4. What are the types of stepper motor?

5. How the windings of stepper motor are wound?

6. How many logics are there in each sequence?

7. In how many phases does the motor run?

8. Why the stepper motor is run in four phases?

9. On what factor does the settling time of stepper motor depend?

10. Define stepper motor. What is the use of stepper motor?

.





TITLE: PID CONTROLLER GPREC/DEEE/EXPT-CSSP-3-A

Date: 01-11-2016

Page 1of4




3. A PID CONTOLLER

AIM: To study the performance characteristics of an analog PID controller

using simulated system

APPRATUS: PID controller simulated system Kit, CRO, Connecting probes

THEORY: PID controllers are commercially successful and widely used as

controllers in industries. For example, in a typical paper mill there may be about

1500 controllers and out of these 90 percent would be PID controllers. The PID

controller consists of a proportional mode, an Integral mode and a Derivative

mode. The first letters of these modes make up the name PID controller.

Depending upon the application one or more combinations of these modes are

used. For example, in a liquid control system where we want zero steady state

error, a PI controller can be used and in a temperature control system where zero

stead state error is not specified, a simple P controller can be used.

The equation of a PID controller in time-domain is given by

dt

tdekdtteKteKtu

t

odip

)()()()(

Where kp, , ki and kd, all non-negative, denote the coefficients for

the proportional, integral, and derivative terms, respectively.

P accounts for present values of the error. For example, if the error is large

and positive, the control output will also be large and positive.

I accounts for past values of the error. For example, if the current output is

not sufficiently strong, error will accumulate over time, and the controller

will respond by applying a stronger action.

D accounts for possible future values of the error, based on its current rate

of change

https://en.wikipedia.org/wiki/Proportional_control

https://en.wikipedia.org/wiki/Integral






Date: 01-11-2016

Page 2of4




PROCEDURE:

PROPORTIONAL-INTEGRAL-DERIVATIVE CONTROL

1. Make connections as shown in fig. with proper integral and derivative

blocks connected.

2. Set input amplitude 1Volt (p-p), frequency a low value, 6.0cK

85.54cK (Scale setting of 0,06) and 0dK

3. The system shows a fairly large overshoot. Record the peak overshoot

and steady state error.

4. Repeat the above step for a few non-zero values of dK

5. Observe the improvement in transient performance with increasing

values of dK ,while to steady state error remains unchanged.

6. For 6.0cK adjust iK and dK by trial and error to obtain the best

overall response.

TABLE:

Scale

Reading

iK

X=2*steady

State

Y=2*Peak

to peak

steady

State error

% overshoot

S.S. Error = InputPP

XInputpp

)(

)(

Peak Percent overshoot = 100

X

XY






Date: 01-11-2016

Page 3of4




CIRCUIT:






Date: 01-11-2016

Page 4of4




CRO Display of Step Response using Triangular Time base

RESULT:

QUIZ:

1. What are the different compensation techniques?

2. What is derivative output compensation?.

3. What is called a proportional plus integral controller?

4. What is called a PID controller?.

5. What is the advantage of PD controller?

6. What is the effect of PD controller on the system performance?

7. What is the effect of PI controller on the system performance?

8. Why derivative controller is not used alone in control systems?

9. What is meant by a controller?

10. Define manually controlled systems?





TITLE: SYNCHRO S GPREC/DEEE/EXPT-CSAP-3-B

Date: 01-11-2016

Prepared by: Approved by: Page 1of4



3. B. STUDY OF SYNCHRO TRANSMITTER AND RECEIVER PAIR

AIM: To study the characteristics of Synchro Transmitter and Receiver Pair

APPRATUS: Synchro Transmitter – Receiver Pair and Digital Multimeter

THEORY: The synchro Transmitter/ Receiver demonstrator unit is designed to

study of remote transmission of position in AC servomechanism. These are also

called as torque Tx and Rx. The unit has one pair of Tx –Rx synchro motors

powered by 60 V AC inbuilt supply. The synchro Tx has dumb ball shaped

magnetic structure having primary winding upon rotor which is connected with the

line through set of slip rings and brushes. The secondary windings are wound in

slotted stator and distributed around its periphery.

EXPERIEMTN-1: Study of Synchro Transmitter

PROCEDURE:

1. Connect the mains supply to the system with the help of cable provided.

Do not connect any ptach cords to terminals marked “S1,S2,S3”

2. Switch on mains supply for the unit.

3. Starting from zero position, note down the voltage between stator

winding terminals that are 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 coincides with VS3S1

voltages equal to zero voltage. Do not disturb this condition.






Date: 01-11-2016




Expected wave form and circuit:






Date: 01-11-2016




TABLE- 1

S.No.

Rotor

Position

(In degrees)

RMS Voltage for

Stator Terminal VS1S2

RMS Voltage for


RMS Voltage for


EXPERIEMTN-2: Study of synchro transmitter and receiver pair.

PROCEDURE:

1. Connect mains supply cable.

2. Connect S1,S2,and S3 terminals of transmitter to S1,S2,and S3 of

synchro receiver by patch cords provided respectively.

3. Switch on SW1 and SW2 and also switch on mains supply.

4. Move the pointer i.e rotor position of synchro transmitter Tx in steps of

30 degrees and observe the new rotor potion. Observe that whenever Tx

rotor is rotated, the Rx rotor follows it for both the directions of rotation

and their positions are good agreement.

5. Enter the input angular position and output angular position in the

tabular form and plot a graph.






Date: 01-11-2016




Output Angular

Position

(Receiver side)

Input Angular position

(Transmitter Side)

TABLE _ 2

S.No.

Angular Position

(In degrees)

Synchro Transmitter Input

Angular Position

(In degrees)

Synchro Transmitter output

Expected Graph:

PRECAUTIONS

1. Before switch on P1 and P2 should be always brought to most

anticlockwise position.

2. Control P1 and P2 should be operated in a gentle fashion.

RESULT:






Date: 01-11-2016




QUIZ:

1. What are synchros?

2. What is use of synchro transmitter and receiver?

3. What is the basic structure of synchro?

4. How the two windings are coupled to each other in synchro?

5. What are the advantages of synchros?

6 What are advantages of synchros?

7. What is the phase displacement of three windings of synchros?

8. On what factor does the magnitude and polarity of voltage/phase depend?

9. Where the primary winding is connected?

10. Where secondary winding is connected?





TITLE: DC POSITION CONTROL SYSTEM GPRECD/EEE/EXPT-CSAP-4A

Date: 01-11-2016


Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1


4. A- DC POSITION CONTROL SYSTEMS

EXPERIEMTN-1

OBJECTIVE:

To study the DC servomotor position controller with P controller using

the DC position control system trainer module (PEC-01).

APPARATUS:

1. PEC-01 module

2. Patch Chords

3. Motor setup

4. CRO

THEORY: A DC position control system is a closed loop control system in

which the position of the mechanical load is controlled with the position of the

reference shaft. A pair of potentiometers acts as error-measuring device. They

convert the input and output positions into proportional electric signals. The

desired position is set on the input potentiometer and the actual position is fed

to feedback potentiometer. The difference between the two angular positions

generates an error signal, which is amplified and fed to armature circuit of the

DC motor. The tachogenerator attached to the motor shaft produces a voltage

proportional to the speed which is used for feedback. If an error exists, the

motor develops a torque to rotate the output in such a way as to reduce the error

to zero. The rotation of the motor stops when the error signal is zero, i.e., when

the desired position is reached






Date: 01-11-2016




PROCEDURE:

1. Connect the terminal P1 to P6 using patch chord.

2. Connect the motor actual position terminal P2 to P7 using patch chord.

3. Connect the terminal P8 to P10 and P12 to P17 using patch chords.

4. DC output from P24 & P25 is connected to the input of permanent magnet

DC motor.

5. Verify the connection as per the connection diagram and steps 1 to 4.

6. Set the pulse release switch in OFF position.

7. Switch ON the power supply.

8. Vary the set position knob and set the motor position at any value.

9. Select the SPDT switch in upward direction and note the input position in

digital display.

10. Slightly vary the P control knob.

11. Switch ON the pulse release switch S2. Note the maximum overshoot or

maximum position achieved by the motor.

12. Select the SPDT switch in downward direction and note the output

position in digital display.

OBSERVATIONS: S.No Input position in

(o)

Output position in

(o)

Error in (o)






Date: 01-11-2016




CONNECTION DIAGRAM:

RESULT:

REMARKS IF ANY:






Date: 01-11-2016




EXPERIEMTN-2

OBJECTIVE: To study the DC servomotor position controller with PI controller using

the DC position control system trainer module (PEC-01).

APPARATUS: 1. PEC-01 module

2. Patch Chords

3. Motor setup

4. CRO

PROCEDURE:

1. Connect the terminal P1 to P6 using patch chord.





DC motor.



8. Switch ON the power supply.



digital display.

11. Slightly vary the P and I control knobs.










Date: 01-11-2016




CONNECTION DIAGRAM:

OBSERVATIONS:

S.No Input position in (o)

Output position in (

o) Error in (

o)

RESULT:

REMARKS IF ANY:






Date: 01-11-2016




EXPERIEMTN-3

OBJECTIVE: To study the DC servomotor position controller with speed feedback

loop using the DC position control system trainer module (PEC-01).

APPARATUS:

1. PEC-01 module

2. Patch Chords

3. Motor setup

4. CRO

PROCEDURE: 1. Connect the terminal P1 to P6 using patch chord.






DC motor.



9. Switch ON the power supply and switch ON the power ON/OFF switch.



digital display.

12. Slightly vary the P gain control, I gain control knobs.





OBSERVATIONS:

S.No Input position in (o)

Output position in (

o) Error in (

o)






Date: 01-11-2016




CONNECTION DIAGRAM:

RESULT:

REMARKS IF ANY:





TITLE: COMPENSATION DESIGN GPRECD/EEE/EXPT-CSAP-4B

(LEAD, LAG NETWORK) Date: 01-11-2016

Page 1 of 13

Prepared by: Approved by: Revision No.: 1

Dr. N. Ravi Sankara Reddy Dr. T.Bramhananda Reddy


4. B - LEAD- LAG NETWORK

EPERIMENT NO.1

AIM: To study the frequency response of the lag process.

APPRATUS: Lead –Lag network kit, Patch chords

THEORY: The lead lag network consists of a type0, order 2 process for studying

the Lag-Lead compensation effect. The process may be lag, lead. There are given

individually to perform frequency domain analysis process. A process having the

characteristics of lag network is called a lag process if a sinusoidal signal is

applied to lag network, then its steady state output will have a phase lag with

respect to its input. Lag process results in a large improvement in steady state

performance but results in slower response due to reduced bandwidth. The

attenuation due to the lag compensator will shift the gain crossover frequency to a

lower frequency point where the phase margin is acceptable. Thus, the alg process

will reduce the bandwidth of the system and will result in slower transient

response. Lag process is essentially a low pass filter and so high frequency noise

signals are attenuated. If the pole introduced by the process is not controlled by

zero in the system, then lag compensator increases the order of the system by one.







Page 2 of 13




CIRCUIT:







Page 3 of 13




PROCEDURE:

1. Connections are made as per the connection diagram shown in fig.2

2. Switch ON the unit.

3. Give the sine wave as input.

4. Note down the amplitude and frequency of the input signal.

5. Observe the Lissajous pattern through CRO, by keeping the CRO in X-

Y mode and calculate the phase shift (Φ) of the output signal with the

input.

6. Conduct the experiment for various frequencies.

7. Plot the bode plot and conclude the behavior of lead process.

8. The gain is measured from the formula.

dBV

VLogA

iv

01020

9. The phase is measured from Lissajous pattern is shown in figure.

2

1

2

1siny

y

x

x and )(sin)(sin

2

11

2

11

y

y

x

x







Page 4 of 13




MODEL GRAPH

LISSJOUS PATTERN

TABLE:

SL.No. Frequency (Hz) Phase Shift(Φ)

RESULT:

X1

X2

Y2 Y1







Page 5 of 13




EPERIMENT NO.2

AIM: To study the frequency response of the lead process.


THEORY: A process having the characteristics of lead network is called a lead

process. If a sinusoidal signal is applied to lead network, then its steady state

output will have a phase lead with respect to its input. Lead compensation

increases the bandwidth, which improves the speed of response and also reduces

the amount of overshoot. Lead compensation appreciably improves the transient

reponse, whereas there is a small change in steady state accuracy. Generally, lead

compensation is provided to make an unstable system as stable system. A lead

process is basically a high pass filter and so it amplifies high frequency noise

signals. If a pole is introduced by the process and it is not cancelled by zero in the

system, then lead compensation increases the order of the system by one.







Page 6 of 13




CIRCUIT:







Page 7 of 13




PROCEDURE:

1. Connections are made as per the connection diagram shown in fig.3



4. Measure the amplitude and frequency of the input signal and tabulate it.


Y mode and calculate the phase shift(Φ) of the output signal with the

input.




dBV

VLogA

iv

01020


2

1

2

1siny

y

x

x and )(sin)(sin

2

11

2

11

y

y

x

x







Page 8 of 13




X1

X2

Y2 Y1

MODEL GRAPH

LISSJOUS PATTERN

TABLE:


RESULT:







Page 9 of 13




EPERIMENT NO.3

AIM: To study the frequency domain characteristics of the lead- lag process.


THEORY: A process having the characteristics of lag-lead network is called a

lag process. In a lag-lead network when sinusoidal signal is applied, both phase

lag and phase lead occurs in the output, but in different frequency system. Phase

lag occurs in the low frequency region and phase lead occurs in the high frequency

region i.e. the phase angle varies from lag to lead as the frequency is increased

from zero to infinity. A lead process basically increase bandwidth and speeds up

the response and decreases the maximum overshoot in the step response. Lag

compensation increases the low frequency gain and thus improves the steady state

accuracy of the system, but reduces the speed of response due to reduced

bandwidth. If improvements in both transient and steady state response are

desired, then both a lead process and lag process may be used simultaneously,

rather than introducing both lead and lag process as spate elements. However it is

essential to use a single lag-lead process. A lag-lead process combines the

advantages of lag and lead process. Lag-lead process possesses two poles and two

zeros and so such a process increases the order of the system by two, unless

cancellation of poles and zeros occurs in the compensated system.







Page 10 of 13




CIRCUIT:







Page 11 of 13










Page 12 of 13




X1

X2

Y2 Y1

PROCEDURE: 1. Connections are made as per the connection diagram shown in fig.4



4. Measure the amplitude and frequency of the input signal and tabulate it..


Y mode and calculate the phase shift(Φ) of the output signal with the

input.




dBV

VLogA

iv

01020


2

1

2

1siny

y

x

xφ and )(sin)(sin

2

11

2

11

y

y

x

xφ

MODEL GRAPH

LISSJOUS PATTERN







Page 13 of 13




TABLE:


RESULT:

QUIZ:

1. What for compensation networks are used?

2. What are the types of compensation networks?

3. What is the use of all pass filter?

4. What is use of inverting amplifier?

5. What are the responses of compensation network?

6. What is use of LEAD compensation?

7. What is the use effect of LEAD compensation on the system?

8. What is the effect of LAG compensator on the system?

9. What is use of LAG compensation?

10. What is process or plant?





TITLE: ROOT LOCUS, BODE, GPRECD/EEE/EXPT-CSAP-5

POLAR & NYQUEST PLOTS Date: 01-11-2016

Prepared by: Approved by: Page 1of 4



5. ROOT LOCUS, BODE, POLAR & NYQUEST PLOTS

AIM: To obtain the Root Locus, Bode, Polar & Nyquist plot from given

control system model.

APPRATUS: Personal computer, MATLAB

THEORY:

ROOT LOCUS

A simple technique known as “Root Locus Technique” used for

studying linear control systems in the investigation of the trajectories of the

roots of the characteristic equation. This technique provides a graphical

method of plotting the locus of the roots as gain k is varied be from zero

to infinity. The roots corresponding to a particular value of the system

parameter can then be located on the locus or the value of the parameter for

a desired root location can be determined form the locus. The root

locus is a powerful technique as it brings into focus the complete

dynamic response of the system. The root locus also provides a measure

of sensitivity of roots to the variation in the parameter being considered.

This technique is applicable to both single as well as multiple-loop systems.

BODE PLOT

The bode plot is the frequency response plot of the transfer function

of a system. A bode plot consists of two graphs. One is a plot of the

magnitude of a sinusoidal transfer function versus log ω, the other is a

plot of the phase angle of sinusoidal transfer function versus log ω. 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 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.

POLAR PLOT.

The major advantage of the polar plot lies in stability study of

systems. Nyquist related the stability of a system to the form of these

plots. Polar plots are referred as Nyquist Plot.

NYQUIST PLOT

NYQUIST stability criterion of determining the stability of a closed

loop system by investigating the properties of the frequency domain plot of

the loop transfer function G(s) H(s). Nyquist stability criterion provides the

information on the absolute stability of a control system as similar to

Routh- Hurwitz criterion. Not only giving the absolute stability, but

indicates “Degree of Stability” i.e“Relative Stability” of a stable system and

the degree of instability of an unstable system and indicates how the system

stability can be improved. The Nyquist stability citerion is based on a

Cauchy’s Residue Theorem of complex variables which is referred to as the

“principle of argument”.

The principle of argument is given by N= Z – P

Where N – number of encirclements of the origin made by the Q(s) –plane

locus.

Z – number of zeros of Q(s) encircled by the s-plane locus in the s-

plane.

P - number of poles of Q(s) encircled by the s-plane locus in the s-plane.

PROCEDURE:










Root Locus:

Given Transfer function G(s) =

Commands

NUM = [ ];

DEN=[ ];

rlocus (NUM, DEN)

Bode Plot:


Commands

NUM = [ ];

DEN=[ ];

bode (NUM,DEN);

Polar Plot:


Commands

g =tf [ ];

freq=logspace( );

[mag,phase]=bode(g,freq)

Mag=mag( );

Phase=phase( );

Pase=(phase*π)/180










Polar(phase,mag);

Nyquist Plot:


Commands

NUM = [ ];

DEN= [ ];

nyquist (NUM, DEN);

RESULT:

QUIZ:

1: What do you understand by MATLAB software?

2. What does MATLAB stands for?

3. Where can we use MATLAB?

4. Name some tool boxes?

5. What is system requirement for MATLAB?

6. What is transfer function?

7. What are zeros and poles in control system?

8: What is Root Locus?

9: What is the stability in control system?

10. Name some tool boxes in MATLAB?





TITLE: Programmable Logic Controller GPRECD/EEE/EXPT-CSAP-6

Date: 29-06-2015

Page 1of3




6. PROGRAMMABLE LOGIC CONTROLLER (PLC)

EPERIMENT NO.1

AIM: To study the AND gate, OR gate operation using PLC

APPRATUS: VPLCT – 01, Patch chords, RS232 Cable

THEORY: Programmable logic controllers (PLC) were originally designed

to replace relay based logic systems and solid state hard wired logic control

panels. Their advantages over conventional logic systems are that they are

easily programmed, highly, flexible, relatively inexpensive and able to

communicate with other plant computers.

A programmable controller examines the status of inputs, and in

response, controls some process or machines through outputs. Combinations

of input and output data are referred to as logic. Several logic combinations

are usually required to carry out a control plan or program. This control plan

is stored in memory using a programming device to input the program into

the system. The control plan in memory is periodically scanned by the

processor, usually a microprocessor, in a predetermined sequential order.

The period required to evaluate the programmable controller program is

called the “scan time”.

VPLCT-01 PLC’s has the 6 inputs, 4 outputs and also having high

speed counter. Pulse width modulation operations. Two versions are

available. Both operates on +24V DC nominal input power accept inputs

from 6 positive or negative logic inputs 2 Amps relay provides the outputs

that can be control 5 to 30 V DC or 5 to 250V AC outputs devices. Then 4

positive logic 24V DC transistor outputs that can be also be used for PWM

or pulse train applications.






Date: 29-06-2015

Page 2of3




Inputs

%I00001

*

%I00002 %Q00001

Output

%I00002

Inputs

%I0000

1

*

%Q00001

Output

CIRCUIT:

AND GATE

OR GATE

PROCEDURE:

1. Connect the PLC to PC with the help of RS 232 cable

2. Done the program using the ladder clear the old program in PLC

3. After clearing the PLC set the hardware configuration.

4. Store the present program.

RESULT






Date: 29-06-2015

Page 3of3




%M00002

%I00001

*

%R00002

%Q00001

Output

ONDTR

TENTHS

%R00001

R

PV

%M00002

%I00001

*

%R00002

%Q00001

Output

EPERIMENT NO.2

AIM: To study the time function, counter function using PLC

APPRATUS: VPLCT – 01, Patch chords, RS232 Cable

CIRCUIT: TIME FUNCTION

COUNTER FUNCTION

UPCTR

%R00001

R

PV






Date: 29-06-2015

Page 4of3




PROCEDURE:

1. Connect the PLC to PC with the help of RS 232 cable.

2. IN ON delay time, put the input contact,R-set the memory point,

present value put the target value.

3. In delay time set the register value.

4. The same procedure is followed to the control function.

RESULT:

QUIZ:

1 What is PLC?

2 What is full form of PLC?

3 What are the applications of PLC ?

4 Which is the famous programming language is used in PLC?

5.What are the advantages of PLC.

6. What are the most popular PLC's used on the packing industry?

7 Why PLC is different from other Computers?

8. What is DCS?

9. What is SCADA?

10. What is the difference between PLC and Relay?





TITLE: TRAFFIC LIGHT CONTROL GPRECD/EEE/EXPT-CSAP - 7

Date: 01-11-2016


Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1 Associate Professor HEAD, EEE Dept

7. TRAFFIC LIGHT CONTROL

OBJECTIVE: To analyze the traffic light control by using PLC.

APPARATUS:

1. 24V-Lamps

a. Red Lamp

b. Orange Lamp

c. Green Lamp

2. Patch Card

3. PLC Kit

4. Ladder program/STL

THEORY: The Laboratory owns Siemens PLCs. A small traffic control

system was built based on the PLCs, which contains three LED signal heads

and a button for pedestrian crossing as well. Each PLC is responsible for the

control of one signal head; furthermore the equipment receives the pedestrian

requests for a green sign. The PLC checks the operation. The described devices

simulate a fixed time signal program with a green request opportunity for

pedestrians.

PROCEDURE:

1. Press Start Push Button.

2. First Green lamp will glow for 8sec and output becomes zero after 8

second.

3. After Green lamp output is equal to zero, Orange lamp will glow for

8sec and output of orange lamp will be zero after 8sec.

4. After Orange lamp output is equal to zero, Red lamp will glow for 8sec

and output of Red lamp will be zero after 8sec.

5. Steps 2, 3 and 4 will repeat until stop or Emergency push button will

press.





TITLE: TRAFFIC LIGHT CONTROL GPRECD/EEE/EXPT-CSAP - 7

Date: 01-11-2016


Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1 Associate Professor HEAD, EEE Dept

CIRCUIT DIAGRAM:

RESULT:

REMARKS IF ANY:





TITLE: AUTOMATIC WATER LEVEL GPRECD/EEE/EXPT-CSAP- 8

CONTROL Date: 01-11-2016



8. AUTOMATIC WATER LEVEL CONTROL

OBJECTIVE: To design and develop an automatic water level control using PLC.

APPARATUS: 1. Level Sensors-3

2. Drive Kit

3. PLC Kit

4. Banana Plugs

5. Ladder Program/STL

6. Drive Parameter Software

THEORY: A Programmable Logic Controller, PLC or Programmable

Controller is a digital computer used for automation of electromechanical

processes. Unlike general-purpose computers, the PLC is designed for multiple

inputs and output arrangements, extended temperature ranges, immunity to

electrical noise, and resistance to vibration and impact. Three sensors are used

to implement the system. These sensors detect the presence of water. The

readings of the sensors are used by the PLC to take the required decision. The

PLC communicates the present status of the system through the IM port to the

computer. The ladder logic was implemented in SIMANTIC manager.

PROCEDURE: 1. Drain the water inside the container completely.

2. Ensure that manual valve is fully opened.

3. Ensure all sensors (Low, Medium and High sensors are working

properly) and all push button inputs are reading from PLC.

4. Load the PLC Program.

5. Press start push button.

6. Ensure that pump is running at maximum speed (50Hz).

7. When LLS=1 and MLS=1, ensure that pump running at 25Hz.

8. When LLS=1, MLS=1 and HLS=1, ensure that pump is stop.





TITLE: AUTOMATIC WATER LEVEL GPRECD/EEE/EXPT-CSAP- 8

CONTROL Date: 01-11-2016



CIRCUIT DIAGRAM:

RESULT:

REMARKS IF ANY:





TITLE: AUTOMATIC WATER FILLING GPRECD/EEE/EXPT-CSAP- 9

SYSTEM Date: 29-06-2015


Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1 Associate Professor EAD, EEE Dept.

9. AUTOMATIC WATER FILLING SYSTEM

OBJECTIVE:

To observe the automatic bottle filling system using PLC and Sensors.

APPARATUS:

1. Photo Eye Sensors -2

2. Actuator-1

3. PLC


THEORY: Nowadays, the application of PLC is widely known and use in this

digital world application and industrial sector. Normally, the PLC’s that have

been used at the industrial field is usually to control a mechanical movement

either of the machine or heavy machine in order to create an efficient

production and accurate signal processing. Automatic filling water into the

bottle is fully controlled by the PLC. The system sequence of operation is

designed by ladder diagram. Sensor usually plays its vital part as an input

signal transmitter for the PLC in this system.. The input signal that has been

sent from the sensor to the PLC has being made as a reference. Signal in order

to determine the output signal that exactly a same with the PLC programming

language based on the user requirement. Besides that, the electronics and

electric devices that usually been controlled by the PLC are like a motor,

pump, sensor, conveyor belt, buzzer and the others device.

PROCEDURE: 1. Ensure that manual valve is fully opened.

2. Ensure all sensors (Coin sensor and Bottle sensors are working properly)

and all push button inputs are reading from PLC.

3. Set the time in seconds and load the PLC Program.

4. Insert the coin in the box.





TITLE: AUTOMATIC WATER FILLING GPRECD/EEE/EXPT-CSAP- 9

SYSTEM Date: 29-06-2015


Dr. N.Ravi Sankar Reddy Dr.T.Bramhananda Reddy Revision No:1 Associate Professor EAD, EEE Dept.

CIRCUITDIAGRAM:

RESULT:

REMARKS IF ANY:





TITLE: AUTOMATIC TEMPERATURE GPRECD/EEE/EXPT-CSAP- 10

MONITORING & CONTROL SYSTEM Date: 29-06-2015



10. AUTOMATIC TEMPERATURE MONITORING & CONTROL

SYSTEM

OBJECTIVE:

To maintain the set temperature consistently and monitoring

temperature controller operation at low and high temperature process values.

APPARATUS:

1. Temperature Monitor/Controller

2. Valve (electrical actuator)

3. Contactor

4. Thermocouple

5. Banana Plugs


THEORY: The programmable logic controller (PLC) is an industrial control computer; it

is the new automatic device inherited computer, automatic control technology

and communication technology. System temperature signal detected by the

temperature sensor. The temperature transmitter will be the temperature value

converted into a voltage signal of 0-10V into PLC. PLC voltage signal setting

compared to the temperature deviation, the system will issue a temperature

control signal to reach the electric heater voltage control. So that it implements

a continuous monitoring and control of the temperature. The temperature

monitoring system in the industrial field has a certain value.









PROCEDURE:

1. Fill the water container up to required level.

2. Ensure that manual valve is fully opened.

3. Ensure all the inputs are reading from.

4. Set required temperature high level in temperature controller.

5. Load the PLC program.

6. Press start push button.

7. Ensure that heater is ON and temperature is raising from low to high.

8. Measure the water temperature and set it as temperature low limit in

temperature controller.

9. When the water temperature reaches to high level, heater supply will cut

off automatically.

10. Ensure that actuator is opened; now water temperature will reduce

gradually.

11. When water temperature reduces less than high level set point, heater

will start again after pre-set time (given in program) is elapsed.

12. Steps 8, 9, 10 will repeat for 3 times and sequence will stop

automatically.









CIRCUIT DIAGRAM:

RESULT:

REMARKS IF ANY:





TITLE: AUTOMATIC INDUCTION MOTOR GPRECD/EEE/EXPT-CSAP- 11

SPEED CONTROL BY ANALOG Date: 29-06-2015

REFERENCE



11. AUTOMATIC INDUCTION MOTOR SPEED CONTRTOL BY

ANALOG REFERENCE

OBJECTIVE: To automatically control the speed of the induction motor by using

Analog Reference.

APPARATUS:

1. Induction Motor

2. Contactor

3. 24V Relay

4. Drive

5. MPCB

6. MCB


THEORY: Automation or automatic control is the use of various control

systems for operating equipment such as machinery, processes in factories,

boilers and heat-treating ovens, switching in telephone networks, steering and

stabilization of ships, aircraft and other applications with minimal or reduced

human intervention. The motor speed is controlled via the driver as an open

loop control. To make a more precise closed loop control of motor speed, use a

tachometer to measure the speed and feed it back to the PLC, which compares

to the desired value and take a control action, then the signal is transferred to

the motor – via driver – to increase / decrease the speed.

PROCEDURE:

RESULT:

REMARKS IF ANY:





TITLE: AUTOMATIC FAULT DETECTIO GPRECD/EEE/EXPT-CSAP-12

AND PROTECTION OF INDUCTION Date: 29-06-2015

MOTOR USING PLC



12. AUTOMATIC FAULT DETECTION & PROTECTION OF

INDUCTION MOTOR USING PLC

OBJECTIVE

To automatically detect fault and protect the induction motor using PLC.

APPARATUS:

1. PLC

2. Induction Motor

3. Contactor

4. 24V Relay

5. Drive

6. MPCB

7. MCB


THEORY: Induction motors are widely used in many operating areas and

industrial applications as they are simple, robust, and reliable and have low

production costs. The reliability of an induction motor is of great Importance in

applications such as commercial, aerospace and military and many industrial

applications. There are different problems of IM such as over current,

overvoltage, over temperature, over speed, inrush current, vibration monitoring

during it’s time of operation. There are various methods for fault diagnosis and

protection of IM. Some of them are Stator fault monitoring techniques,

protection system using On-line fault detection, Programmable Logic

Controller (PLC) based protection system. PLC also can be used to maintain

and adjust the production program by editing or modifying the peripheral

equipment’s (personal Computer/handheld programming panel). The common

program language of PLC is ladder diagram. There are stronger functions in

PLC with the development and application requirements of electronic

technology, such as position control, network and etc. Output/Input signals are

Digital Input, Analog Input, Pulse Input, Digital Output, Analog and Pulse

Output. Thus PLC plays an important role in the feature industry.







MOTOR USING PLC



CIRCUIT DIAGRAM:







MOTOR USING PLC



PROCEDURE: 1. Switch off three phase pole MCB and check all the inputs, as following

below,

a. Start Push Button.

b. Stop Push Button.

c. Emergency Push Button.

d. PMCB Input.

e. Contactor Input.

2. Switch 3-pole MCB, start the motor.

3. If any fault occurs during motor running, motor gets stop. Clear the fault

and press fault reset to start the motor.

RESULT:

REMARKS IF ANY:

QUIZ:

1 What is control system?

2 What is full form of PLC?

3 What are Conveyors?

4 Why PLC is different from other Computers?

5 What are is proximity sensor.

6 Where are the conveyors used?

7.What is the difference between PLC and Relay? .

8.What is the full form of PLC .

9 What are the applications of PLC ?

10 What is the difference between the PLC and other computers?

Documents

1. A. AC SERVO MOTOR