1 | P a g e

SHABBIRUDDIN
ASSISTANT PROFESSOR
ELECTRICAL & ELECTRONICS DEPARTMET
SIKKIM MANIPAL INSTITUTE OF TECHNOLOGY
CONTROL SYSTEM LABORATORY
EXPERIMENTAL MANUAL
CONTENTS
Experiments performed in B.Tech (E&E) VIIth.
List of Extra Experiments designed for B.Tech (E&E)
S.N0 Title of the experiment Page
S.N0 Title of the experiment Page
number
FIRST CYCLE
1 To study the torue!speed characteristics" step response and
to find the transfer function of the d.c. motor.
2
To study the performance characteristics of a d.c motor
angu#ar position contro# system.
7
! To study the time response of $ariety of simu#ated LTI
systems and to corre#ate the studies %ith theoretica# $a#ues.
21
" To study the performance characteristics of a #inear $aria&#e
differentia# transformer.
30
# To study the performance characteristics of an angu#ar
position error detector using t%o potentiometers.
34
$ To study the performance of $arious types of contro##er used
to contro# the temperature of an o$en.
38
% To study the performance characteristics of a '.(. motor
speed contro# system.
46
SEC&N' CYCLE
8 To study the experiment of the operating characteristics of a
sma## stepper motor and its digita# ()*)+ &ased) contro##er.
+,
9 To study digita# contro# of a simu#ated system using an )!&it
microprocessor.
-*
10 To study the different components of .(/'/. 01
11 /pp#ication of .(/'/ for Liuid #e$e# contro# 2*
1
1 | P a g e
number
1 To study the /( position contro# through step and
continuous command
1*1
2 To study the effects of different cascade compensation
net%or3s.
1*)
3 To study the dynamic characteristics of a system %ith an
intentiona# non #inearity $i4. a simu#ated re#ay.
111
To study the configuration and e$a#uate the performance
characteristics of a feed&ac3 #ight intensity contro# system.
112
TITLE! DC MOTOR STUDY
/I5 67 T8E E9PE:I5E;T<
To study the torue!speed characteristics" step response and
to find the transfer function of the d.c. motor.
T8E6:=<
5ode##ing of a d.c. motor>
T
5
? @
T.
i
a>
@
T
is torue constant
e
&
? @
&
A> @
&
is Bac3 emf constant
/rmature circuit mode#
a
a a a b a
di
L R i e e
dt
+ +
5echanica# 5ode#
L M
d
J B T T
dt

+ +
Ta3ing the Lap#ace Transform and rearranging the terms>
( )
( ) ( )( )
T
a a a T b
s K
E s sL R sJ B K K

+ + +
/ssuming the inductance of the armature to &e so sma## the motor transfer function may
&e %ritten as>
( )
1
M
m
K
G s
s

+
Bhere"
5otor gain constant
1
, | P a g e
5otor time constant
T
M
a T b
a
m
a T b
K
K
R B K K
R J
R B K K

+
.teady .tate Torue euation is>
. .
T b T
M a
a a
K K K
T E
R R
+
.tep :esponse of the motor>
( ) . (1 )
m
t
M t E K e

B#oc3 'iagram of '( separate#y excited motor
E9PE:I5E;T/L B6:@<
5otor and Cenerator (haracteristics>
/t no #oad the motor is supp#ied %ith $arying armature $o#tages" E
a
? ," DE 11V" and for
each E
a
" the motor current I
a"
speed ;" and generator $o#tage E
g
are recorded.
.traight #ine approximation of the E
a
$s ;" and E
g
$s ; %i## yie#d the motor and generator
constants.
:eadings ;oted<

,
Ea(s)
Ws
1
J.s+B
Transfer Fcn1
1
La.s+Ra
Transfer Fcn
1
s
Integrator
KT
Gai n
Kb
D | P a g e
.PEE'
!!!!!!!!!!!!!
*
10*)
11*1
1D1,
1-D0
1)0-
1*21
1,1)
1++*
11D1
12-0
,1*,
,D10
,-1-
,)+1
D*,+
D1),
56T6:
V6LT/CE
!!!!!!!!!!!!!!
*
-.D+
,.**
,.+*
D.**
D.+1
+.**
+.+
-.*
-.+
0.*
0.+
).*
).+
2.*
2.+
1*
CE;E:/T6:
V6LT/CE
!!!!!!!!!!!!!!!!!!!
*
+.11
1.,1
1.0D
,.10
,.-1
D.*D
D.D)
D.21
+.12
+.01
-.10
-.+0
-.20
0.D1
0.0-
).1D
D
+ | P a g e
7rom the p#ot" the $a#ue of @
C
?*.**10) (Cenerator (onstant)
7rom the p#ot the 5otor (onstant @
5
?,11.)+1.
Torue!.peed (haracteristics>
+
0 1000 2000 3000 4000 5000 6000
0
1
2
3
4
5
6
7
8
9
10
DC GENERATOR CHARACTERISTICS (CONSTANT FIELD)
SPEED (RPM)
V
O
L
T
A
G
E
0 2 4 6 8 10 12 14
0
1000
2000
3000
4000
5000
6000
DC MOTOR CHARACTERISTICS (CONSTANT FIELD)
VOLTAGE
S
P
E
E
D

(
R
P
M
)
- | P a g e
To o&tain the toue!speed characteristics" the motor is
supp#ied %ith a fixed armature $o#tage (-V) and its speed is recorded for $arying externa#
#oading> here the #oading is affected through e#ectrica# #oading" :a?D6hm
.#.;o. Load
.tep
Ia (m/) ; (rpm)
1
-*
N

:adFsec
E
& b
b
E
K

T
5
?@
&
I
a
1 * 1*1 1+,+ 1-+.D-D +.+21 *.*11* 1.1D1 x 1*
!,
1 1 1,1 1D-D 1+).*12 +.D01 *.*111 1.02) x 1*
!,
, 1 1-, 1,2, 1+*.+2D +.,D) *.*11, ,.D0 x 1*
!,
D , 121 11+1 1,+.)1) +.1,1 *.*11+ D.11) x 1*
!,
+ D 11D 11,0 1,D.1+) +.1*D *.*110 D.)-* x 1*
!,
- + 1-, 11-+ 11-.01) D.2D) *.*11) +.0,, x 1*
!,
/$erage Va#ue of @
&
? *.*11D

-
2100 2150 2200 2250 2300 2350 2400 2450 2500 2550
2
2.5
3
3.5
4
4.5
5
5.5
6
x 10
-3
TORQUE-SPEED CHARACTERISTICS OF A DC MOTOR (CONSTANT FIELD)
SPEED
T
O
R
Q
U
E
0 | P a g e
7rom the p#ot the $a#ue of 7rictiona# (oefficient B ? 2.,-1,e!**+
.peed!Torue (haracteristics (Vo#tage ?1*V)
7rom the p#ot the $a#ue of frictiona# coefficient
M T
B

? ).+,+,e!**+
.tep :esponse .tudy>
.#.;o. Ea (Vo#ts) Eg(Vo#ts) ;(rpm) Es?*.-,1E
g
Time
constant
M
Cain
constant
@
5
1 ) -.+- ,D1* D.1D+21 21 ms DD.-,-
1 1* ).1- D1+) D.1-,D 21 ms DD.+)2
, 11 2.01 +*0D -.1-1 2,ms DD.102
$o#tage
!!!!!!!!!!!!
1.,1D1
1.20*)
1.-1)1
,.1)+,
Time (ms)
!!!!!!!!!!!!!
,)
D1
+-
--
0
3600 3700 3800 3900 4000 4100 4200 4300
2
3
4
5
6
7
8
9
10
x 10
-3
TORQUE-SPEED CHARACTERISTICS OF A DC MOTOR (CONSTANT FIELD)
SPEED
T
O
R
Q
U
E
) | P a g e
,.2D1)
D.1,22
D.+2))
+.1+01
+.211)
))
21
1*-
1,1
12*
To find the $a#ue of moment of inertia G>
1
( ) M
b
a
K
J B
R
+
6r" ?1.-)- x 1*
!+
;mF (radFsec
1
)
Thus the Transfer 7unction %i## &e>
C(s) ? @mF(sTmH1) ? ,11.)+1F (sH11.11)
(6;(LI.I6;<
7or the gi$en motor its corresponding speed torue characteristics" its step
response %ere p#otted and the respecti$e constants %ere ca#cu#ated. /nd fina##y the 5otor
Transfer 7unction %as found out.
TITLE! D.C MOTOR POSITION CONTROL
AIM OF THE EXPERIMENT!
)
20 40 60 80 100 120 140 160 180 200
1
1.5
2
2.5
3
3.5
4
4.5
5
5.5
6
STEP RESPONSE OF A SEPARATELY EXCITED DC MOTOR
TIME (ms)
V
O
L
T
A
G
E

(
V
)
2 | P a g e
To study the performance characteristics of a d.c motor
angu#ar position contro# system.
T8E6:=<
The Transfer 7unction of an armature contro##ed d.c motor is gi$en &y>
( )
( )
( ) ( 1) M
M s K
G s
E s s s

+
Bhere" @
5
is motor gain constant" and
M
is the mechanica# time constant.
B#oc3 diagram of a '.( 5otor position contro# system is represented as>
Position (ontro# &eing a second order system" is represented as>
1
1 1
( )
1
n
n n
G s
S s

+ +
Bhere" is ca##ed the damping ratio and
n
the undammed natura# freuency.
(onsidering on#y the proportiona# feed&ac3" the c#ose #oop transfer function of the system
may &e %ritten as>
1
( )
( )
M
M M
A M
A M
K K
C s
s K K
R s
s

+ +
@
/
" is the for%ard path amp#ifier gain" %hich #eads to the a#teration of the response of the
system.
@
/
C(s)
s@
'
H
:(s)
!
!
((s)
2
1* | P a g e
Tachogenerator 7eed&ac3 path>
(onsidering the Tachogenerator feed&ac3 path the c#osed #oop transfer function may &e
%ritten as>
1
( )
( )
(1 )
M
M M
A M
A M
A M
K K
C s
s K K
R s
s K K K

+ + +
Thus the steady state error is gi$en &y>
/nd the damping factor &y>
1
(1 )
1
ss
M
A M
A M
A
e
K K
K K K
K K

E9PE:I5E;T/L B6:@<
1. Position contro# through continuous command<
@eeping the $a#ue of @
/
to a constant $a#ue say 0" the readings %ere noted as fo##o%s>
:eadings ;oted<
S".N#. $
R
%$
R
$
O
%$
O
%$
R
&%$
O
'
R
'
O
'
R
('
#
1 * ! + ! ! * * *
1 ,* ,* 12 1D - *.12 *.1) *.*1
, -* -* -* ++ + *.01 *.01 *
D 2* 2* 2* )+ + 1.1D 1.1, *.*1
+ 11* 11* 111 11- D 1.++ 1.+0 *.*1
- 1+* 1+* 1D2 1DD - 1.20 1.20 *
0 1)* 1)* 102 10D - 1.,) 1.,) *
) 11* 11* 11* 1*+ + 1.02 1.02 *
2 1D* 1D* 1D1 1,0 , ,.1 ,.11 *.*1
1* 10* 10* 1-2 1-D - ,.-1 ,.-, !*.*1
/nd the p#ots o&tained are as fo##o%s>
1*
11 | P a g e
1. Position (ontro# through .tep (ommand<
i). .tep response of the position contro# %ithout Tachogenerator feed&ac3>
11
0 50 100 150 200 250 300
0
0.5
1
1.5
2
2.5
3
3.5
4
REFERENCE ANGLE VS REFERENCE VOLTAGE CHARACTERISTICS
REFERENCE ANGLE
R
E
F
E
R
E
N
C
E

V
O
L
T
A
G
E
0 50 100 150 200 250 300
0
0.5
1
1.5
2
2.5
3
3.5
4
OUTPUT ANGLE VS OUTPUT VOLTAGE CHARACTERISTICS
OUTPUT ANGLE
O
U
T
P
U
T

V
O
L
T
A
G
E
11 | P a g e
.etting @
'
?*> and #et @
/
?)>
11
1, | P a g e
1,
1D | P a g e
1D
1+ | P a g e
1+
1- | P a g e
1-
10 | P a g e
7rom the p#ot steady state error is>
s s ! e " "
? 1.+* ! 1.+1
? ! *.*1
7rom the graph" the $a#ues of t
p
(pea3 time) and (rise time) is>
10
1) | P a g e
t
p
? ,., x *.+ x -.-2 ms
? 11.D)D ms
/nd
t
r
? 1.0 x *.+ x -.2- ms
? 2.D ms
5aximum o$ershoot is gi$en<
V
p
?+.) x *.+ ? 1.2V
Vo ? 1.+,V
( )
1**
# !
#
!
" "
M $
"

? 1D.- J
1
1 1
(#n )
(#n )
M#
M#

+
? *.101
1
1 #
n
t

+
? ,1*.-1 radFsec
( ) DF n s t!%e&an'e t ? *.*D+)
1
1 1 1
1*10)D.,-
( )
1 10D.D10 1*10)D.,-
n
n n
G s
S s S s

+ + + +
i). .tep response of the position contro# %ith Tachogenerator feed&ac3>
1)
12 | P a g e
.etting @
'
?*.+> and #et @
/
?)>
7rom the p#ot steady state error is>
s s ! e " "
? 1.+1 ! 1.+1
? *
7rom the graph" the $a#ues of t
p
(pea3 time) and t
r
(rise time) is>
t
p
? , x *.+ x -.-2 ms
? 1*.DD ms
/nd
t
r
? 1.+ x *.+ x -.2- ms
? ).0 ms
5aximum o$ershoot is gi$en<
12
1* | P a g e
V
p
?+.+x *.+ ? 1.0+V
Vo ? 1.+1V
( )
1**
# !
#
!
" "
M $
"

? 2.+- J
1
1 1
(#n )
(#n )
M#
M#

+
? *.+2)
1
1 #
n
t

+
? ,0+.DD radFsec
( ) DF n s t!%e&an'e t ? *.*D+)
1
1 1 1
1D*2++.12,-
( )
1 DD2.*1- 1D*2++.12,-
n
n n
G s
S s S s

+ + + +
(6;(LI.I6;<
(#osed #oop study of the position contro# system %as performed through
the continuous and .tep commands.
Craphs re#ated to the o&ser$ations %ere p#otted" and a#so the step response of the system
for proportiona# and Taco generator feed&ac3 %ere o&tained and their rise time" pea3
time" maximum o$ershoot" sett#ing time" steady state error %ere ca#cu#ated.
1*
11 | P a g e
TITLE! LINEAR SYSTEM SIMULATOR
AIM OF THE EXPERIMENT!
To study the time response of $ariety of simu#ated #inear
systems and to corre#ate the studies %ith theoretica# $a#ues.
T8E6:=<
7irst 6rder system<
They are characterised &y one po#e andFor one 4ero. / pure
integrator and a sing#e time constant ha$ing transfer function of the form @Fs and @F
(sKH1)" are the t%o common#y studied representati$es of this c#ass of systems.
Init step response of the systems are computed as fo##o%s>
If
F
( )
"
1
( )
( )
( 1)
"
( ) (1 )
t
K
G s
s
t(en )!&
R s
s
K
C s
s s
t(en
' t K e

+

The time constant K of the system is defined as>
c(t) ? *.-,1 @
L(#ose Loop system<M
iFp signa# is suare %a$e ! 1V pea3 to pea3. oFp o&tained? 1* V pea3 to pea3.
.ystem Ised! time constant &#oc3 %ith transfer function )*+,T-1.
i.e. c(s)Fr(s) ? C(s) ? 3F(sTH1)
Then after In$!#ap#ace it is c(t) ? 3(1! exp(!tFT))
T? time constant

.econd 6rder .ystems<
These systems are characterised &y t%o po#es and upto
t%o 4eros. / second order system is represented in the form as>
11
11 | P a g e
1
1 1
( )
1
n
n n
G s
S s

+ +
Bhere" is ca##ed the damping ratio and
n
the undamped natura# freuency.
'epending upon the $a#ues of " the po#es of the may &e rea#" repeated or comp#ex
conNugate" %hich is ref#ected in the nature of its step response.
(#osed Loop .ystems<
(#osed #oop or feed&ac3 systems in$o#$e a measurement of the
output of the system and generation of contro# signa#s.
The c#osed #oop transfer function for the different open #oop transfer functions are as
sho%n &e#o%>
( )
"
( )
1 1
K K
G s
s s K
)!&
K K
G s
s s K

+

+ + +
it is a 1
nd
order type Oero system.
7or
C(s)?@Fs(sTH1)"
It is a type 1 system
E9PE:I5E;T/L B6:@<
1. 6pen Loop :esponse(1
st
order type 1)<
1F
.uare %a$e
.uare %a$e
11
1, | P a g e
:esponse of integrator to the step input.
1,
1D | P a g e
:esponse of a time constant to a step input.
(#osed
Loop
response for first order Type!1 system
The p#ots o&tained &e#o% is for the different $a#ues of gain (@ ? *.*+" *.1" *.1 respecti$e#y)
@
1F
!1
1D
.uare %a$e
1+ | P a g e
1+
1- | P a g e
(#osed Loop response for the second order Type!1 system<
@
K
s
1F
.uare %a$e
1-
10 | P a g e
7rom the graph" the $a#ues of t
p
(pea3 time) and t
r
(rise time) is>
t
p
? 1.+ ms
/nd
t
r
? 1.0+ ms
5aximum o$ershoot is gi$en<
V
p
?*.) V
Vo ? *.- V
( )
1**
# !
#
!
" "
M $
"

? ,,., J
1
1 1
(#n )
(#n )
M#
M#

+
? *.,,
10
1) | P a g e
1
1 #
n
t

+
? 1,,1.1 radFsec
( ) DF n s t!%e&an'e t ? *.**21
1
1 1 1
1001*2,.D
( )
1 )0).+21 1001*2,.D
n
n n
G s
S s S s

+ + + +
(6;(LI.I6; (6B.E:V/TI6;)<
(1) In first order open #oop system %hen on#y integrator is used the
amp#itude of output signa# is attenuated due to some system
restrictions.
(1) In first order c#ose #oop system %hen time constant &#oc3 a#ong %ith
negati$e feed &ac3 is used it gi$es amp#ified output and error is
some%hat reduced for different $a#ues of @
(,) In second order system
The time response of the first order open #oop" and the time response for the
first order & second order c#osed #oop systems %ere studied and the p#ots corresponding to
the step or suared response %ere ana#ysed.
1)
12 | P a g e
P#ots corresponding to the different $a#ues of gain (@ ? )" 1* resp.) for the c#osed #oop
second order system>
12
,* | P a g e
TITLE! LINEAR 'ARIABLE DIFFERENTIAL TRANSFORMER
AIM OF THE EXPERIMENT!
To study the performance characteristics of a #inear
$aria&#e differentia# transformer.
T8E6:=<
The transformer consists of a sing#e primary %inding and t%o secondary
%inding .1 and .1 %ound on a ho##o% cy#indrica# former. The secondary has eua# no. of
turns and that are p#aced on either side of primary %inding. Primary %inding is connected
to an a.c source. / mo$a&#e soft iron core s#ides %ithin the ho##o% former and therefore
affects the magnetic coup#ing &et%een primary and secondary %indings. 'isp#acement to
&e measured is app#ied to an arm attached to the soft iron core. Bhen core is at norma#
position eua# $o#tage are induced in t%o secondary %indings. The output $o#tage of the
transducer is the difference of the t%o $o#tages. Therefore the differentia# output $o#tage
is E* ?Es1 ! Es1.
/n ac signa# ca##ed carrier is connected to the primary %hich induces $o#tages in
the t%o secondary. 7or perfect#y symmetrica# secondary the output signa# is 4ero" a
disp#acement of the core on the either side causes magnetic asymmetric %ith uneua#
$o#tages induced in the secondary. The output $o#tages on t%o sides of the nu## position
%i## &e 1)* deg out of phase %ith respect to each other.
.=.TE5 'E.(:IPTI6;<
,*
,1 | P a g e
5echanica# unit< core disp#acement of HF! -* mm
5ain Init<
carrier freuency< D.+ ! +.+ @84
carrier $o#tage< 1V ! 1.+ V
demodu#ated oFp< *.1,* ! *.1)* V
operating $o#tagePs 11*V"+*84
E9PE:I5E;T/L B6:@<
The experiment main#y comprises of determining the
LV'T constant and the extent of #inear operating range.
This may &e done %ith &oth the &a#anced modu#ated & demodu#ated output.
:eadings ;oted<
'isp#acement
!!!!!!!!!!!!!!!!!!
!-.****
!+.+***
!+.****
!D.+***
!D.****
!,.+***
!,.****
!1.+***
!1.****
!1.+***
!1.****
!*.+***
!*.1+**
*
*.1+**
*.+***
1.****
1.+***
1.****
1.+***
,.****
,.+***
D.****
D.+***
+.****
+.+***
-.****
5odu#ated
!!!!!!!!!!!!!!!
1.1)**
1.120*
1.1D1*
1.110*
1.**)*
*.))D*
*.0+D*
*.-1+*
*.D2)*
*.,01*
*.1D,*
*.11**
*.*-D*
*.**1*
*.*0D*
*.11)*
*.1+D*
*.,02*
*.+*+*
*.-,1*
*.0+)*
*.))0*
1.*1-*
1.1,0*
1.1DD*
1.,*D*
1.1)-*
'emodu#ated
!!!!!!!!!!!!!!!!
!1)-.****
!1)2.1***
!10).1***
!1+).)***
!1D*.2***
!111.)***
!1*D.+***
!)-.+***
!-).2***
!+1.-***
!,,.+***
!1-.1***
!).****
*
2.-***
10.D***
,D.2***
+1.D***
-2.****
)0.D***
1*+.1***
11,.-***
1D1.1***
1-*.D***
10).D***
12*.+***
1)0.+***
,1
,1 | P a g e
The corresponding p#ots for the 5odu#ated & 'emodu#ated outputs are gi$en &e#o%>
7rom the p#ot
e
L"T'!nst
*

V
V
? ,-.-
The Linear region can &e seen from the p#ot.
,1
-6 -4 -2 0 2 4 6
-200
-150
-100
-50
0
50
100
150
200
RESPONSE OF LINEAR VARIABLE DIFFERENTIAL TRANSDUCER (DEMODULATED)
DISPLACEMENT (CM)
M
I
L
L
I
-
V
O
L
T
A
G
E
,, | P a g e
e
L"T'!nst
*

V
V
? *.1+++
The Linear region can &e seen from the p#ot.
(6;(LI.I6;<
7or the gi$en LV'T transducer" the corresponding outputs> modu#ated &
demodu#ated for different #inear disp#acements %as found out and for %hich the p#ots
%ere a#so o&tained and from %hich the LV'T constants %ere ca#cu#ated & the #inear
regions %ere o&ser$ed.
,,
-6 -4 -2 0 2 4 6
0
0.2
0.4
0.6
0.8
1
1.2
1.4
RESPONSE OF LINEAR VARIABLE DIFFERENTIAL TRANSDUCER
DISPLACEMENT
V
O
L
T
A
G
E
,D | P a g e
TITLE! POTENTIOMETRIC ERROR DETECTOR
AIM OF THE EXPERIMENT!
To study the performance characteristics of an angu#ar
position error detector using t%o potentiometers.
T8E6:=<
/ potentiometer is an e#ectromechanica# transducer %hich con$erts
angu#ar or #inear disp#acement into a proportiona# e#ectrica# $o#tage. Bhen a reference
$o#tage is app#ied across the fixed termina# of the potentiometer" the output $o#tage
measured at the $aria&#e termina# is proportiona# to the input disp#acement.
,D
,+ | P a g e
7rom the &#oc3" the output $o#tage may &e %ritten as>
e(t) ? @
e
Q(t)
%here Q(t) is the shaft position and @
e
is the constant of proportiona#ity"
use of t%o potentiometers in para##e#" supp#ied from the same source" ena&#es a
comparison of t%o shaft positions! a reference and a contro##ed shaft.
The output $o#tage ta3en across the $aria&#e points of the t%o potentiometers may &e
expressed as
1 1 ( ) L ( ) ( )M ( ) e e e e t K t t K t
Bhere
( ) e t
is the angu#ar error &et%een the reference and the contro##ed potentiometers.
If in potentiometer error detector supp#ied %ith a.c signa#s" the error output is gi$en &y>
( ) sin s e ' e t K " t
E9PE:I5E;T/L B6:@<
The $ita# features of a potentiometer type error detector are
the #inearity and range of the potentiometers used and the gain @
e
of the error detector.
7inding the #inearity and the error detector coefficient of the potentiometer using dc
excitation>
@eeping the pot.1 i.e. Q
1
?1)* deg.
K
/
Q(t)
e(t)
,+
,- | P a g e
.#.;o. Pot.1 Q
1
Q
e
6utput $o#tage
1
1
,
D
+
-
0
)
2
1*
11
11
1,
1D
1+
1-
10
1)
12
1*
11
+
1*
,*
+*
0*
2*
11*
1,*
1+*
10*
1)*
12*
11*
1,*
1+*
10*
12*
,1*
,,*
,+*
,++
10+
10*
1+*
1,*
11*
2*
0*
+*
,*
1*
*
!1*
!,*
!+*
!0*
!2*
!11*
!1,*
!1+*
!10*
!10+
1.+1**
1.D0**
1.11**
1.)2**
1.-,**
1.,D**
1.*D**
*.0D**
*.DD**
*.1-**
*.*1**
!*.1,**
!*.D1**
!*.0***
!1.****
!1.12**
!1.+0**
!1.)+**
!1.1,**
!1.D,**
!1.D)**
7rom the graph &et%een output $o#tage and Q
e
@
e
?RVF R Q
e
? *.*1DD
,-
,0 | P a g e
7inding the #inearity and the error detector coefficient of the potentiometer using dc
excitation>
@eeping the pot.1 i.e. Q
1
?1)* deg.
.#.;o. Pot.1 Q
1
Q
e
6utput $o#tage
(mV)
'V5
1
1
,
D
+
-
0
)
2
1*
11
11
1,
1D
1+
1-
10
1)
12
1*
+
1*
,*
+*
0*
2*
11*
1,*
1+*
10*
1)*
12*
11*
1,*
1+*
10*
12*
,1*
,,*
,+*
!10+
!10*
!1+*
!1,*
!11*
!2*
!0*
!+*
!,*
!1*
*
1*
,*
+*
0*
2*
11*
1,*
1+*
10*
D-
DD
D*
,-
,1
1-
1*
1-
1*
D
*
D
)
1D
1*
1D
,*
,D
D*
DD
!,.1)**
!,.1,**
!1.02**
!1.D***
!1.*-**
!1.-)**
!1.,***
!*.21**
!*.+1**
!*.1-**
*.*1**
*.11**
*.+0**
*.2D**
1.,,**
1.0***
1.*0**
1.D1**
1.0)**
,.1+**
,0
-200 -150 -100 -50 0 50 100 150 200
-3
-2
-1
0
1
2
3
POTENTIOMETRIC ERROR DETECTION (DC EXCITATION)
ERROR ANGLE
V
O
L
T
A
G
E
,) | P a g e
11 ,++ 10+ D- ,.1,**
(6;(LI.I6;<
7or the gi$en angu#ar position error detector using t%o potentiometers" the
#inear range of the potentiometer %ere found out and the gain of the error detector %as
found out.
TITLE! TEMPERATURE CONTROL SYSTEM
AIM OF THE EXPERIMENT!
To study the performance of $arious types of contro##er
used to contro# the temperature of an o$en.
,)
-200 -150 -100 -50 0 50 100 150 200
-4
-3
-2
-1
0
1
2
3
4
POTENTIOMETRIC ERROR DETECTION WITH AC EXCITATION
ERROR ANGLE
V
O
L
T
A
G
E
,2 | P a g e
B#oc3 'iagram of the system
T8E6:=<
The P#ant (6$en)" %hich is to &e contro##ed" is an e#ectric o$en" the
temperature of %hich must adNust itse#f in accordance %ith the reference or command.
This is a therma# system %hich &asica##y in$o#$es the transfer of heat from one section to
the other. In the present case %e are interested in the transfer of heat from the heater coi#
to the o$en and the #ea3age of heat from the o$en to the atmosphere.
.uch a system may &e con$enient#y ana#ysed in terms of therma# resistance and
capacitance.
The p#ant is ana#ogous to a current source in para##e# to a capacitor and a resistor.
The euation of heat transfer is gi$en &y<
Q? S.RT
Q? heat f#o% (ana#ogy to current source)
S? constant (ana#ogy to resistance)
RT? temperature difference (ana#ogy to $o#tage)
In simi#ar manner e#ectrica# capacitance is ana#ogous to therma# capacitance of mass.
The euation of the o$en may no% &e %ritten as<
1
( . )
dT
C T
dt R
+
.tating that a part of the heat input is used in increasing the temperature of the o$en and
the rest goes out as #oss.
Therefore the transfer function may &e %ritten as<
8ys
@p
@d
@i
/ctuator P#ant
.ensor
:e#ay
Proportiona#
'eri$ati$e
Integra#
:eference Error e(t)
!
H
6utput c(t)
,2
D* | P a g e
( )
( ) 1
T s R
s sCR

+
The temperature rise in response to the heat input is not instantaneous. / certain amount
of time is needed to transfer the heat &y con$ection & conduction inside the o$en. This
reuires a de#ay or transportation #ag.
st
e

%hich is to &e inc#uded in the transfer function &TtP is the time in seconds.
The &asic contro##ers" common#y used in the temperature contro# systems are<
:e#ay Proportiona#" Proportiona#!Integra#" and Proportiona#!Integra#!'eri$ati$e.
E9PE:I5E;T/L B6:@<
1. 6pen!#oop testing<
The o$en is dri$en through the P!amp#ifier set to a gain of
1* & %here the feed&ac3 #oop is e#iminated.
/fter s%itching on the supp#y the temperature is noted at each inter$a# of 1+F,* sec. ti##
the temperature &ecomes a#most constant.
:eadings ;oted<
Temperature noted after each interval of 15 sec
=22,25.3,29,32.9,36.4,39.8,42.9,45.5,48,50.4,52.3,54.2,55.9,5.5,58.9
60.2,61.4,62.5,63.5,64.5,65.4,66.2,66.9,6.6,68.3,68.9,69.5
D*
0 5 10 15 20 25 30
20
25
30
35
40
45
50
55
60
65
70
TIME IN SEC (15x5/div)
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
OPEN-LOOP TESTING
D1 | P a g e
7rom the p#ot %e find the Transfer of the o$en inc#uding the dri$er as>
1
( )
(1 1)
sT
Ke
G s
sT

+
7rom the p#ot>
T1 ? 12-.)- sec.
T1 ? 1+ sec.
/nd T@P is the constant %hich is gi$en &y>
. . +ina%Tem# O,en AmbientTem#
K
&i,e&-n#.t

6r"
),.1 11
*.+
K

111.D
Therefore"
1+
111.D
( )
(1 12-.)- )
s
e
G s
s

+
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
1. :e#ay (ontro##er
The contro##er consists of a simp#e & inexpensi$e re#ay
incorporating L6F8I hysteresis" %hich he#ps the contro##er to remain at its present $a#ue
ti## the input or error has increased a #itt#e &eyond 4ero. It a#so he#ps in a$oiding too
freuent s%itching of the contro##er" a#though a #arge $a#ue of error resu#ts.
:eadings ;oted>
Temperature noted after each interval of 15 sec for !"#$%steresis
=22.2,2.1,33.8,40.,4,53.5,59.3,62.4,61.2,59.5,60.9,59.8,60.,59.8,59
.9,60.,59.8,60.,59.8,60.8,59.8,60.8,59.8,60.,59.9,59.8,60.,59.9,60.
,59.9,60.
Temperature noted after each interval of 15 sec for !"#$%steresis
=26.3,29.3,35.4,42.2,49.6,56.2,62,6.9,1.8,1.2,68.,65.9,62.9,60.1,5
.4,54.9,52.,50.9,52.4,56.4,61.8,66.9,1.6,1.5,69.6,6.1
D1
D1 | P a g e
3. Proportiona# (ontro##er<
The coefficient of the @p of the contro##er is ca#cu#ated as
fo##o%s>
D1
0 5 10 15 20 25 30
25
30
35
40
45
50
55
60
65
TIME IN SEC (15x5/div)
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
RELAY CONTROLLER LO HYSTERESIS
0 5 10 15 20 25
25
30
35
40
45
50
55
60
65
70
75
TIME IN MINUTES
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
RELAY CONTROLLER HI-HY STERESIS
D, | P a g e
1 1
( )
1
T
K#
K T

6r"
1 12-.)-
( )( )
111.D 1+
K# *.1*0
The max gain of the amp#ifier is 1* and the corresponding amp#ifier input signa# $o#tage
is *.1" so to gi$e the input $o#tage signa# for @p ? *.1*0" the potentiometer 3no& position
shou#d &e at>
*.1*0
1*.01
*.*1
K#
%hich is +,.+J in the 3no& position.
:eadings ;oted>
Temperature noted after each interval of 30 sec
=25,29,3.5,4.9,5,5.6,5.1,56.9,56.9,56.9,5,5,5,5,5,5,5.1,5.
1,5.1,5.1,5.1,5.1,5.1,5.1,5.1,5.1,5.1,5.1,5.1,5.1
D,
0 5 10 15 20 25 30
25
30
35
40
45
50
55
60
TIME IN SEC (30x5/div)
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
PROPORTIONAL CONTROLLER
DD | P a g e
D. Proportiona#!Integra# (ontro##er<
The coefficient @p" @i is ca#cu#ated as fo##o%s>
*.2 1 *.2 12-.)-
( ) ( ) *.*2-F *.*1 2.-
1 111.D 1+
T
K#
K T

%hich is D)J of the fu## dia# of the P!potentiometer.
/nd" for the coefficient" @i>
1 1
*.*1
,., 1 D2.+
Ki
T

/#so the max $a#ue of @i is *.*1D" therefore the I!dia# position %i## &e" ),.,J.
:eadings ;oted>
Temperature noted after each interval of 15 sec
=26.5,29.2,34.9,41.2,4.1,52.5,56.,59.9,60.9,60.3,59.,59.4,59.5,59.,
59.8,59.9,59.9,59.9,59.9,60,60,60,60,60,60,60,60,60,60,60
5. Proportiona#!Integra#!'eri$ati$e contro##er<
The coefficient @p" @i" @d is
ca#cu#ated as fo##o%s>
DD
0 5 10 15 20 25 30
25
30
35
40
45
50
55
60
65
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
TIME IN SEC (15x5/div)
PROPORTIONAL INTEGRAL CONTROLLER
D+ | P a g e
1.1 1 1.1 12-.)-
( ) ( ) *.11)F *.*1
1 111.D 1+
T
K#
K T

%hich is -D.,J of the fu## dia# of the P!potentiometer.

1 1
*.*,
1 1 ,*
Ki
T

the max $a#ue of @i is *.*1D" therefore the I!dia# position %i## &e" 1**J.
/#so"
*.+ 1 0.+ Kd T
The max $a#ue of @d is 1,.+ therefore the '!dia# potentiometer %i## &e" ,1J
:eadings ;oted>
Temperature noted after each interval of 15 sec
=25.6,29.6,35.6,42,4.3,52.6,5.1,60.4,60.3,59.2,59.1,59.2,59.3,59.4,59
.4,59.4,59.4,59.4,59.4,59.4,59.4,59.4,59.4,59.6,59.6,59.6,59.6,59.6,59.
,59.,59.,59.,59.
(onc#usion<
D+
0 5 10 15 20 25 30 35
25
30
35
40
45
50
55
60
65
T
E
M
P
E
R
A
T
U
R
E

I
N

D
E
G
.

C
E
N
T
I
G
R
A
D
E
TIME IN SEC (15x5/div)
PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLER
D- | P a g e
The temperature of the o$en %as contro##ed using different contro##ers &
their corresponding sta&i#ity %as o&ser$ed.
EXPERIMENT ( NO ( 0
A12! S3456 #7 DC 2#3#8 ,9//5 :#;38#" ,6,3/2.
O<=/:31>/,! To study the performance characteristics of a '.(. motor speed contro#
system.
/pparatus :euired<
'.(. 5otor contro# 3it.
5otor modu#e.
(:6
OPEN LOOP PERFORMANCE
S1?;@" @;5 8/7/8/;:/!
P8#:/548/
.et @a ? *. (onnect 'V5 to measure the range of $ariation of reference $o#tage
Vr.
.%itch on the suare %a$e signa# Vs and measure its amp#itude and freuency
using a ca#i&rated (:6. The freuency of this signa# is a&out 18O" %hich ma3es
the (:6 disp#ay $ery incontinent for measurements.
D-
D0 | P a g e
M#3#8 @;5 T@:A#?/;/8@3#8
P8#:/548/
.et Vr?1V and @aH,V.
:ecord speed ; and Tachogenerator oFp Vt.
:epeat the a&o$e for different $a#ue of @a.
To ca#cu#ate 5otor time constant" %ith suare %a$e signa# Vs 6;" set Vr and @a
so that the p!p $ariation of Vm #ies &et%een ,!)V.
C@431#;! The (:6 must &e 3ept in '.(. iFp mode of the measurement.
6&tain the motor transfer function
Cs ? @m
.TH1
O<,/8>@31#; T@<"/
'8 B 1'#"3
S. N# K@ S/331;? N 892 '3 '#"3 '2 '#"3 EC9/812/;3@"
K@ B '2*'8
1
2
3

D
E
0
,
D
+
-
0
)
2
D0
D) | P a g e
EC9/:3/5 G8@9A
CALCULATION*RESULTS
C(s)?
T(open #oop time constant)?
D1,348<@;:/
P8#:/548/
.et @a?+ and adNust Vr to get speed 11** rpm" %ith no &rea3ing.
:ecord and ta&u#ate the motor speed $ariation for different &re3ing.
(a#cu#ate J decrease in speed at each setting of &rea3.

D)
D2 | P a g e
O<,/8>@31#; T@<"/
B8@)/ ,/331;? 0 1 2 3 D
O9/; L##9
+S9//5 . 892
C"#,/5 L##9
K@BD
C"#,/5 L##9
K@B10
C"#,/5 L##9
K@BD0
C"#,/5 L##9
K@B100
C"#,/5 L##9 P/87#82@;:/
(a) S3/@56 ,3@3/ /88#8!
.et Vr ? 1 & @a ? +. The motor %i## run at #o% speed. 5easure and record speed
; in rpm" tachogenerator $o#tage Vt" and the steady state error Ess (?Vr!Vt).
:epeat a&o$e for @a?+"1*"1+"1*EEE..1**.
(ompare case cases and comment on the resu#t.
D2
+* | P a g e
O<,/8>@31#; T@<"/
.teady state error<
Vr ? 1V
S. N# K@ N 892 '3 '#"3 E,, B+'8&'3.
EC9/812/;3@"
E,,B1*+1-K@K2K3.
TA/#8/31:@"
1
2
3

D
E
0
EC9/:3/5 G8@9A
C@":4"@31#; * R/,4"3,
(&) T8@;,1/;3 9/87#82@;:/
.et Vr?*.+ and 3a?+.
.%itch on the suare %a$e signa# and measure pFp amp#itude of Vs and Vt.
(a#cu#ate Teff %ith :?Vs pFp and (?Vt pFp.
+*
+1 | P a g e
EXPECTED GRAPH
C@":4"@31#; * R/,4"3,
D1,348<@;:/ R/=/:31#;

P8#:/548/
Bith @a?+" 7EE'B/(@ termina#s shorted and the &rea3 setting at *" adNust
reference Vr to get a speed c#ose to 11** rpm.
:ecord and ta&u#ate the $ariation in speed for different &rea3 setting.
:epeat a&o$e for different $a#ue of @a.
7ind the J decrease in speed for different $a#ue of @a.for open #oop "c#osed
Loop %ith @a ?+ and c#osed #oop %ith @a?1*
O<,/8>@31#; T@<"/
B8@)/ ,/331;? 0 1 2 3 D
O9/; L##9
+S9//5 . 892
C"#,/5 L##9 K@BD
C"#,/5 L##9
K@B10
C"#,/5 L##9
K@BD0
C"#,/5 L##9
K@B100
+1
+1 | P a g e
C#;:"4,1#;
PANEL DIAGRAM
+1
+, | P a g e
SEC&N' CYCLE
T13"/! S3/99/8 2#3#8
AIM U T# ,3456 S3/99/8 2#3#8
OBFECTI'E
(I) To study the operating characteristics of an sma## stepper motor and its
contro##er.
(II) To study the contro# of the motor through a microprocessor 3it.
APPARATUS REGUIRED!
1 .tepper motor trainer 3it
1 Patch cords
, (:6
EXPERIMENTAL HORK<
1. B@,1: ,3/9 @;?"/ 2/@,48/2/;3

PROCEDURE!
1. @eep s%itch .1 to manua# steeping as sho%n in fig.
1. .e#ect c#oc3%ise rotation.
,. (onnect a## phases to the corresponding dri$es.
D. Press the manua# step push &utton in mu#tip#e of ten pu#ses" and
notes the change in angu#ar position.
+. 7ind the a$erage &asic step ang#e.
-. :epeat the a&o$e process for ((B rotation.
EC9/:3/5 G8@9A*#43943!
5ode / %ithout Load
+,
+D | P a g e
5ode / %ith Load
5ode B %ithout Load
5ode B %ith Load

5ode /B %ithout Load


5ode /B %ith Load
+D
++ | P a g e
SPEED AND DIRECTION CONTROL!

P8#:/548/,!
i. @eep s%itch .1 to free run position.
ii. .et the pu#se freuency to a&out 1*84 and measure its $a#ue accurate#y %ith a
(:6. (onnect a## the phases to the corresponding dri$er.
iii. The motor starts rotating in the se#ected direction ((B or ((B).
5easure the shaft rotation speed %ith a stop%atch and record it.
(a#cu#ate steps per re$o#ution.
i$. :epeat the a&o$e steps at a## the freuencies and find an a$erage $a#ue of
steps per re$o#ution.
$. 6&ser$e the %a$eform on (:6 and trace the readings.
$i. (hange the direction of rotation and repeat the a&o$e procedures.
LOH FREGUENCY RESONANCE
(i) MOTOR WITHOUT LOAD
.
P8#:/548/,!
1. @eep s%itch .1 to T%o&&#eP position.
2. (onnect phase 1 to dri$er 1 and phase D to dri$er D.
3. (onnect the (:6 (= (hanne#) through the termina#s pro$ided on the
pane#.
. The motor is no% %o&&#e in mode / and o&ser$e the response on the
(:6 screen.
D. Trace the fig on a tracing paper and ca#cu#ate 5p de#ta tp" tr and ts.
E. (a#cu#ate 7max" assuming that a motor must come to rest after each
pu#se.
0. (onnect a## phases to corresponding dri$ers. The motor no% %o&&#es in
mode B.
:epeat the a&o$e steps.
8. (onnect phase 1 to dri$er 1 and phase D to dri$er D. The motor no%
%o&&#es in mode /B. :epeat the a&o$e steps.
9. (ompare the resu#ts.
++
+- | P a g e
+11. MOTOR HITH LOAD<

P8#:/548/,!
1. @eep s%itch .1 to %o&&#e position.
1. (onnect phase 1 dri$er 1 and phase D to dri$er D.
,. (onnect the (:6.
D. /pp#y frictiona# #oad &y turning the friction speed.
+. 5ount an inertia# dis3 on the motor shaft and record the change in response (5p"
tp).
-. :epeat the a&o$e process for different dis3.
+-
+0 | P a g e
+0
+) | P a g e
EXPECTED GRAPH!
+)
+2 | P a g e
MICROPROCESSOR CONTROL!
P8#:/548/,!
1. (onnect the interface ca&#e to the main unit and s%itch on po%er.
1. (onnect a## phases to corresponding dri$ers.
AIM< To rotate the motor &y 1.+ re$o#utions in c#oc3%ise direction at ,* rpm.
PROGRAM!
A558/,, C#5/ M;/2#;1:, C#22/;3,
1*** ,17711 L9I.P" 11778 .T/(@ I;ITI/LIO/TI6;
1**, *E*1 5VI (" *1 6;E :EV6LITI6;
1**+ 1-** 5VI '" ** (L6(@BI.E 'I:E(TI6;
1**0 1E 1E 5VI E" 1E ,*!:P5 .PEE'
1**2 (' D*D* (/LL
7:EE:I;1)
T/@E 6;E
:EV6LITI6;
1**( *1 BD** L9I B" **DB 1)* 'IC. 76: V :EV
56:E
1**7 (' 7* D* (/LL
/;CLE:I; 1)
:6T/TE B= 1)* 'IC
1*11 E7 :.T + :ETI:; T6 56;IT6:
C#;:"4,1#;!
+2
-* | P a g e
T13"/! DIGITAL CONTROL SYSTEM
/im of the Experiment< To contro# a process emp#oying digita# commands and see its
(orresponding responses.
.ystem Bac3ground<
In digita# contro# system the digita# contro##er has a characteristic to accept
data in discrete form (samp#ed data) and a#so produce same form of output as contro#
signa#. 7or this purpose a samp#er and ana#og!to!digita# con$erter is needed at the digita#
contro##er input. The samp#er con$erts the continuous time error signa# into a seuence of
pu#ses. Bhich are then con$erted into numerica# code (&inary code).The numerica##y
coded output data of digita# contro##er are decoded into continuous time signa# &y digita#!
to!ana#og con$erter and ho#d circuit.
8ere r(t) is the input to the system . In the set up a suare %a$e input %as gi$en. The
&#oc3s descriptions are as fo##o%s<
(1) .igna# .ource< /n interna# suare %a$e of HF! 1V amp#itude of freuency 1*84 is
app#ied as input to the system. This amp#itude of iFp source is reasona&#e for the
/F'" 'F/ con$erter and a#so for proper disp#ay on (:6.
(1) Process< an 6P/5P &ased second order type!* transfer function is used as
process. The continuous time process consists of t%o identica# circuits. The
process transfer function is <

1
1
1F 1
( )
1 1 ( )
R R a
G s K
sCR s a
_


+ +
,
%here @?*.-2DD and a?111.0-
the response of a&o$e step input :u(t) may &e seen as
( ) W1 X
at at
' t RK e ate


from %hich 3?(steady state output "c(Y)) F (Input amp#itude :)
and a?1.-0)F(time for the response to reach +*J of c(Y))

(,) 'igita# (ontro##er< This &#oc3 consists of /'( as input interface " 'igita#
Processor" '/( as output interface.
'/(< The input interface i.e. the /'( %or3s in &ipo#ar mode and con$erts the error
signa# to digita# form. The input range is H1* V to !1* V %hich is co$ered &y digita#
$a#ues of ** to 77h. The /'( is connected in free running mode so that each E6(
restarts a fresh con$ersion. The samp#ing instant %hen the fresh data is ta3en for
computation is determined &y the time ta3en &y a cyc#e of processing soft%are. /t the
-*
-1 | P a g e
c#oc3 out termina# the samp#ing freuency c#oc3 can &e measured. The /'( is
connected to microprocessor $ia para##e# port (port / of )1++) %or3ing as simp#e IF6
port.

Processor< /n )*)+ microprocessor &ased 3it is used as digita# processor. The main
purpose of this processor is to generate a contro# signa# as per the error signa#
recei$ed from /'(. The digita# error signa# and digita# contro# $a#ue (o&tained after
soft%are processing) are communicated %ith main unit $ia 1-!core f#at ca&#e.
'/(< This is an output interface. It con$erts the digita# conto# signa# into ana#og form
and send to the process. It is connected to the port B of )1++. It can a#so produce
output of &ipo#ar range of H1*V to !1*V.
In digita# contro# system the error sigana# is periodica##y samp#ed " con$erted into
digita# form " processed in a computer and send out to the process after con$erting
&ac3 into ana#og form. The ad$antage of digita# contro# inc#udes<
(1) it can imp#ement far &etter and comp#ex contro# than simu#ating Lag" Lead
net%or3s and PI'.
(1) Various contro# action can &e effected through soft%are modification.
(,) Extreme#y s#o% system may &e hand#ed easi#y.
(D) 'igita# contro# in$o#$es a c#ear 3no%#edge of error and their effects on system.
(+) It contro#s the effect of de#ay that may introduced in the system due to process
#ag".
D1?13@" P8#:/,,1;?!
The digita# processor recei$es input error seuence We(3)X and generates an output
Wm(3)X. The output is ca#cu#ated from We(3)Xusing contro# a#gorithm . 8ere PI'
a#gorithm is used for the sa3e of simp#icity.
The structure of an ana#og PI' contro##er is of the form "

1 ( )
( ) ( ) ( )
/
-
de t
m t K e t e t dt T
T dt
1
+ +
1
]

%here @p is the proportiona# gain and T

/
-
T T
m 0T K e 0T e 0T e 0T e 0 T
T T
1
+ +
1
]

%here T is the samp#ing period. .ince the summation term is incon$enient to imp#ement"
a $e#ocity form %hich is used common#y" may &e deri$ed &y su&tracting from a&o$e
expression for m(3!1)T" to get
( ) ( 1) L ( ) ( 1) M ( ) L ( ) 1 ( 1) ( 1) M
#
/
/
-
K T
K T
m 0T m 0 T K e 0T e 0 T e 0T e 0T e 0 T e 0 T
T T
+ + + +
Pu#se transfer function of PI' contro##er is found as>
-1
-1 | P a g e
( )
( )
1
( )
1
/ -
M 1 1 1
1 K K K
E 1 1 1

+ +

The deri$ati$e gain<

K T
K
T

The Integra# gain<

The digita# processor is programmed to imp#ement the a&o$e difference euations and
three gains @p" @i" @d adNusted to get the desired response.
.67TB/:E
In a digita# contro# system the contro# signa# is generated (rather ca#cu#ated)
using processor. The de#ay in$o#$ed in ca#cu#ation depends on the comp#exity of
a#gorithm and processor speed" and it is a deciding factor in determining the maximum
samp#ing freuency.
The main purpose of soft%are used here as fo##o%s<
1. Initia#i4ation
1. :eading of contro# parameter" if any from 3ey&oard.
,. :eading ne% samp#e signa# and signa# conditioning
D. Ceneration of samp#ing freuency c#oc3((L@ 6IT pu#se)
+. .ynchroni4ation of output %ith input signa# for con$enient $ie%ing on (:6
-. (omputation of contro# terms
0. (omputation of o$era## contro# output
Each of the a&o$e acti$ities is pro$ided &y either sing#e su&routine or a group of
su&routines and main programmes %hich are stored in :om #ocation (D*** U +777) and
is not accessi&#e for the user.
Lists of .IB:6ITI;E.F5/I; P:6C:/55E. & (orresponding memory addresses<
D*** I;IT
D*,* I;ITVE(
D*D* :'PI'
D*(* :'P'EL
D11* ./5PLE
D1+* .(BB
D10* (5;T1-
D1)* T(/''1-
D1B* P(I;T
-1
-, | P a g e
D1'* I(:
D1** 'IV1:
D1,* '(I;T
D1+* PI'6IT
D1)* (8@67
D1B* 'EL/=
D1'* I.:
D1E6 .5PLE
D,1* IB:ITE
D,-* I6IT
D,)* (65P
D,B6 (T'6IT
D,E* 7'EL
DD** 'I.PL/= (6'E.
DD,* P(:+
DD)* '(:1+
DD'*!D+*' '(:+
+*** 'ELE77
+*,* PI'
+*-* I.=.
+*2* (.=.
5ain Programs description<
P:6C:/5< 'e#ay Effect
+*** org+***8
/ddress code #a&e# 5nemonic
+*** ,1771- de#eff> #xi sp" .T/(@
+**, ('**D* ca## I;IT
+**- ('(6D* ca## :'P'EL
+**2 1111+* #xi d" conti1
+**( 111/1+ #xi h" .=;(8
+**7 0, mo$ m"e
+*1* 1, inx h
+*11 01 mo$ m" d
+*11 ,1771- conti 1 #xi sp" .T/(@
+*1+ ('1*D1 ca## ./5PLE
+*1) ('B*D1 ca## P(I;T
+*1B ('+*D1 ca## PI'6IT
+*1E 7B ei
+*1f ('B*D1 ca## 'EL/=
+*11 (,11+* Nmp conti 1
P:6C:/5< PI' /#gorithm
-,
-D | P a g e
/ddress code #a&e# 5nemonic
+*,* ,1771- pid< #xi sp" .T/(@
+*,, ('**D* ca## I;IT
+*,- ('D*D* ca## :'PI'
+*,2 11D1+* #xi d" conti1
+*,( 111/1+ #xi h" .=;(8
+*,7 0, mo$ m"e
+*D* 1, inx h
+*D1 01 mo$ m"d
+*D1 ,1771- conti1< #xi sp" .T/(@
+*D+ ('1*D1 ca## ./5PLE
+*D) ('B*D1 ca## P(I;T
+*DB (''*D1 ca## I(:
+*DE (',*D1 ca## '(I;T
+*+1 ('+*D1 ca## PI'6IT
+*+D 7B ei
+*++ (,D1+* Nmp conti1
P:6C:/5< I;(65PE;./TE' .=.TE5
/ddress code #a&e# 5nemonic
+*-* ,1771- usys< #xi sp" .T/(@
+*-, ('**D* ca## I;IT
+*-- ('1*D, ca## IB:ITE
+*-2 1101+* #xi d" conti ,
+*-( 111/1+ #xi h" .=;(8
+*-7 0, mo$" m"e
+*0* 1, inx h
+*01 01 mo$ m"d
+*01 ,1771- conti , #xi sp" .T/(@
+*0+ ('E*D1 ca## .5PLE
+*0) ('-*D, ca## I6IT
+*0B ('E*D, ca## 7'EL
+*0E 7B ei
+*07 (,01+* Nmp conti ,
P:6C:/5< (65PE;./TE' .=.TE5
/ddress code #a&e# 5nemonic
+*2* ,1771- csys #xi sp".T/(@
+*2, ('**D* ca## I;IT
+*2- ('D*D, ca## (B:ITE
+*22 11/1+* #xi d"contiD
+*2( 111/1+ #xi h".=;(8
+*27 0, mo$ m"e
+*/* 1, inx h
+*/1 01 mo$ m"d
-D
-+ | P a g e
+*/1 ,1771- conti D #xi sp" .T/(@
+*/+ ('E*D1 ca## .5PLE
+*/) (')*D, ca## (65P
+*/B ('B*D, ca## (T'6IT
+*/E 7B ei
+*/7 (,/1+* Nmp conti D
EC9/812/;3@" I#8)!
The fo##o%ing are the steps to perform the experiment U
1. P8#:/,, 15/;3171:@31#;
Process parameters are to &e determined &efore any contro# is attempted. The gain
@ and the #ocation of dou&#e po#e TaP are determined from the step response. The fig (a)
and (&) sho%s the connection and step response and the data to &e recorded from it . the
process parameters are ca#cu#ated as
p!p $a#ue of response at steady state " c
ss
@? p!p $a#ue of the suare %a$e input
? 1*.2 F D ? 1.01+
and
a ? 1.-0)ZZZZZZZZZZZZZZZZZ
Time to reach +*J of suare %a$e input" :
?
,
1.-0)
+.D 1*

? ,1*
The expression for C(s) is %ritten as
( )
1 1
1
1.01+ ,1*
( )
( ,1*)
Ka
G s
s
s a


+
+
D1?13@" ,6,3/2& :"#,/ "##9 8/,9#;,/
@. 7ixed for%ard gain! $aria&#e samp#ing rate< in this procedure the de#ay time is
$aried 3eeping the gain of proportiona#ity at some constant. The de#ay in the
-+
-- | P a g e
system introduces a P4eroP to the transfer function of that system. Bhen a 4ero is
introduced a deri$ati$e is added to the system output. 7or a under damped system
(%here [\1) the effect of 4ero is to contri&ute a high pea3 to the system response
%here pea3 o$er shoot may increase apprecia&#y. The sma##er the $a#ue of 4 "
c#oser the 4ero to the origin" more pea3ing response. That is %hy the 4eros on the
rea# axis near the origin are genera##y a$oided in the design. &ut in s#uggish
system the introduction of 4ero at proper position can impro$e the transient
response. /s 4 $a#ue increases i.e. 4ero mo$es farther to #eft ha#f of s!p#ane" its
effect &ecomes #ess. 7or sufficient #arge $a#ue of 4" the effect of 4ero on transient
response &ecomes neg#igi&#e.

Ta&#e< 1
.#.;o. 'e#ay
.etting
.amp#ing
Period
(pea3 (ss 5p?((pea3!
(ss)F(ss x
1**J
1
1
,
D
+
*
1
1
,
D
-**]s
1.-ms
1.-ms
,.-ms
D.-ms
1)V
,*V
,1V
,DV
,+V
11V
1,V
1,V
1,V
1,V
10.1J
,*.DJ
,2.1J
D0.)J
+1.10J
The %a$eforms sho%n &e#o% are the response of the system %ith $arying 'e#ays as gi$en
in Ta&#e 1.
--
-0 | P a g e
Ba$eform for de#ay setting as 1" and @p as D
Ba$eform for de#ay setting as 1" and @p as D
Ba$eform for de#ay setting as ," and @P as D
P8#9#831#;@" I;3/?8@" D/81>@31>/ +PID. C#;38#""/8!
Ta&#e 1
.#.;o. P I ' .amp#ing
Period
( pea3
(V)
( ss
(V)
5p J
1 - 1 1 2-1]s D1 ,* D*
1 - - 1 1.*Dms +* ,- ,).)
, - 7 1 +.+-ms 0D DD -)
D D 1 1 )02.-]s ,* 10 11
+ ) 1 1 1.*)ms D) ,D D1
-0
-) | P a g e
- / 1 1 1.1-ms +D ,D +)
0 - D 1 21*]s DD ,- 11.1
) - D + 1.11ms D* ,- 11.1
2 - D ) 1.1D1ms ,, ,1 ,
The %a$eforms sho%n &e#o% are the response of the system %ith $arying P"I"' gains
(@p" @i" @d) as gi$en in Ta&#e 1.
Ba$eform for @p setting as -" @i as 1" and @d as 1.
Ba$eform for @p setting as -" @i as -" and @d as 1.
Ba$eform for @p setting as -" @i as 7" and @d as 1.
-)
-2 | P a g e
Ba$eform for @p setting as D" @i as 1" and @d as 1.
Ba$eform for @p setting as )" @i as 1" and @d as 1.
-2
0* | P a g e
Ba$eform for @p setting as /" @i as 1" and @d as 1.
Ba$eform for @p setting as -" @i as D" and @d as 1.
Ba$eform for @p setting as -" @i as D" and @d as +.
(onc#usion<
0*
01 | P a g e
The contro# of the process %as o&tained using digita# contro##er %hich %as a programmed
$ersion of PI' contro##er computed &y the )*)+]p %here the different $a#ues of the gains
@p" @i" @d %ere changed and the corresponding response of the system %ere o&ser$ed in
the (:6 and the maximum pea3 o$ershoot %ere ca#cu#ated and compared.
T13"/! SCADA
01
01 | P a g e
N@2/ #7 3A/ /C9/812/;3< .uper$isory (ontro# and 'ata /cuisition .ystem
A12< To study the different components of .(/'/ using digita# and ana#og modu#es.
O<=/:31>/, (1) (reating ne% app#ication.
(1) (reating ne% %indo%
(,) Interfacing the ana#ogFdigita# modu#es.
A99@8@34, R/J418/5!
S.N#. R/J418/2/;3,
1 .(/'/ Trainer 'igita# modu#e
1 .(/'/ Trainer /na#og modu#e
, .(/'/ Trainer :.1,1 to :.D)+ con$erter modu#e
D :.D)+ seria# ca&#e
+ :.1,1 seria# ca&#e
- (omputer .ystem %ith 1CB :/5 pro$ided.
0 ;u'/5!-*** ''E ser$er V-.1D (soft%are)
) (onnecting %ire (standard)
2 Po%er supp#y (*!1,*V)
THEORY!
The efficient contro# of a process is &y #ogging the data" manipu#ates the data and adNusts
the #oop set points automatica##y. .(/'/ is nothing &ut an extension of computer data
#ogging system in$o#$es computer feed&ac3 on the process through automatic adNustment
of #oop set points. The &e#o% diagram sho%s that in .(/'/ there is one super$isor that
contro#s TnP num&er of IF6 modu#es.
01
0, | P a g e
SUPER'ISOR
/ $arious #oads in a process change" it is often ad$antageous to a#ter set points in certain
#oops to increase efficiency or to maintain the operation %ithin certain reca#cu#ated #imits.
In genera# choice of set point is a function or many other parameters in the process. In
fact a decision to a#ter one set point many necessities the a#teration of many other #oop set
points as interacti$e effects are ta3en into account.
Ci$en num&er of #oops" interactions" and ca#cu#ation reuired in such decision" it is more
natura# and expedient to #et a computer perform these operations under program contro#.
The system sho%n here consists of data acuisition system" data oFp system and ana#og
process contro# #oops.
The contro##er is ana#og process contro# #oops ha$e &een designed to accept set point
$a#ues as some proper#y sca#ed $o#tage" &y proper s%itch addressing. The computer then
outputs a signa# through the mu#tip#exer and '/(s representing a ne% set point to a
contro##er connected to that output #ine.
F/@348/, #7 SCADA
1. The important features of a computer super$isory contro# system is that it
produces the desired change in operation rate in the minimum possi&#e time.
1. In data #ogging" ad$antages of the computer to o$ersee the operation of a process
through high speed samp#ing of #oop data pro$ed the computers $a#ue in process
contro#. /'( and mu#tip#exer system a##o% rates of +*** samp#es per second to
&e ta3en.
,. .uper$isory contro# #eads the computer adNusts process #oop set point for optimum
process performance e$en through standard ana#og contro# #oops are sti## used for
contro#.
O>/8>1/I
;u'/5!-*** IF6 ''E .er$er is an app#ication for the 5icrosoft Bindo%s 2+ and
Bindo%s ;T operating systems. It acts as a ''E ('ynamic 'ata Exchange) .er$er and
a##o%s other Bindo%s app#ication programs access to data from ;u'/5 -*** series
IF6
5odu#e!1
IF6
5odu#e!1
IF6
5odu#e!,
IF6
5odu#e!
KKK...
IF6
5odu#e!
n
0,
0D | P a g e
5odu#es. ;u'/5!-*** IF6 ''E .er$er communicates %ith the ;u'/5 -*** series
5odu#es $ia seria# #ines. It may &e used %ith Bonder%are InTouch and any 5icrosoft
Bindo%s program %hich is capa&#e of acting as a ''E (#ient.
Bhat is ''E^
''E ('ynamic 'ata Exchange) is a communication protoco# designed &y 5icrosoft to
a##o% concurrent#y running programs in the Bindo%s en$ironment to exchange data and
instructions %ith each other. It imp#ements a c#ient!ser$er re#ationship &et%een the
app#ications. The ser$er app#ication pro$ides the data and accepts reuests from any other
app#ication interested in the data. The reuesting app#ications are ca##ed c#ients %hich can
&oth read and %rite data maintained &y the ser$er. .ome app#ications such as InTouch
and 5icrosoft Exce# can simu#taneous#y &e &oth a c#ient and a ser$er.
(#ient app#ications can use ''E for one!time data transfers or for continuous data
exchanges in %hich updates are sent as soon as ne% information is a$ai#a&#e. 7or one!
time data transfers" the c#ient app#ication on#y reuests the _snapshot_ data from the
ser$er app#ication. 7or examp#e" as a macro for report generation is executed in Exce#" a
#in3 to another ''E program %i## &e set up to reuest the specified data. The #in3 %i## &e
terminated after the reuested data is recei$ed. Then the recei$ed data are used to
generate reports.
The continuous data exchanges mode is a#so named _hot #in3_. Bhi#e a c#ient app#ication
sets up a #in3 to another ''E program" it reuests the ser$er app#ication to ad$ise the
c#ient %hene$er a specific item`s $a#ue changes. These data #in3s %i## remain acti$e unti#
either the c#ient or ser$er program terminate the #in3 or the con$ersation. It is a $ery
efficient means of exchanging data &ecause once the #in3 has &een esta&#ished no
communication occurs unti# the specified data $a#ue changes. InTouch uses ''E to
communicate %ith IF6 de$ice dri$ers and other ''E app#ication programs.
7or InTouch" if the tagname are defined as IF6 type" they can read or %rite their $a#ues to
or from another ''E comp#iant Bindo%s program. 7or examp#e" InTouch can read or
%rite their $a#ues to Exce#" and Exce# can a#so read or %rite data to InTouch 'ata&ase.
Bhene$er the data from source are updated" the remote data are updated automatica##y as
soon as ne% information is a$ai#a&#e. ''E can &e used to dispatch contro# instructions to
process!connected instruments. Bith this a&i#ity" t%o or more re#ated app#ications can &e
com&ined together to ma3e up a #arge si4e of super
app#ication. 7or examp#e" Exce# spreadsheet can perform the optima# ca#cu#ation for
production. Thus" Exce# may read data from InTouch" %hich are accessed form IF6
contro##ers or sensors. :eference to the data" the Exce# spreadsheet performs some
comp#icated ca#cu#ation. InTouch reads the resu#t &ac3 from Exce# and then uses the
optima# $a#ue to contro# $arious production parameters.
0D
0+ | P a g e
DDE C#;>/8,@31#;
1. The (#ients opens a channe# to the ser$er app#ication &y specifying<
a .er$er /pp#ication ;ame < e.g. ;u'/5.exe
a Topic ;ame(Logica# de$ice) < e.g. ;5-*11
a ItemsFTagnames < e.g. /5
1. The ''E /ddress con$ention for representing an app#ication" topic and item is<
/pp#icationbTopiccItem
/n ''E con$ersation examp#e that uses ;u'/5!-*** ''E .er$er to perform digita#
input for ;u'/5-*11<
;u'/5b;5-*11c/'I
''E Item Name( 'efinition in InTou)h
7or InTouch" the ''E item name can &e defined in Tag ;ame 'ictionary
to readF%rite data from other app#ications. To define the tagnames" in$o3e the
F.pecia#FTag ;ame 'ictionary... command (in Bindo%5a3er
). The steps to define a ''E item name are the fo##o%ing<
(1) (#ic3 on _;e%_ &utton to define a ne% Tag ;ame
(1) Input the ''E item name
(,) .e#ect the tag type
(D) Input a## the information re#ated to the tag name in the the _'etai#s_ dia#og &ox
associated to the tag type
(+) 'efine the ''E access name associated to the tagname
(-) The #ast step is to define the ''E item name. In this fie#d" type the item name for the
desired data $a#ue in the ;u'/5!-*** ''E .er$er.
;ote< It is important to understand that the _tagname_ is the name used %ithin
InTouch to refer to a data $a#ue. The Item is the name used &y IF6 ''E .er$er program
to refer to the same $a#ue. These names do not ha$e to &e the same &ut" it is
recommended %hen app#ica&#e to use the same names.
0+
0- | P a g e
DDE I3/2 N@2/, 7#8 N4DAM 2#54"/,
The commands and the corresponding item names and the data types for ;u'/5
modu#e are the fo##o%ing< (The .pecia# (ommand .et is a$ai#a&#e for a## the ;u'/5
modu#es)
.pecia# (ommand .et
;I'/5!-*11" -*11" -*1," -*1D'
;I'/5!-*10" -*1)
;I'/5!-*11
;I'/5!-*1D
;I'/5!-*+*" -*+1" -*+," -*+D" -*-*" -*-,
;I'/5!-*+-" -*+)
;I'/5!-*)*
''E Item ;ames 'efinition in InTouch
7or InTouch" the ''E item name can &e defined in Tag ;ame 'ictionary
to readF%rite data from other app#ications. To define the tagnames" in$o3e the
F.pecia#FTag ;ame 'ictionary... command (in Bindo%5a3er). The steps to define a
''E item name are the fo##o%ing<
(1) (#ic3 on _;e%_ &utton to define a ne% Tag ;ame
(1) Input the ''E item name
(,) .e#ect the tag type
(D) Input a## the information re#ated to the tag name in the the _'etai#s_ dia#og &ox
associated to the tag type
(+) 'efine the ''E access name associated to the tagname
(-) The #ast step is to define the ''E item name. In this fie#d" type the item name for the
desired data $a#ue in the ;u'/5!-*** ''E .er$er.
;ote< It is important to understand that the _tagname_ is the name used %ithin InTouch to
refer to a data $a#ue. The Item is the name used &y IF6 ''E .er$er program to refer to
the same $a#ue. These names do not ha$e to &e the same &ut" it is recommended %hen
app#ica&#e to use the same names.
RS&232 (:ecommended .tandard 1,1)
RS&232 (:ecommended .tandard 1,1) is a standard for seria# &inary data signa#s
connecting &et%een a TE ('ata Termina# Euipment) and a CE ('ata (ircuit!
terminating Euipment). It is common#y used in computer seria# ports.
0-
00 | P a g e
In :.!1,1" user data is sent as a time!series of &its. Both synchronous and asynchronous
transmissions are supported &y the standard. In addition to the data circuits" the standard
defines a num&er of contro# circuits used to manage the connection &et%een the 'TE and
'(E. Each data or contro# circuit on#y operates in one direction" that is" signa#ing from a
'TE to the attached '(E or the re$erse. .ince transmit data and recei$e data are separate
circuits" the interface can operate in a fu## dup#ex manner" supporting concurrent data
f#o% in &oth directions. The standard does not define character framing %ithin the data
stream" or character encoding.
'#"3@?/ L/>/",
The :.!1,1 standard defines the $o#tage #e$e#s that correspond to #ogica# one and #ogica#
4ero #e$e#s for the data transmission and the contro# signa# #ines. Va#id signa#s are p#us or
minus , to 1+ $o#ts ! the range near 4ero $o#ts is not a $a#id :.!1,1 #e$e#. The standard
specifies a maximum open!circuit $o#tage of 1+ $o#ts< signa# #e$e#s of d+ V" d1* V" d11
V" and d1+ V are a## common#y seen depending on the po%er supp#ies a$ai#a&#e %ithin a
de$ice. :.!1,1 dri$ers and recei$ers must &e a&#e to %ithstand indefinite short circuit to
ground or to any $o#tage #e$e# up to d1+ $o#ts. The s#e% rate" or ho% fast the signa#
changes &et%een #e$e#s" is a#so contro##ed
C#;;/:3#8,
:.!1,1 de$ices may &e c#assified as 'ata Termina# Euipment ('TE) or 'ata
(ommunications Euipment ('(E)> this defines at each de$ice %hich %ires %i## &e
sending and recei$ing each signa#. The standard recommended &ut did not ma3e
mandatory the '!su&miniature 1+ pin connector. In genera# and according to the
standard" termina#s and computers ha$e ma#e connectors %ith 'TE pin functions" and
modems ha$e fema#e connectors %ith '(E pin functions. 6ther de$ices may ha$e any
com&ination of connector gender and pin definitions. 5any termina#s %ere manufactured
%ith fema#e termina#s &ut %ere so#d %ith a ca&#e %ith ma#e connectors at each end> the
termina# %ith its ca&#e satisfied the recommendations in the standard.
Because the app#ication of :.!1,1 has extended far &eyond the origina# purpose of
interconnecting a termina# %ith a modem" successor standards ha$e &een de$e#oped to
address the #imitations. Issues %ith the :.!1,1 standard inc#ude<
The #arge $o#tage s%ings and reuirement for positi$e and negati$e supp#ies
increases po%er consumption of the interface and comp#icates po%er supp#y
design. The $o#tage s%ing reuirement a#so #imits the upper speed of a compati&#e
interface.
.ing#e!ended signa#ing referred to a common signa# ground #imits the noise
immunity and transmission distance.
5u#ti!drop connection among more than t%o de$ices is not defined. Bhi#e mu#ti!
drop _%or3!arounds_ ha$e &een de$ised" they ha$e #imitations in speed and
compati&i#ity.
00
0) | P a g e
/symmetrica# definitions of the t%o ends of the #in3 ma3e the assignment of the
ro#e of a ne%#y de$e#oped de$ice pro&#ematic> the designer must decide on either
a 'TE!#i3e or '(E!#i3e interface and %hich connector pin assignments to use.
The handsha3ing and contro# #ines of the interface are intended for the setup and
ta3edo%n of a dia#!up communication circuit> in particu#ar" the use of handsha3e
#ines for f#o% contro# is not re#ia&#y imp#emented in many de$ices.
;o method is specified for sending po%er to a de$ice. Bhi#e a sma## amount of
current can &e extracted from the 'T: and :T. #ines" this is on#y suita&#e for #o%
po%er de$ices such as mice.
Bhi#e the standard recommends a 1+!%ay connector and its pinout" the connector
is #arge &y current standards.
RS&8D (:ecommended .tandard D)+)
RS&8D (:ecommended .tandard D)+) is a standard for seria# &inary data signa#s
connecting &et%een a TE ('ata Termina# Euipment) and a CE ('ata (ircuit!
terminating Euipment). :.!D)+ is a#so 3no%n as EI/!D)+. It is common#y used in
computer seria# ports.
EI/!D)+ on#y specifies e#ectrica# characteristics of the dri$er and the recei$er. It does not
specify or recommend any data protoco#. EI/!D)+ ena&#es the configuration of
inexpensi$e #oca# net%or3s and mu#tidrop communications #in3s. It offers high data
transmission speeds (,+ 5&itFs up to 1* m and 1** 3&itFs at 11** m). .ince it uses a
differentia# &a#anced #ine o$er t%isted pair (#i3e EI/!D11)" it can span re#ati$e#y #arge
distances (up to D*** feet or Nust o$er 11** meters).
Master-slave arrangement
6ften in a master!s#a$e arrangement %hen one de$ice du&&ed _the master_ initiates a##
communication acti$ity" the master de$ice itse#f pro$ides the &ias and not the s#a$e
de$ices. In this configuration" the master de$ice is typica##y centra##y #ocated a#ong the
set of EI/!D)+ %ires" so it %ou#d &e t%o s#a$e de$ices #ocated at the physica# end of the
%ires that %ou#d pro$ide the termination. The master de$ice itse#f %ou#d pro$ide
termination if it %ere #ocated at a physica# end of the %ires" &ut that is often a &ad
design
L,M
as the master %ou#d &e &etter #ocated at a ha#f%ay point &et%een the s#a$e
de$ices. ;ote that it is not a good idea to app#y the &ias at mu#tip#e node #ocations"
&ecause" &y doing so" the effecti$e &ias resistance is #o%ered" %hich cou#d possi&#y cause
a $io#ation of the EI/!D)+ specification and cause communications to ma#function. By
3eeping the &iasing %ith the master" s#a$e de$ice design is simp#ified and this situation is
a$oided
0)
02 | P a g e
Three wire connection
:.!D)+ , %ire connection
E$en though the data is transmitted o$er a 1 %ire t%isted pair &us" a## EI/!D)+
transcei$ers interpret the $o#tage #e$e#s of the differentia# signa#s %ith respect to a third
common $o#tage. Bithout this common reference" a set of transcei$ers may interpret the
differentia# signa#s incorrect#y. In a typica# setup" this third $o#tage is imp#ied in the
po%er supp#y commonFground connection. 8o%e$er" fundamenta##y spea3ing" there is
nothing reuiring this common $o#tage to &e the same as the po%er supp#y. In fact"
certain 5.FTP %iring reuires fu## iso#ation &et%een the $arious EI/!D)+ de$ices and
ha$e to run the third %ire for the common connection.
Fll !"le# o"eration
EI/!D)+" #i3e EI/!D11 can &e made fu##!dup#ex &y using four %ires. .ince EI/!D)+ is a
mu#ti!point specification" ho%e$er" this is not necessary in many cases. EI/!D)+ and
EI/!D11 can interoperate %ith certain restrictions.
(on$erters &et%een EI/!D)+ and other formats are a$ai#a&#e to a##o% a persona#
computer to communicate %ith remote de$ices. By using _:epeaters_ and _5u#ti!
:epeaters_ $ery #arge :.D)+ net%or3s can &e formed. The /pp#ication Cuide#ines for
TI/FEI/!D)+!/ has one diagram ca##ed _.tar (onfiguration. ;ot recommended._ Ising
an :.D)+ _5u#ti!:epeater_ can a##o% for _.tar (onfigurations_ %ith _8ome :uns_ (or
mu#ti!drop) connections simi#ar to Ethernet 8u&F.tar imp#ementations (%ith greater
distances). 8u&F.tar systems (%ith _5u#ti!:epeaters_) a##o% for $ery maintaina&#e
systems" %ithout $io#ating any of the :.D)+ specifications. :epeaters can a#so &e used to
extend the distance or num&er of nodes on a net%or3.
P8#:/548/!
1. Execute the ;u'/5!-*** ''E .er$er V-.1 and minimi4e its %indo%.
1. Execute the In!Touch (&y %onder %are) soft%are.
,. .tart to ma3e ne% app#ication (Press (tr# ;).
D. (#ic3 e;extf to the defau#t directory and gi$e a name for your ne% app#ication to
&e made. The name is gi$en to the fo#der %here a## your app#ication is stored.
+. (#ic3 next and gi$e a name for the app#ication" the name %i## &e disp#ayed as the
name for the app#ication in the In!Touch app#ication manager.
-. Execute (dou&#e c#ic3) the app#ication name" c#ic3 6@ to the #icense %indo%"
c#ic3 ignore it the e#icense not a$ai#a&#ef %indo%.
0. ;o% the %indo% ma3er is ready" press (tr# ; for ne% %indo%" gi$e a suita&#e
name to the %indo% (the name %i## &e disp#ayed in the head of form)" u may gi$e
a comment for &etter information a&out the %indo%.
02
)* | P a g e
D1?13@" 2#54"/!
). (#ic3 press on the %i4ard se#ection icon and choose the too#s you %ant to use.
.uppose say s%itches is chosen. (hoose the 3ind of s%itch to &e used and drag it
and drop upon the %indo%. .uppose say a F1C348/ SI13:A is chosen.
2. 'ou&#e c#ic3 (or choose properties! #eft c#ic3 mouse) on the item. / T@? N@2/
%indo% is sho%n. (hoose a suita&#e name (say '61) and dou&#e c#ic3 it. / tag
directory %indo% is sho%n. (hoose on the type and choose IF6 'iscrete. IF6 type
tag name ha$e an A::/,, N@2/. (#ic3 on the access name and c#ic3 add fi## the
fo##o%ing exact#y.
/ccess name< 'ig5od
/pp#ication name< ;u'am
Topic name< 'igita#I6
:emem&er fi## it exact#yc It is case sensiti$e.
1*. /fter doing a## %ith the access name press done and c#ose its %indo%s. 'o not
c#ose the tag directory %indo%.
11. In the tag directory %indo% there is a text&ox to enter the I3/2L choose the
suita&#e items %ith
11. its num&er.
1,. =ou can choose any num&er of items and use for IF6 contro##ing operation. Gust
pic3 the item" gi$e its tag name" type and its access name.
I29#83@;3 9#1;3!
7or each item to &e independent shou#d ha$e a uniue tag name. 6ther%ise they %i##
%or3 as dependent items.
A;@"#? 2#54"/!
7or ana#og modu#e the procedure can &e $i$id#y #earnt from the operating manua# of
.(/'/!1 T:/I;E:.
R4;;1;? 3A/ @99"1:@31#;!
1. (#ic3 on e:untimef at the upper!rightmost corner of the in!touch %indo% ma3er.
1. (#ic3 ignore it the e#icense not a$ai#a&#ef %indo%.
,. (#ic3 6@ for &oth the e#icensef and the edemo!mode 11* minutesf %indo%.
D. The program starts running.
+. To stop the running program it c#ic3 ede$e#opmentf at the upper!rightmost corner.
)*
)1 | P a g e
S3/9 II
1. (#ic3 press on the %i4ard se#ection icon and choose the too#s u %ants to use. .uppose
say meters is chosen. (hoose the 3ind of meter to &e used and drag it and drop upon
the %indo%. suppose say a pane# meter is chosen.
1. Ci$e a tag name to the meter as in the digita# modu#e> Nust change the type as IF6 rea#.
,. add and modify access name as
/ccess name< /na#og mode
/pp#ication name< /na#og
D. (hoose the suita&#e ana#og item for use.
+. 'ou&#e c#ic3 on the meter and change the sca#e settings of the meter.
Conne)tion preferen)e(*
)1
)1 | P a g e
)1
), | P a g e
),
)D | P a g e
)D
)+ | P a g e
)+
)- | P a g e
)-
)0 | P a g e
I29#83@;3 9#1;3!
7or each item to &e independent shou#d ha$e a uniue tag name. 6ther%ise they %i##
%or3 as dependent items.
A;@"#? 2#54"/!
7or ana#og modu#e the procedure can &e $i$id#y #earnt from the operating manua# of
.(/'/!1 T:/I;E:.
R4;;1;? 3A/ @99"1:@31#;!
-. (#ic3 on e:untimef at the upper!rightmost corner of the in!touch %indo% ma3er.
0. (#ic3 ignore it the e#icense not a$ai#a&#ef %indo%.
). (#ic3 6@ for &oth the e#icensef and the edemo!mode 11* minutesf %indo%.
2. The program starts running.
1*. To stop the running program it c#ic3 ede$e#opmentf at the upper!rightmost corner.
INPUT*OUTPUT ITEMS
DIGITAL INPUT ITEMS!
I3/2 ;@2/ D/>1:/
/(I* 'I*
/(I1 'I1
/(I1 'I1
/(I, 'I,
/(ID 'ID
/(I+ 'I+
/(I- 'I-
DIGITAL OUTPUT ITEMS
I3/2 ;@2/ D/>1:/
/(6* '6*
/(61 '61
/(61 '61
/(6, '6,
/(6D '6D
/(6+ '6+
)0
)) | P a g e
/(6- '6-
/(60 '60
1. (#ic3 press on the %i4ard se#ection icon and choose the too#s u %ant to use. .uppose
say meters is chosen. (hoose the 3ind of meter to &e used and drag it and drop upon the
%indo%" suppose say a pane# meter is chosen.
1. Ci$e a tag name to the meter as in the digita# modu#e" Nust change the type as IF6 rea#.
add and modify access name as
/ccess name< /na5od
/pp#ication name< /na#ogI
,. (hoose the suita&#e ana#og item for use.
D. 'ou&#e c#ic3 on the meter and change the sca#e settings of the meter.
ANALOG INPUT ITEMS!
I3/2 ;@2/ D/>1:/
/I* (8*
/I1 (81
/I1 (81
/I, (8,
/ID (8D
/I+ (8+
/I- (8-
CONCLUSION!
))
)2 | P a g e
NAME OF THE EXPERIMENT<
LIgII' LEVEL (6;T:6L I.I;C SCADA
/I5< To contro# the #iuid #e$e# using ana#og and digita# SCADA modu#e.
A99@8@34, R/J418/5!
S. N#. R/J418/2/;3,
1 .(/'/ Trainer 'igita# modu#e
1 .(/'/ Trainer /na#og modu#e
, .(/'/ Trainer :.1,1 to :.D)+ con$erter modu#e
D :.D)+ seria# ca&#e
+ :.1,1 seria# ca&#e
- (omputer .ystem %ith 1CB :/5 pro$ided.
0 ;u'/5!-*** ''E ser$er V-.1D (soft%are)
) (onnecting %ire (standard)
2 Liuid #e$e# Tan3
THEORY
C#;;/:3#8,
:.!1,1 de$ices may &e c#assified as 'ata Termina# Euipment ('TE) or 'ata
(ommunications Euipment ('(E)> this defines at each de$ice %hich %ires %i## &e
sending and recei$ing each signa#. The standard recommended &ut did not ma3e
mandatory the '!su&miniature 1+ pin connector. In genera# and according to the
standard" termina#s and computers ha$e ma#e connectors %ith 'TE pin functions" and
modems ha$e fema#e connectors %ith '(E pin functions. 6ther de$ices may ha$e any
com&ination of connector gender and pin definitions. 5any termina#s %ere manufactured
%ith fema#e termina#s &ut %ere so#d %ith a ca&#e %ith ma#e connectors at each end> the
termina# %ith its ca&#e satisfied the recommendations in the standard.
Because the app#ication of :.!1,1 has extended far &eyond the origina# purpose of
interconnecting a termina# %ith a modem" successor standards ha$e &een de$e#oped to
address the #imitations. Issues %ith the :.!1,1 standard inc#ude<
The #arge $o#tage s%ings and reuirement for positi$e and negati$e supp#ies
increases po%er consumption of the interface and comp#icates po%er supp#y
design. The $o#tage s%ing reuirement a#so #imits the upper speed of a compati&#e
interface.
)2
2* | P a g e
.ing#e!ended signa#ing referred to a common signa# ground #imits the noise
immunity and transmission distance.
5u#ti!drop connection among more than t%o de$ices is not defined. Bhi#e mu#ti!
drop _%or3!arounds_ ha$e &een de$ised" they ha$e #imitations in speed and
compati&i#ity.
/symmetrica# definitions of the t%o ends of the #in3 ma3e the assignment of the
ro#e of a ne%#y de$e#oped de$ice pro&#ematic> the designer must decide on either
a 'TE!#i3e or '(E!#i3e interface and %hich connector pin assignments to use.
The handsha3ing and contro# #ines of the interface are intended for the setup and
ta3edo%n of a dia#!up communication circuit> in particu#ar" the use of handsha3e
#ines for f#o% contro# is not re#ia&#y imp#emented in many de$ices.
;o method is specified for sending po%er to a de$ice. Bhi#e a sma## amount of
current can &e extracted from the 'T: and :T. #ines" this is on#y suita&#e for #o%
po%er de$ices such as mice.
Bhi#e the standard recommends a 1+!%ay connector and its pinout" the connector
is #arge &y current standards.
RS&8D +R/:#22/;5/5 S3@;5@85 8D.
:.!D)+ (:ecommended .tandard D)+) is a standard for seria# &inary data signa#s
connecting &et%een a TE ('ata Termina# Euipment) and a CE ('ata (ircuit!
terminating Euipment). :.!D)+ is a#so 3no%n as EI/!D)+. It is common#y used in
computer seria# ports.
EI/!D)+ on#y specifies e#ectrica# characteristics of the dri$er and the recei$er. It does not
specify or recommend any data protoco#. EI/!D)+ ena&#es the configuration of
inexpensi$e #oca# net%or3s and mu#tidrop communications #in3s. It offers high data
transmission speeds (,+ 5&itFs up to 1* m and 1** 3&itFs at 11** m). .ince it uses a
differentia# &a#anced #ine o$er t%isted pair (#i3e EI/!D11)" it can span re#ati$e#y #arge
distances (up to D*** feet or Nust o$er 11** meters).
2*
21 | P a g e
21
21 | P a g e
21
2, | P a g e
2,
2D | P a g e
2D
2+ | P a g e
2+
2- | P a g e
2-
20 | P a g e
20
2) | P a g e
2)
22 | P a g e

22
1** | P a g e
CONCLUSION!
1**
1*1 | P a g e
Extra Experiments designed for B.Tech (E&E)
AIM& T# ,3456 @: 9#,131#; :#;38#".
A99@8@34, 8/J418/5<
/.(. position contro# trainer 3it.
'ua# Trace (:6.
'igita# 5u#ti meter.
EC9/812/;3@" H#8)<
P#,131#; :#;38#" 3A8#4?A :#;31;4#4, :#22@;5
P8#:/548/<
(onnect motor unit %ith the contro# unit.
.%itch on the po%er" set @a?D.
(onnect (:6 %ith the Vr soc3et" starting from one end say ,* degree measure
the $o#tage amp#itude /.
5o$e the reference pot. 5eter to 2* degree and measure the oFp $o#tage
amp#itude as B. The constant ( re#ated to the command signa# is (?B!/F .
(onnect (:6 to the V* soc3et. @eep the command pot. meter at ,* dig. /#so
note r ?,*" * from feed&ac3 pot. 5eter.
5easure Vr and V* from the (:6.
:epeat the a&o$e processes for @?0 and measure the same.
(a#cu#ate the errors from the resu#ts as ( r! ) or ca#cu#ate from ess ? ( Vr !
V*) F ( for each step of each set of @a.
.#o%#y &ring command pot. 5eter dia# at the same degree as motor dia# and set
gain @ ? D" note * then ad$ance command pot. 5eter and note r.
;ote the ne% position of *.
:epeat the a&o$e steps for @ ? ).
C#;:"4,1#;! 7rom the a&o$e o&ser$ations fo##o%ing effects has &een seen.
Increasing the for%ard path gain @ can reduce the steady state error.
/t #o% $a#ue of gain there is some de#ay and steady state error %i## &e #arge
may &e positi$e or negati$e.
/t high $a#ue of gain there is sma## de#ay faster response and #o% steady state
error.
S3456 #7 /88#8 5/3/:3#8. P#,131#; :#;38#" 3A8#4?A ,3/9 :#22@;5.
1*1
1*1 | P a g e
P8#:/548/
.et Cain @a?D. Position reference pot to 11* degree.
(onnect (:6 one channe# at reference soc3et (Vr). ;ote the signa#
amp#itude in Vac pp.
(onnect other channe# %ith feed&ac3 soc3et (V*) and measure the ac
pea3!to!pea3 $o#tage V*.
/pp#y step signa#" measure the $o#tage Vr.
/fter 11 sec mo$e the reference dia# for the same reading o&tained %ith
step signa#.
5easure the step signa# actuation in degree as ? ne%er * U o#der *.
;o% connect one channe# of (:6 to the error oFp soc3et pp. Et.
/pp#y step command and note the error oFp E.. ? error oFpF constant ( in
degree.
.et gain @ ? 0. 7ind out E...
(onnect (:6 to V* soc3et measure V*" %hich is initia# $a#ue and a#so
measure V* %hich is the $o#tage o&tained after app#ying step signa#
steady state.
:epeat the a&o$e process for @ ?D" & etc.
O<,/8>@31#; T@<"/ ( 1

R
B 10L ', B 1'L
R B +'8 *:.
@
/
Vc V
*
*
E
T
Ess ET/c
,
D
-
)
-*$
)*$
11*$
1-*$
V mV
O<,/8>@31#; T@<"/ ( 2
', B 1 '
@
/
M9 39 V
* pea3
1*1
1*, | P a g e
3 E.. V EE .ec EE V

E
8

EC9/:3/5 G8@9A!
1*,
1*D | P a g e
1*D
1*+ | P a g e
P8/:@431#;!
'o not run main unit %ithout connecting motor.
'o not &ring command dia# position &e#o% 1* degree or a&o$e ,**
degree.
1*+
1*- | P a g e
C#;:"4,1#;!
1*-
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AIM< To study the effects of compensation net%or3s
OBFECTI'ES< To design" imp#ement and study the effects of different cascade
compensation net%or3s.
APPARATUS REGUIRED!
(ompensation design 3its
Patch (ords
'ua# Trace 6sci##oscope.
EXPERIMENTAL HORK!
B#5/ P"#3 #7 3A/ P"@;3
P8#:/548/
'isconnect the compensation termina#s and app#y an iFp" say 1V p!p" to the p#ant
from the &ui#t in sine %a$e source. Vary the freuency in steps and ca#cu#ate p#ant
gin in dB and phase ang#e in degrees at each freuency. .3etch the &ode diagram
on a semi#og graph paper.
7rom the #o% freuency end of the magnitude p#ot" o&tain the error coefficient
and the steady state error.
(a#cu#ate the for%ard path gain @ necessary to meet the steady state error
specifications.
.et the a&o$e $a#ue of @" short the compensation termina# and the step response
of the c#ose #oop system. (ompute the time domain performance specifications"
i.e." 5p" tp" Ess and .
.hift the magnitude &y 1* #og1* (@)" and o&tain the $a#ue of phase margin.
(ompare %ith the gi$en specifications of phase margin.
L@? N/3I#8)
P8#:/548/
7rom the Bode p#ot" find a freuency %here P5 actua# ? P5 specified H a safety
margin (+!1*).
5easure gain at g" ne%.
Brite the transfer function Cc (s) and ca#cu#ate :1" :1 and (.
Imp#ement Cc (s) %ith the he#p of fe% passi$e components and the amp#ifier
pro$ided for this purpose. The gain of amp#ifier must &e set at unity.
Insert the comparator and determine experimenta##y the phase margin of the
p#ant.
1*0
1*) | P a g e
6&ser$e the step response of the compensated system. 6&tain the $a#ues of 5p"
tp" and .
C#;;/:31#; D1@?8@2
1*)
1*2 | P a g e
1*2
11* | P a g e
L/@5 N/3I#8) D/,1?;
P8#:/548/
7rom the Bode diagram" ca#cu#ate the reuired phase #ead as
Phase #ead needed (
m)? P5 specified
H safety margin.
(a#cu#ate for the #ead nF% from
? 1!sin
m
1!sin
m
11*
111 | P a g e
(a#cu#ate ne% gain cross!o$er freuency g" ne% such that
C
g" ne% ? 1* #og

T@<4"@8 :#"42;!
784 / B 9o =o Cain dB Phase in
degree
1*
1*
,*
D*
+*
-*
0*
C@":4"@31#; * R/,4"3,
C#;:"4,1#;!
T13"/! & :e#ay (ontro# .ystem
111
111 | P a g e
AIM ( .tudy of :e#ay (ontro# .ystem.
OBFECTI'ES & To study the dynamic characteristics of a system %ith an intentiona#
non!#inearity $i4. a simu#ated re#ay.
/PP/:/TI. :EgII:E'<
:e#ay contro# system 3it.
'ua# trace osci##oscope.
EXPERIMENTAL HORK!
S/331;? #7 3A/ 8/"@6 :A@8@:3/81,31:
PROCEDURE!
.et the (:6 in 9!= mode %ith d.c. coup#ing.
(onnect the sine %a$e source to the (H) iFp to the error detector and a#so to the 9
iFp of the (:6.
The oFp of the re#ay &#oc3 is connected to the = iFp of the (:6.
/dNust the sin %a$e amp#itude to a $a#ue a&o$e dead 4one or hysteresis. It may
reuire a setting of a&out 1V p!p.
Bith (:6 s%itch to the s%eep mode" o&ser$e the oFp %a$eform as a function of
the iFp amp#itude. Trace some of the oFp %a$eforms.
L1;/@8 ,6,3/2
P8#:/548/
.et up an open #oop configuration consisting of the gain and system &#oc3s.
@eep gain @ ? 1* and app#y a .ine %a$e input of 1V pea3 to pea3.
5a3e connections for the c#osed #oop system using #inear part and error detector
%ith gain setting unchanged.
6&ser$e and record the time domain performance parameters #i3e 5
p
" t
p
and t
s
.
Ta3e a suare %a$e of 1* to 1*84" 1V pea3 to pea3 as input.
111
11, | P a g e
OBSER'ATION TABLE
S.N# K M9 T9 T,
1
2
3

D
E
0
11,
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I5/@" 8/"@6
P8#:/548/
5odify the c#osed #oop configuration to inc#ude the re#ay.
.a$e the re#ay to &e an idea# one %ith ' ? 8 ? *.
.3etch the U1F; (? !9FD) #ocus on the ;yuist diagram.
(onnect the system output to (:6 and measure the freuency and amp#itude of
osci##ation.
6&ser$e that the %a$e from is sinusoida# since the higher harmonics are
effecti$e#y e#iminated &y the #o% pass characteristics of the #inear part.
11-
110 | P a g e
6B.E:V/TI6; T/BLE <
..;o @ F
OSCILLATION
AMPLIL P&P HA'EFORM
1
1
,
D
+
-
0
)
2
1*
REALY HITH DEAD MONE
PROCEDURE
.et @ ? 1* and record the freuency" amp#itude and %a$e shape of the
sustained osci##ation as the dead 4one is increased from *.
:ecord the dead 4one $a#ue %hen the osci##ations stop and system &ecome
sta&#e.
/pp#y suare %a$e of 1*84" 1V pea3!pea3 to the sta&#e system and trace the
output %a$eform and ca#cu#ate 5
p
"t
p
and t
s
.
.et @ ? + and repeat a&o$e t%o steps and Nustify the sta&i#ity of the system.

OBSER'ATION TABLE
S. NO DL 'OLT F
OSCILLATION
AMPLIL P&P HA'EFORM
1
1
,
D
+
-
0
)
2
110
11) | P a g e
REALY HITH HYSTERESIS
PROCEDURE
.et @ ? 1*. :ecord the freuency" amp#itude and %a$e shape of the sustained
osci##ations as the hysteresis is set to *.1" *.D and *.-.
:epeat the preceding step for @?+ and ta&u#ate the resu#t.
Gustify the o&ser$ations regarding the sta&i#ity of the system.
OBSER'ATION TABLE<
S. NO HL 'OLT F
OSCILLATION
AMPLIL P&P HA'EFORM
1
1
,
D
+
-
0
C@":4"@31#;* R/,4"3,
CONCLUSION!
11)
112 | P a g e
T13"/!& Light Intensity (ontro#
AIM < To study the #ight intensity contro#.
OBFECTI'ES< To study the configuration and e$a#uate the performance characteristics
if a feed&ac3 #ight intensity contro# system.
APPARATUS REGUIRED!
LI( 3it.
Transducer.
'ue# Trace 6sci##oscope.
T# ,// 3A/ :A@8@:3/81,31:, #7 3A/ ;#;&"1;/@831/,
P8#:/548/
.et up the system in open #oop %ith Vr?* and @ ? *.
.%itch on the distur&ance #amps one &y one and read Vf.
/fter three readings" o&tain another three readings &y adNusting Vr and @.
Ta&u#ate the readings as sho%n in fig &e#o%<
OBSER'ATION TABLE
N#. #7
L@29,
* 1 1 , D + -
'7L
'#"3,
! ! ! ! !
;o% s%itch off the distur&ance #amps. (ontinue operation in open #oop.
/dNust Vr and @ to $ary V# in sma## steps and record Vf in each case.
/#so o&tain the record at each step and effecti$e $a#ue of n .
Ta&u#ate the data as &e#o%.
,OBSER'ATION TABLE
V#"
Vo#ts
Vf"
Vo#ts
112
11* | P a g e
;"
from
graph
P#ot the graph &et%een n and V# to depict the non!#inear characteristics of the
#amp.
/#so p#ot the graph &et%een Vf and V# t*o depict the #oop non!#inearity.
11*
111 | P a g e
111
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E88#8
I13A P @;5 PI :#;38#"!
P8#:/548/
(onnect the system in c#osed #oop.
.%itch 677 a## the distur&ance #amps.
Put PFPI s%itch to P position.
.et Vr?*.+V" for $arious settings of @?(+"1*"1+"1*E.)
:ecord the $a#ues of Ve" V# and Vf.
111
11, | P a g e
(a#cu#ate the record @?V#FVe" 7171?VfFV#" Ve?VrF1H@7171
(ompare the measured and computed $a#ues of error Ve.
Ta&u#ate the readings.
O<,/8>@31#; T@<"/
@" dia# reading
Ve" Vo#ts
Vf "Vo#ts
V#" Vo#ts
@?V#FVe
7171?VfFV#
Ve?VrF1H@7171
Ve %ith PI!(ontro#
D1,348<@;:/ 8/=/:31#;
P8#:/548/
6perate the system in c#ose #oop system %ith a## distur&ance #amps off.
.et @?1*. /dNust Vr and get Vf?*.-.
.%itch on the distur&ance #amp one &y one and each step record the $a#ue of Vf.
(a#cu#ate the J increase in Vf.
.et @?D*. /dNust Vr to get Vf?*.-. :epeat a&o$e steps.
:epeat %ith 3?0*.
Ta&u#ate the readings as sho%n in ta&#e &e#o%.
;o of
distur&ance
#amps s%itched
6;.
@ ? 1*
Vf J increase
@ ? D*
Vf J
@ ? 0*
Vf J
n?*
n?1
n?1
n?,
11,
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C@":4"@31#;* 8/,4"3,
D6;@21: 8/,9#;,/
P8#:/548/
(onnect the system in c#ose #oop %ith a## distur&ance #amps s%itch off.
.et Vr?*.+" @?+* and connect the suare %a$e source to the error detector.
6perate the dou&#e &eam (:6 in the 9!= mode.
(onnect the 9!= and ground termina#s on the pane#.
6&ser$e the %a$eform on the screen.
Vary Vr and comment on the resu#t.
EC9/:3/5 G8@9A
C#;:"4,1#;!
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11+