Control System Lab Manual
Control System Lab Manual
Control System Lab Manual
PREPARED BY
V.BALAJI, M.Tech, (Ph.D), M.I.S.T.E, M.I.A.ENG, M.I.O.J.E
ASSITANTPROFESSOR/EEE DEPARTMENT
DHANALAKSHMI COLLEGE OF ENGINEERING
CHENNAI
Page 1
LIST OF EXPERIMENTS
Page
AIM:
To determine the transfer function of the DC servomotor
APPARATUS REQUIRED:
S.No
Range
Type
Quantity
Page
THEORY:
Speed can be controlled by varying (i) flux per pole (ii) resistance of armature circuit and
(iii) applied voltage.
It is known that N
Eb.
If applied voltage is kept, Eb = V IaRa will
By decreasing the flux speed can be increased and vice versa. Hence this
method is called field control method. The flux of the DC shunt motor can be
changed by changing field current, Ish with the help of shunt field rheostat. Since
the Ish relatively small, the shunt filed rheostat has to carry only a small current,
2
which means Ish R loss is small. This method is very efficient. In non-interpolar
machines, speed can be increased by this methods up to the ratio 2: 1. In interpolar
machine, a ratio of maximum to minimum speed of 6:1 which is fairly common.
FORMULA:
Armature Control D.C. Servo motor:
It is DC shunt motor designed to satisfy the requirements of the servomotor.
The field excited by a constant DC supply. If the field current is constant then
speed is directly proportional to armature voltage and torque is directly
proportional to armature current.
Transfer Function =
Km
S (1 + TmS)
Km = 1 / Avg Kb
Tm = JRa / Kb Kt
Kt = T / Ia
Eb = V-Ia Ra
Constant Values
J
=
B
=
0.039 Kg m
0.030 N / rpm
Page
the motor.
K
Transfer Function =
Js (1 + s)
K = Kt / Rf
2
= Lf / Rf = V
Zf Rf2 / 2 f / Rf
= 2 N / 60
T = r ( S1 S2 ) * 9.81 N-m and r = .075m
Page 5
Avg Kb
Table No. 2 To find Ra
Sl.No
Volt Va
Current Ia
Ra = Va / Ia
Avg Ra =
PRECAUTIONS:
At starting,
The field rheostat should be kept in minimum resistance position
PROCEDURE FOR TRANSFER FUNCTION OF ARMATURE CONTROL
DC SERVOMOTOR:
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
Page 6
Finding Kb
1. Keep all switches in OFF position.
2. Initially keep voltage adjustment POT in minimum potential position.
3. Initially keep armature and field voltage adjustment POT in minimum
position.
4. Connect the module armature output A and AA to motor armature terminal
A and AA respectively, and field F and FF to motor field terminal F and FF
respectively.
5. Switch ON the power switch, S1, S2.
6. Set the field voltage 50% of the rated value.
7. Set the field current 50% of the rated value.
8. Tight the belt an take down the necessary readings for the table 1 to find
the value of Kb.
9. Plot the graph Torque as Armature current to find Kt.
Finding Ra
1. Keep all switches in OFF position.
2. Initially keep voltage adjustment POT in minimum position.
3. Initially keep armature and field voltage adjustment POT in minimum
potential position.
4. Connect module armature output A and AA to motor armature terminal A to
AA respectively.
5. Switch ON the power switch and S1.
6. Now armature voltage and armature current are taken by varying the
armature POT with in the rated armature current value.
7. The average resistance value in the table -2 gives the armature resistance.
Page
Finding Kt
1. Keep all switches OFF position.
2. Initially keep voltage adjustment POT in minimum potential position.
3. Initially keep armature and field voltage adjustment POT in minimum
position.
4. Connect the module armature output A and AA to motor armature terminal
and AA respectively, and field F and FF to motor field terminal F and FF
respectively.
5. Switch ON the power switch, S1 and S2.
6. Set the filed voltage at rated value (48V).
7. Adjust the armature voltage using POT on the armature side till it reaches
the 1100 rpm.
l
8. Tight the belt and take down the necessary reading for the table 5 Kt
l
9. Plot the graph Torque as Field current to find Kt
OBSERVATION TABLE FOR TRANSFER FUNCTION OF ARMATURE
CONTROL DC SERVOMOTOR:
Table No:3 To find Rf
Sl.No
If (amp)
Vf (Volt)
Rf (ohm)
Page
Avg Rf =
Table No:4 To find Zf
Sl.No
If (amp)
mA
Vf (Volt)
Avg Zf =
l
Kt
If
Zf = Vf / If
Ia
S1
S2
T( N m)
N (rpm)
MODEL GRAPH:
Kt = T / If
Kt = T / Ia
Page 9
Field Current
Armature Current
VIVA QUESTIONS:
1. What are the main parts of a DC servo motor?
2. What are the two types of servo motor?
3. What are the advantages and disadvantages of a DC servo motor?
4. Give the applications of DC servomotor?
5. What do you mean by servo mechanism?
6. What do you mean by field controlled DC servo motor?
MODEL CALCULATION:
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Result:
AIM:
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
11
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Range
Type
Quantity
:
:
:
:
FUSE RATINGS:
Blocked rotor test: 125% of rated current.
THEORY:
An servo motor is basically a two phase induction type except for certain
special design features. A two phase servomotor differ in the following two ways
from a normal induction motor.
The rotor of the servomotor is built with high resistance. So that its X / R
(Inductive reactance / resistance) ratio is small which result in liner speed torque
characteristics. The excitation voltage applied to two stator winding should have
o
a phase difference of 90
WORKING PRINCIPLE OF AC SERVOMOTOR
o
Voltages of equal rms magnitude and 90 phase difference excite the stator
o
winding. These results in exciting current i1 and i2 that are phase displaced by 90
and have equal rms value. These current are rise to a rotating magnetic field of
constant magnitude. The direction of rotation depends on the phase relationship of
the two current (or voltage).
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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The rotating magnetic field sweeps over the rotor conductor. The rotor
conductors experience a change in flux and so voltage are induced in rotor
conductors. This voltage circulates current in the short circuited rotor conductors
and the current creates rotor flux.
Due to the interaction of stator and rotor flux, a mechanical force (or torque)
is developed on the rotor and the rotor starts moving in the same direction as that
of rotating magnetic field.
FORMULA:
Laplace Transform of output
Transfer Function =
Laplace Transform of input
(s) / Es(s) = K1 / sJ + K2 + B = Km / 1 + s ------ (1)
Km = K1 / (K2 + B) ------------------------------- motor gain constant (2)
m
Load
(kg)
Control
Voltage (Vc)
Torque
(Nm)
Page
Table No: 2
OBSERVATION TABLE FOR DETERMINING MOTOR CONSTANT
K2 :
S.No
Speed (N)
rpm
Load
(kg)
Torque
(Nm)
PRECAUTIONS:
i.
ii.
iii.
Page
PROCEDURE:
For determining motor constant K1
1. Keep variac in minimum potential position.
2. Connect banana connectors Pout to Pin and Nout to Nin.
3. Connect 9pin D connector from the motor feed back to the input of module
VPET 302.
4. Switch ON the 230V AC supply of the motor setup.
5. Switch ON the power switch.
6. Switch ON the S2 (main winding) and S1 (control winding) switches.
7. Set the rated voltage (230V) to control phase using VARIAC.
8. Apply load to the motor step by step until it reaching 0 rpm.
9. Take necessary readings for the table -1.
10.To calculate K1 plot the graph torque vs control winding.
Page
MODEL GRAPH
MOTOR CONSTANT K2
MOTOR CONSTANT K1
K2 = T / N
V
N
Speed in rpm
K1= T / V
Speed in rpm
MODEL CALCULATION:
Page
VIVA QUESTIONS:
1. Define transfer function?
2. What is A.C servo motor? What are the main parts?
3. What is servo mechanism?
4. Is this a closed loop or open loop system .Explain?
5. What is back EMF?
Result:
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PROCEDURE:
1. To find the steady state error of type 1 first order system
1. The blocks are connected using the patch cords in the simulator kit.
2. The input triangular wave is set to 1 V peak to peak in the CRO and this is applied
to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO.
3. The output from the system is connected to the Y- channel of CRO.
4. The experiment should be conducted at the lowest frequency so keep the frequency
knob in minimum position to allow enough time for the step response to reach near
steady state.
5. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.
6. The gain K is varied and different values of steady state errors are noted.
2. To find the steady state error of type 0 first order system
1. The blocks are connected using the patch cords in the simulator kit.
2. The input square wave is set to 1 V peak to peak in the CRO and this is applied
to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO.
3. The output from the system is connected to the Y- channel of CRO.
4. The CRO is kept in X-Y mode and the steady state error is obtained as the vertical
displacement between the two curves.
5. The gain K is varied and different values of steady state errors are noted.
3. To find the closed loop response of type 0 and type- 1 second order system
1. The blocks are connected using the patch cords in the simulator kit.
2. The input square wave is set to 1 V peak to peak in the CRO and this is applied
to the REF terminal of error detector block. The input is also connected to the Xchannel of CRO.
3. The output from the system is connected to the Y- channel of CRO.
4. The output waveform is obtained in the CRO and it is traced on a graph
sheet. From the waveform the peak percent overshoot, settling time, rise time,
peak time are measured. Using these values n and are calculated.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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Ga Peak
in, percent
K Overshoot,
%MP
Rise
time,
tr
(sec)
Peak
time,
tp
(sec)
Settling
time,ts
(sec)
Graphical
Theoretical
Undamped
natural
frequency,
n(rad/sec)
Page 21
Rise
time,
tr
(sec)
Theoretical
Peak Settling Graphical
time, time,ts Dam Undamped Damping Undamped
tp
(sec)
ping
natural
ratio
natural
(sec)
frequency,
ratio frequency,
n
n(rad/sec)
(rad/sec)
MODEL GRAPH:
MODEL CALCULATION:
RESULT
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
Page 22
Page
EXPT.NO :
DATE
AIM:
(i)
To obtain the bode plot, Nyquist plot and root locus of the given
transfer function.
(ii)
APPARATUS REQUIRED:
System with MATLAB
THEORY:
Frequency Response:
The frequency response is the steady state response of a system when the
input to the system is a sinusoidal signal.
Frequency response analysis of control system can be carried either
analytically or graphically. The various graphical techniques available for
frequency response analysis are
1. Bode Plot
2. Polar plot (Nyquist plot)
3. Nichols plot
4. M and N circles
5. Nichols chart
Bode plot:
The bode plot is a frequency response plot of the transfer function of a
system. A bode plot consists of two graphs. One is plot of the magnitude of a
sinusoidal transfer function versus log . The other is plot of the phase angle of a
sinusoidal transfer function versus log .
The main advantage of the bode plot is that multiplication of magnitude can
be converted into addition. Also a simple method for sketching an approximate log
magnitude curve is available.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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Polar plot:
The polar plot of a sinusoidal transfer function G (j ) on polar coordinates
as is varied from zero to infinity. Thus the polar plot is the locus of vectors G
(j ) G (j ) as
is varied from zero to infinity. The polar plot is also called
Nyquist plot.
Nyquist Stability Criterion:
If G(s)H(s) contour in the G(s)H(s) plane corresponding to Nyquist contour
in s-plane encircles the point 1+j0 in the anti clockwise direction as many times
as the number of right half s-plain of G(s)H(s). Then the closed loop system is
stable.
Root Locus:
The root locus technique is a powerful tool for adjusting the location of
closed loop poles to achieve the desired system performance by varying one or
more system parameters.
The path taken by the roots of the characteristics equation when open loop
gain K is varied from 0 to are called root loci (or the path taken by a root of
characteristic equation when open loop gain K is varied from 0 to is called root
locus.)
Frequency Domain Specifications:
The performance and characteristics of a system in frequency domain are
measured in term of frequency domain specifications. The requirements of a
system to be designed are usually specified in terms of these specifications.
The frequency domain specifications are
1. Resonant peak, Mr
2. Resonant Frequency, r.
3. Bandwidth.
4. Cut off rate
5. Gain margin
6. Phase margin
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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Resonant Peak, Mr
The maximum value of the magnitude of closed loop transfer function is
called the resonant peak, Mr. A large resonant peak corresponds to a large over
shoot in transient response.
Resonant Frequency,
The bandwidth is the range of frequency for which the system gain is more
than -3db. The frequency at which the gain is -3db is called cut off frequency.
Bandwidth is usually defined for closed loop system and it transmits the signals
whose frequencies are less than cut-off frequency. The bandwidth is a measured of
the ability of a feedback system to produce the input signal, noise rejection
characteristics and rise time. A large bandwidth corresponds to a small rise time or
fast response.
Cut-Off Rate:
The slope of the log-magnitude curve near the cut off frequency is called
cut-off rate. The cut-off rate indicates the ability of the system to distinguish the
signal from noise.
Gain Margin, Kg
The gain margin, Kg is defined as the reciprocal of the magnitude of open
loop transfer function at phase cross over frequency. The frequency at witch the
phase of open loop transfer function is 180 is called the phase cross over
frequency, pc.
Phase Margin,
The phase margin , is that amount of additional phase lag at the gain cross
over frequency required to bring the system to the verge of instability, the gain
cross over frequency gc is the frequency at which the magnitude of open loop
transfer function is unity (or it is the frequency at which the db magnitude is zero).
PROCEDURE:
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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1.
2.
3.
4.
5.
6.
Problem 1
Obtain the bode diagram for the following system
x1
x
2
y1
y
2
0
25
0
25
1 x1
4 x 2
1 x1
4 x 2
1 1 y 1
0 1 y
MATLAB Program
a = [0 1 ; -25 -4]
b = [1 1 ; 0
1]
c = [1
1 ; 1
1]
d = [0 0 ; 0
0]
bode (a, b, c, d)
grid
title (BODE DIAGRAM)
Problem 2
PREPARED BY V.BALAJI ,M.Tech, (Ph.D),
1
AP/EsE
(Es, DCE 1 )
Page
27
G(s) H (s) =
s(
s
K
0 . 5 )( s
2
0.6
s
10 )
MATLAB Program
num = [0 0 0
0
den = [11.1 10.3 5
rlocus (num,den)
grid
title [Root Locus Plot]
1]
0]
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Result:
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EXPT.NO :
DATE
AIM:
To study the behavior of closed loop speed control system using
PID controller
APPARATUS REQUIRED:
(i)
(ii)
THEORY:
Closed loop system
Control system which the output has an effect upon the input quantity in such a
manner as to maintain the desired output value is called closed loop systems.
The open loop system can be modified as closed loop system by providing a
feedback. The provision of feedback automatically corrects the change in output
due disturbances. Hence the closed loop system is also called closed loop system.
The general block diagram of an automatic control system is given below. In
consists of an error detector, a controller, plant (open loop system) and feedback
path element.
The reference signal (or input signal) corresponds to desired output. The
feedback path elements sample the output and convert it to a signal of same type as
that of reference detector. The error signal generated by the error detector is the
difference between reference signal and feedback signal. The controller modifies
and amplifies the error signal to produce better control action. The modified error
signal is fed to the plant to correct its output.
PROCEDURE:
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
30
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1.
2.
3.
4.
Result:
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EXPT.NO :
DATE
AIM:
To study the operation of AC synchro transmitter and receiver
APPARATUS REQUIRED:
S.No
Quantity
1 Nos
1 Nos
Patch cords
As required
THEORY:
A synchro is an electromagnetic transducer commonly used to
convert an angular position of a shaft into an electric signal. It is commercially
known as a selsyn or an autosyn. The basic synchro unit is usually called a synchro
transmitter. Its construction is similar to that of three phase alternator. The stator is
of laminated silicon steel and is slotted to accommodate a balanced three phase
winding which is usually of concentric coil type and star connected. The rotor is
dumb bell construction and its wound with a concentric coil.
AC voltage is applied to rotor winding through slip rings. Let and
AC voltage
Vr (t) = Vr sin ct be applied to the rotor of the synchro transmitter.
The voltage causes a flow of magnetizing current in rotor coil which produces a
sinusoidally time varying flux directed along its axis and distributed nearly
sinusoidally in the air gap along the stator periphery. Because of transformer
action, voltage is induced in each of the stator coil. As the air gap flux sinusoidally
distributed the flux linking with any stator coil is proportional to the cosine of the
angle between the axes of rotor and stator coil. This flux voltage in each stator coil.
Voltages are in time.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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phase with each other. Thus the synchro transmitter acts a like a single-phase
transformer in which the rotor coil is the primary and the stator coil is the
secondary.
Let Vs1n, Vs2n, Vs3n, be the voltage induced in the stator coils, S1, S2,
S3 respectively with respect to the neutral. Then for a rotor position of the synchro
transmitter, is the angle made by rotor axis with the stator coil S2.
The various stator voltages are
o
3 KVr sin(
3 KVr sin(
o
240 sin
o
120 ) sin
c
t
c
When = 0, Vs1s2 and Vs2 s3 have the maximum voltage and while Vs3s1 has
zero voltage. This position of rotor is defined as ht electrical zero of the transmitter
and is used as reference for specifying the angular position of the rotor.
Thus it is seen that the input to the synchro transmitter is the angular
position of its rotor shaft and the output is a set of three signal phase voltages. The
magnitudes of this voltage are function of the shift position. The output of the
synchro transmitter is applied to stator winding of synchro control transformer.
The control transmitter is similar in construction to a synchro transmitter
except for the fact that rotor of the control transformer in made cylindrical in shape
so that the air gap is practically uniform. The system (transmitter and control
transformer pair) acts an error detector, circulating current to the same phase but of
different magnitudes flow through two stator coils. The result is establishment of
an indentical flux pattern in the air gap of the control transformer as the voltage
drops in resistance and lockage reactances of two sets of stator coils are usually
small.
Page
OBSERVATION TABLE:
S.No
Transmitter
(Degree)
Receiver
(Degree)
Vs1 Vs2
Vs2 Vs3
Vs3 Vs1
Error
the synchro transmitter rotor, the voltage induced the control transformer rotor is
proportional to the cosine of the angle between the two rotors given by
E (t) = KVr cos sin
Page 34
The synchro transmitter and control transformer thus act as an error detector giving
a voltage signal at the rotor terminals of the control transformer proportional to the
angular difference between the transmitter control transformer shaft positions.
PROCEDURE:
1. Make the connections as per the patching diagram.
2. Switch ON the supply.
3. Vary the shaft position of the transmitter and observe the corresponding
changes in the shaft position of the receiver.
4. Repeat the above steps for different angles of the transmitter.
5. Tabulated the different voltage at the test points of S1 S2, S3S2, and S3S1.
Result:
CYCLE 2
Page
Page
DATE
AIM:
To simulate the time response characteristic of liner system with simple
non-linearities like saturation and dead zone.
APPARATUS REQUIRED:
System with MATLAB 6.5
THEORY:
Non-Linear Systems:
The non linear system are system witch do not obey the principle of
superposition.
In practical engineering systems, there will be always some non linearity due
to friction, inertia, stiffness, backslash, hysteresis, saturation and dead zone. The
effect of the non linear components can be avoided by restricting the operation of
the component over a narrow limited range.
Classification of non linearities:
The non linearities can be classified as incidental and intentional.
The incidental non linearities are those which are inherently present in
the system. Common examples of incidental non linearities are saturation, dead
zone, coulomb friction, stiction, backlash, etc.
The intentional non linearities are those which are deliberately
inserted in the system to modify system characteristics. The most common
example of this type of non linearity is a relay.
Saturation:
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In this type of non linearity the output proportional to input for limited
range of input signals. When the input exceeds this range, the output tends to
become nearly constant.
All devices when driven by sufficient large signals, exhibit the
phenomenon of saturation due to limitations of their physical capabilities.
Saturation in the output of electronic, rotating and flow amplifiers, speed and
torque saturation in electric and hydraulic motors, saturation in the output of
sensors for measuring position, velocity, temperature, etc. are the well known
examples.
Dead Zone:
The dead zone is the region in witch the output is zero for given input.
Many physical devices do not respond to small signals, i.e., if the input amplitude
is less than some small value, there will be no output. The region in which the
output is zero is called dead zone. When the input is increased beyond this dead
zone value, the output will be linear.
PROCEDURE:
1. Double click on MATLAB 6.5 icon on desktop command window opens.
2. From File Tab, select New Model file.
3. A Simulink model screen opens a untitled.
4. From Simulink library select necessary blocks and place in new model
screen.
Block
Constant
Simulink-Continuous
Simulator
Simulink-Math operator
Transfer function
Simulink-Continuous
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Scope
Simulink sink
Simulink-Non-linear
5. Select properties for each item and connect them as shown in diagrams.
6. Select simulation Tab and configuration parameters and select ode23tb
model.
7. Save file under work directory.
8. Simulated the system with step and sine inputs with and without dead zone,
saturation non linearities.
9. Name the signals as mentioned in diagram and observe signal names on
scope by right clicking on response curve and by opening axes.
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Result:
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AIM:
To simulate the time response characteristic of higher-order Multiinput multi output (MIMO) liner system using state variable formulation.
APPARATUS REQUIRED:
MATLAB 6.5
THEORY:
Time Domain Specification
The desired performance characteristics of control systems are specified in
terms of time domain specification. System 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 the transient response to a units step input signal.
The transient response of a system to a unit step input depends on the initial
conditions. Therefore to compare the time response of various systems it is
necessary to start with standard initial conditions. The most practical standard is
to start with the system at rest and output and all time derivatives there of zero.
The transient response of a practical control system often exhibits damped
oscillation before reaching steady state.
The transient response characteristics of a control system to a unit step input
are specified in terms of the following time domain specifications.
1.
Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum overshoot, Mp
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5. Setting time, ts
FORMULA:
Risetime
d
where
tan
PROCEDURE:
7. Enter the command window of the MATLAB.
8. Create a new workspace by selecting new file.
9. Complete your model.
10.Run the model by either pressing F5 or start simulation.
11.View the results.
12.Analysis the stability of the system for various values of gain.
PROBLEM:
Obtain the step response of series RLC circuit with R = 1.3K , L = 26mH and
C=3.3 f using MATLAB M File.
1 0.2
1 ]
Page
impulse
(num, den)
grid
title ( unit impulse response plot)
MATLAB PROGRAM FOR UNIT STEP PRSPONSE:
PROGRAM:
Format long e
num = [ 0 0 1.6e10
den = [
step
1 50000
1.6e10
(num, den)
grid on
title (step response of series RLC circuit)
Result:
Page
AIM:
To simulate the time response characteristics of first order second
order, type 0 and type 1 system using MATLAB.
APPARATUS REQUIRED:
System employed with MATLAB 6.5
THEORY:
The desired performance characteristics of control system are specified in
terms of time domain specification. 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 pf any order may be
specified in terms of the transient response to a unit step input signal.
The transient response of a system to unit step input depends on the initial
conditions. Therefore to compare the time response of various systems it is
necessary to start with standard initial conditions. The most practical standard is to
start with the system at rest and output and all time derivatives there of zero. The
transient response of a practical control system often exhibits damped oscillations
before reaching steady state.
The transient response characteristics of a control system to a unit step input
are specified in terms of the following time domain specifications.
1. Delay time, td
2. Rise time, tr
3. Peak time, tp
4. Maximum overshoot, Mp
5. Settling time, ts
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Risetime
d
Where
tan
1 s2/s
n 1 s
3. Peak Time:
It is the time taken for the response to reach the peak value for the very first
time. (or) It is the taken for the response to reach the peak overshoot, tp.
Peak time = / d
4. Peak Overshoot (Mp):
It is defined as the ration of the maximum peak value measured from final
value to the final value.
Let final value
c (e)
Maximum vale
c (tp)
Peak Overshoot, Mp =
c(tp )
c(e)
c(e)
Page
%M
s
3
x100
5. Settling Time:
It is defined as the time taken by the response to reach and stay within a
specified error. It is usually expressed as % of final value. The usual tolerable error
is 2% or 5% of the final value.
ts
for 2 % erroe
n
ts
for 5 % erroe
n
FORMULA:
%M
ts
s
1
x100
for 2 % erroe
n
ts
for 5 % erroe
n
Page
PROCEDURE:
Closed loop response of first order system:
1. Enter the command window of the MATLAB.
2. Create a new workspace by selecting new file.
3. Complete your model.
4. Run the model by either pressing F5 or start simulation.
5. Analysis the stability of the system for various values of gain
Closed loop response of second order system:
1. Enter the command window of the MATLAB.
2. Create a new workspace by selecting new file.
3. Complete your model.
4. Run the model by either pressing F5 or start simulation.
5. View the results.
6. Analysis the stability of the system for various values of gain.
General MATLAB coding for closed loop response for type 0 and type1
system:
PROGRAM:
clear all
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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close all
clc
T1 = tf (2.25, [1 0.5 2.25 ])
p=pole (T1)
pre=abs (real (p(1))) pim=abs
(imag (p(1)))
wn=sqrt(pre*pre*+pim*pim)
damping _ratio=(pre/wn)
os=(exp(-1*pre*pi/pim))*100
tp=pi/pim
ts=4/pre
step(T1)
t=[ 0.1:0.1:25]
for x=1:length (t)
c (x)=1-1.01418*(cos (1.47902*t(x)-(9.59*pi/180))*exp(-25*t(x)))
end
figer
plot(t,c)
Result:
LAG COMPENSATOR
EXPT.NO :
DATE
Page
APPARATUS REQUIRED:
System employed with MATLAB 6.5
THEORY:
The control systems are designed to perform specific taskes. When
performance specification are given for single input. Single output linear time
invariant systems. Then the system can be designed by using root locus or
frequency response plots.
The first step in design is the adjustment of gain to meet the desired
specifications. In practical system. Adjustment of gain alone will not be sufficient
to meet the given specifications. In many cases, increasing the gain may result poor
stability or instability. In such case, it is necessary to introduce additional devices
or component in the system to alter the behavior and to meet the desired
specifications. Such a redesign or addition of a suitable device is called
compensations. A device inserted into the system for the purpose or satisfying the
specifications is called compensator. The compensator behavior introduces pole &
zero in open loop transfer function to modify the performance of the system.
The different types of electrical or electronic compensators used are lead
compensator and lag compensator.
In control systems compensation required in the following situations.
1. When the system is absolutely unstable then compensation is required
to stabilize the system and to meet the desired performance.
2. When the system is stable. Compensation is provided to obtain the
desired performance.
LAG COMPENSATOR:
A compensator having the characteristics of a lag network is called a lag
compensator. If a sinusoidal signal is applied to a lag network, then in steady state
the output will have a phase lag with respect input.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
51
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B
A
Gain
y0
x0
20 log( B / A )
Phase
sin ( x 0 / A)
sin
(y /B)
0
PROCEDURE:
With out compensator:
1. Make the connection as per the circuit diagram.
2. Apply the 2V p-p sin wave input and observe the waveform.
3. Very the frequency of the sin wave input and tabulate the values of xo and yo
4. Calculated gain and phase angle.
5. Draw the bode plot.
With lag compensator:
1. From the bode plot find the new gain crossover frequency.
2. Find out values and writ the frequency function. G(s).
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
Page
52
= [ 0 0 100
5 ];
den
= [ 400
1 0 ];
sys
= (sys)
margin
202
(sys)
= [ 0 0 5 ];
den
= [ 2 1 0 ];
sys
= tf (num, den)
bode
(sys)
Margin (sys)
[ gm, ph, wpc, wgc ] = margin (sys).
title (BODE PLOT OF UNCOMPENSATED SYSTEM);
Page 53
Result:
LEAD COMPENSATOR:
A compensator having the characteristics of a lead network is called a lead
compensator. If sinusoidal signal is applied to a lead network, then in steady state
the output will have a phase lead with respect to input.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
54
Page
The lead compensator increase the bandwidth, which improves the speed of
response and also reduces the amount of overshoot. Lead compensation
appreciably improves the transient response, whereas there is a small change in
steady state accuracy. Generally lead compensation is provided to make an
unstable system as a stable system. A lead compensator is basically a high pass
filter and so it amplifies high frequency noise signals. If the pole is introduced by
the compensator is not cancelled by a zero in the system, then lead compensator
increases order of the system by one.
FORMULA:
Gain
B
A
y0
x0
20 log( B / A )
Phase
sin ( x 0 / A)
sin
(y /B)
0
PROCEDUR:
1. Enter the command window of MATLAB.
2. Create a New M-File by selecting file New M-File.
3. Type and save the program.
4. Execute the program by pressing F5 or Debug Run.
5. View the results.
6. Analyze the Results.
With lead compensator:
1. Enter the command window of the MATLAB.
2. Create a new M file by selecting File New M-File.
PREPARED BY V.BALAJI ,M.Tech, (Ph.D), AP/EEE, DCE
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Result:
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