Name:- Arpit Gupta

Roll No:- 17EELEE004

Subject:- ADVANCED CONTROL SYSTEM LAB

Branch:- Electrical Engineering (EE)

th th
Sem / Year:- 7 / 4

Submitted to:

Dr. Prateek Singhal

Dept. of Electrical Engineering December, 2020

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 Index

S.No. Name of Experiment P.No.

1. Determination of transfer functions of DC servomotor and 3-6
AC servomotor

2. Simulate Speed and Position control of DC Motor 7-10

3. Characteristics of PID controllers. Design and 11-15

implementation of P, PI and PID Controllers for
temperature and level control systems.

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 Experiment -1

Objective:- Determination of transfer functions of DC servomotor and AC servomotor.

Apparatus required:- DC servomotor kit, AC servomotor kit, Multimeter, Patch cords.

Theory:- The servomotors are basically classified depending upon the nature of the electric
supply to be used for its operation.

Types of Servomotor

DC Servomotor :- A DC servo motor is used as an actuator to drive a load. It is usually a DC

motor of low power rating. DC servo motors have a high ratio of starting torque to inertia and
therefore they have a faster dynamic response.

DC Servomotor are broadly classified as:-

i) Armature controlled dc servomotor.

ii) Field controlled dc servomotor.

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In Armature controlled DC Servo motor the field is excited by a constant dc supply. If the field
current is constant then speed is directly proportional to armature voltage and torque is
proportional to armature current. Hence torque and speed can be controlled by armature voltage
reversible operation is possible by reversing the armature voltage. In small motors the armature
voltage is controlled by a variable resistance.

In field controlled dc servomotor the armature is supplied with a constant current or voltage.
When armature voltage is constant the torque is proportional to field flux since the field current
is proportional to flux, the torque of the motor is controlled by controlling the field current.
Reversible operation is possible by reversing the field current the response of field controlled
motor is however slowed by field inductance.

Va(s) – Eb(s) = (Ra + SLa) Ia(s)

Eb(s) = Kb ω(s)

T(s) = KT Ia(s)

T(s) = (J + f S) Ia(s)

Field Controlled DC Servo Motor

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 Block diagram of closed loop control of DC Servo motor

AC Servo motor: AC servo motors are basically two-phase squirrel cage induction motors and
are used for low power applications. Nowadays, three phase squirrel cage induction motors have
been modified such that they can be used in high power servo systems. The main difference
between a standard split-phase induction motor and AC motor is that the squirrel cage rotor of a
servo motor has made with thinner conducting bars, so that the motor resistance is higher.

The schematic diagram of servo system for AC two-phase induction motor is shown in the figure
below. In this, the reference input at which the motor shaft has to maintain at a certain position is
given to the rotor of synchro generator as mechanical input theta. This rotor is connected to the
electrical input at rated voltage at a fixed frequency.

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 Schematic diagram of AC Servo motor

Closed loop control of AC Servo motor

Results: Thus characteristics and transfer function is studied and calculated for DC and AC
Servo motor.

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 Experiment-2

Objective:- Simulate Speed and PPosition control of DC Motor.

Appratus Required:- DC-Gear

Gear motor, L298 Motor Driver, PID,
PID,PI&
PI& PD controllers, PWM
control

Theory:- Nowadays, the DC motors are used in various applications such as defense,
industries, robotics because of their simplicity, ease of application, reliability and cost effective.
The control of DC motors is a very important topic to study due to the wide variety of
applications that require the use of different types of DC motors
motors. Generally in a DC Motor, speed
control can be achieved by varying the terminal voltage but position control of the shaft cannot
be achieved. The position control of a DC motor is crucial in applications for precision control
system. The purpose of a motor position controller is to take a signal representing the required
anglee and to drive a motor at that position. Microcontrollers can provide easy control of a DC
motor. A microcontroller-based
based position control system consists of an electronic component and
a microcontroller. There are many applications of DC motor drives that use power electronics to
control the voltage and consequently the speed or position of the motor
motor.

Block Diagram for DC Motor Position Control

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The block diagram for overall system description is shown above. In this block, three main
hardware components are implemented for this research. Arduino Uno microcontroller is to
control the position of DC motor by controlling the input voltage to the motor. PID tuning
algorithms is implemented in microcontroller to execute the PWM signal for DC motor drive. A
12V Namiki DC gear-motor is a powerful motor to drive the position control system. It comes
with the photoelectric encoder output, planetary gear reducer and 80:1 gear ratio, which provide
120 rpm with 12VDC rated voltage. L298 dual H-Bridge motor driver which is allows
controlling the direction and position of DC motor.

PID Control: A proportional–integral–derivative controller (PID controller) is a generic control

loop feedback mechanism widely used in industrial control systems. A PID controller calculates
an "error" value as the difference between a measured process variable and a desired set point.
The controller attempts to minimize the error by adjusting the process control inputs.

= + + ! ………………… 1

Closed Loop Position Control of the DC Motor using PID Controller

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The block diagram of closed loop PID controlled DC motor is shown above. PID equation is
calculated to get the control signal for DC motor. From equation (1), e(t) is position error value
difference between set angle and output measured angle(actual angle), u(t) is PWM signal for
DC motor and y(t) is the actual angle. Kp, Ki and Kd were respectively with the values of
proportion, integral, and the differential coefficient.

Speed Control: For industrial purposes, DC motor is supposed to run at the desired speed as per
load connected to it. This intentional change of drive speed is known as speed control of a DC
motor.
Speed control of a DC motor is either done manually by the operator or by means of an
automatic control device. This is different to speed regulation – where the speed is trying to be
maintained (or ‘regulated’) against the natural change in speed due to a change in the load on the
shaft.

The speed of a DC motor (N) is given by the formula:

% −' (
$=
∅

Hence the speed can be varied by changing:

1. The terminal voltage of the armature, Va.

2. The external resistance in armature circuit, Ra.
3. The flux per pole, φ.

Terminal voltage and external resistance involve a change that affects the armature circuit, while
flux involves a change in the magnetic field. Therefore speed control of DC motor can be
classified into:

1. Armature Control Methods

2. Field Control Methods

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 Block diagram of Speed control of DC motor using Controllers

Result: Thus Speed control and Position control of a DC motor is performed using PID
controller.

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 Experiment-3

Objective: Characteristics of PID controllers. Design and implementation of P, PI and PID

Controllers for temperature and level control systems.

Apparatus required: VLPA-101-CE, VFPA-201 CE Data Acquisition card and loop cable,
Ammeter (0-200) mA , Process control software with PC, patch cords.

Theory:
PID Controller: A PID controller is an instrument used in industrial control applications to
regulate temperature, flow, pressure, speed and other process variables. PID (proportional
integral derivative) controllers use a control loop feedback mechanism to control process
variables and are the most accurate and stable controller.
PID control is a well-established way of driving a system towards a target position or level. It's a
practically ubiquitous as a means of controlling temperature and finds application in myriad
chemical and scientific processes as well as automation. PID control uses closed-loop control
feedback to keep the actual output from a process as close to the target or setpoint output as
possible.

Level Process Controller: The level process controller is used to perform the control action of
level process and study the characteristics of I/P converter. The RF capacitance level transmitter
is used to measure the level of the process tank. In level control action, a pump sucks the air
from reservoir and gives it to control valve. Every internal transaction is in voltage. Here, IBM-
PC acts as error detector and controller. According to error signal, corresponding control signal
is given to the I/P converter. It controls the flow of the liquid in pipeline by varying stem
position of the control valve. For maintaining the level of the process tank, flow is manipulated
level signal is given to the data acquisition card. By pass line is provided to avoid the pump
overloading. From this controller also study the characteristics of the level transmitter, I/P
converter, control valve and justify the various control actions. Data Acquisition card has ADC
and DAC , so that it acts an effective link between the process and the controller.

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Types Of Control:

Proportional Control:- “It is a controller action is which there is a continuous linear

relationship between value of the controlled variable and position of the final control element
within the proportional band” . The tuning parameters for proportional control are,

 Proportional Gain Kp
 Time Delay Td

Proportional +Integral (P+I): The proportional control mode provides a stabilizing influence
while the integral mode will help to overcome OFFSET. Integral controller will provide
corrective action as long as there is a deviation in the controlled variable from the set point value.
Integral control has a phase lag of 90 degree over proportional control. This lagging feature of
reset will result in a slow response and oscillation will come into picture. This is suitable for flow
control and pressure control where the process has little lag. But require a wide proportional
band for stability. The small process lag permits the use of large amounts of integral action.

Proportional + Integral+ Derivative(P+I+D): This controller offers the benefit of each control
action and moreover the effect duplicates the action of a good human operator on the process. A
three mode controller contains the “stability” of proportional control and the ability to eliminate
the offset. Because of reset control and the ability to provide an immediate correction for the
magnitude of disturbance because of rate control.

Block diagram for level process controller

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 Level process controller

Temperature Process controller: Temperature process controller is used to perform the control
action on temperature process. In this unit, temperature is the process variable. An RTD sensor is
being used to measure the temperature of the process and is transmitted by RTD transmitter. In
this unit, water is stored up in the over head tank by pumping water from reservoir tank through
pump. Water from over head tank is allowed to heater through a rota meter. Rota meter is being
provided for giving disturbance to the process and for operational safety of the heater. For
conducting experiment flow rate in minimum value (say 30 Lph). In the outlet of heater, an RTD
is provided for sensing the temperature and is transmitted by RTD transmitter. Every internal
transaction are ion voltage. Here PC acts as error detector and controller .According to the error
signal, computer develops a control signal.

This control signal is given to the SCR power driver circuit by which firing angle varies.
Accordingly, the supply delivered to heater varies and thus process gets controlled. Data

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acquisition card has the ADC and DAC so that it acts as an effective link between the process
and controller.

Types of Control:

Proportional Control: Two position control applied to a process results in a continuous

oscillations in the quantity to be controlled. This drawback was overcome by a continuous
control action which could maintain the continuous balance of input and output mode of control
which will accomplish this is known as “PROPORTIONAL CONTROL” Proportional control is
defined as follows: “It is a controller action is which there is a continuous linear relationship
between value of the controlled variable and position of the final control element within the
proportional band”. The tuning parameters for proportional control are, Proportional Gain [Kg]
Time Delay [Td] Proportional Band [Pb] Proportional band is defined as the percent deviation in
measurement of its full scale required to give 100% valve deviation. Narrow band proportional
control gives a comparatively large corrective action to the valve for a small change in the
measurement. For wide band proportional the corrective action to the valve is small band
therefore the offset will be large. Usually, narrow proportional band is preferred. If proportional
band is zero, the controller behaves as two position control.

(ii.) Time Delay:

Time required to take the successive samples of process variable.

Proportional + Integral (P+I): The proportional control mode provides a stabilizing influence
while the integral mode will help to overcome OFFSET. Integral controller will provide
corrective action as long as there is deviation in the controlled variable from the set point value.
Integral control has a phase lag of 90degree over proportional control .This lagging feature of
reset will result in a slow response and oscillation will come into picture. This is suitable for flow
control and pressure control where the process has little lag. But a wide proportional band is
required for stability. The small process lag permits the use of a large amount of integral action.

Proportional + Integral derivative (P+I+D): This controller offers the benefit of each control
action and moreover the effect duplicates the action of good human operator of the process. A

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three mode controller contains the “stability” of ability to provide an immediate correction for
the magnitude of a disturbance because of rate control.

Temperature process controller

Result: Thus level process and temperature process controls are study using P, PI, PID
controllers.

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