EXPERIMENT NO.

1
AIM: - To study AC servo motor and note it speed torque Characteristics.

APPARATUS REQUIRED: - AC Servo Motor Setup, Digital Multimeter and Connecting

Leads.

THEORY: - AC servomotor has best use for low power control applications. Its important
parameters are speed – torque characteristics. An AC servomotor is basically a two-phase
induction motor. Which consist of two stator winding oriented 90* electrically apart. In feedback
application phase A is energized with fixed voltage known as “Reference” and phase B is
energized with variable voltage called “Control voltage”. In this setup AC servomotors are
mounted and mechanically coupled a small PMDC motor loading purpose. When DC supply is
fed to DC motor it runs in reverse direction of servomotor direction to impose load on
servomotor. The resultant torque developed by DC motor to overcome it increase the current
through it which is indicated by panel meter.

CIRCUIT DIAGRAM: -

6
PROCEDURE: - 1. Switch ON the power supply, switch ON S1. Slowly increase control P1 so
that AC servomotor starts rotating. Connect DVM across DC motor sockets (red & black). Very
the speed of servomotor gradually and note the speed N rpm and corresponding back emf Eb
across DC motor.

2. Connect DVM across servo motor control winding socked (yellow) and adjust AC Servomotor
voltage to 70V and note speed N rpm in table.

3. Switch on S2 to impose load on the motor due to which the speed of AC motor decreases.
Increase the load current by means of P2 slowly and note corresponding speed N rpm and Ia.
Calculate P=Ia*Eb and Torque=P*1.019*104 60/2.2.14Ngm/cm

OBSERVATION TABLE:-

TABLE-1

[Link] SPEED N rpm Eb volts

1
2
3

TABLE-2

[Link] Ia amp Eb (Tab 1) Speed N rpm P watt Torque

1
2
3
4

PRECAUTIONS: -

1. Apply voltage to servomotor slowly to avoid errors.

2. Impose load by DC motor slowly.

3. Take the reading accurately as the meter fluctuates.

4. Switch OFF the setup when note in use.

GRAPH:-

7
RESULT: We have studied the AC servo motor and noted its speed torque Characteristics.

VIVA VOCE:-

Q 1. What is AC servo motor?

A. an AC servo motor is basically a two-phase induction motor except for some Design feature.

Q.2 What is the use of AC servo motor?

A. AC servo motor has best use for low power control applications.

Q.3 What are the advantages of AC servo motor?

A. It is rugged, light weighted, and has no brush contact as in DC servo motor .

Q4. What is the important parameter of AC servo motor?

A. The important parameter of AC servo motor is its speed – torque characteristics.

Q.5 On what factor does the direction of rotation of AC servo motor depend?

A. The direction of rotation of AC servo motor depends on the phase relationship of Input
voltage V1 and V2.

Q6. What is the drawback of AC servo motor?

A. The main drawback of AC servo motor is its positive slope which causes Negative damp to
lead instability in control system.

Q.7 How is the drawback of positive in AC servo motor overcome?

A. The drawback of positive in AC servo motors is overcome by designing the rotor with very
high resistance.

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

A. In feedback control application phase A is given a fixed rated voltage called Reference
voltage and phase B is given a variable voltage called control Voltage.

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

A. The reference voltage and control voltage are 90 degrees out of phase with Each other.

Q.10 What are the types of AC servo motor?

A. AC servo motors are of various type as squirrel cage rotor motor, drag cup Rotor and solid
iron rotor motor.

9
 EXPERIMENT NO. 2
AIM: - To study dc servo motor and plot its speed torque characteristics.

APPARATUS REQUIRED: - DC SERVO MOTOR KIT AND DVM.

THEORY: - The experiment is carried out in two steps. 1. open loop performance 2. Close loop
performance. In first case the motor is run without feedback. The amplifier gain factor is kept at
minimum gain = 3. Motor is connected with main unit by 9 pin D Type socket. Step signal is
kept off.

CIRCUIT DIAGRAM: -

PROCEDURE: -

OPEN LOOP PERFORMANCE: - Connect the main unit to the supply. Keep the gain switch
off. Set Vr = 0.7 or 0.8. Connect DVM with feedback signal socket Vt. Note the speed N rpm
from display and tach output Vt in volts from DVM. Record N rpm and Vt volts for successive
gain 4-10 in observation table. Calculate Vm = Vr * Ka. Where Ka is the gain set from control 3
– 10.

Vr = 0.7 V.
Vm at gain 3 = 0.7 * 3 = 2.1 V.
Plot N vs Vt and N Vs Vm graph.

CLOSED LOOP PERFORMANCE: - In this case the gain switch is kept in on position thus
feedback voltage gets subtracted from reference voltage. Which is observed by decreased motor
speed. Record the result between gain factor Ka and speed N. draw the graph between techo
voltage Vt and speed N.

10
OBSERVATION TABLE: -

[Link]. GAIN(Ka) Vt (volts) N(rpm) Vm=Vr×Ka

PRECAUTIONS: -

1. Apply the voltage slowly to start the motor

2. Take the reading properly.

3. Do not apply breaks for long time as the coil may get heated up.

4. Switch OFF the main power when not in use.

GRAPH:

RESULT: - The graph is plotted between N(RPM) and Vt (techo voltage) and N(rpm) & Vm
(motor voltage) the tacho voltage increases linearly as the RPM of DC servo motor increases.

11
Similarly, the motor voltage increases with RPM in open loop The slope is less but in close loop
the slope is sharp.

VIVA VOCE:

Q.1 What are the uses of DC servo motor?

A. DC servo motor is widely used in radars, computers, robots, and process controllers etc.

Q.2. What are the types of DC servo motors?

A. DC servo motors are separately excited or permanent magnet type.

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

A. The speed of DC servo motor is controlled by varying the armature voltage.

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

A. The torque of DC servo motor decreases with increase in speed

Q.5. Why the speed torque characteristics of DC servo motor has large negative Slope?

A. The speed – torque characteristics of DC SERVO MOTOR has a large negative Slope due to
large armature resistance.

Q.6. What is the effect of negative slope?

A. The negative slope provides viscous damping for the servo drive system

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

A. DC servo motors are available in fraction of a watt to a few hundred watts.

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

A. High torque to inertia ratio, High torque to value ratio, Low inductance of Winding and
efficient heat dissipation is the special features of DC servomotor

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

A. The direction of rotation of DC servo motor can be changed by reversing the Phase difference
from leading to lagging and vice versa between control voltages and reference voltage.

Q.10. What is transfer function of DC SERVO MOTOR?

A. The ratio of Laplace transform of output to the laplace transform of input.

12
 EXPERIMENT NO. 3
AIM: - To study magnetic amplifier & plot its load current (IL) V/S control current (IC)
characteristics for parallel mode.

APPARATUS REQUIRED: - Magnetic amplifier set up, digital multi meter & connecting
leads.

THEORY: - Amplification is the control of larger output by variation of a smaller input. Such
amplification can be performed by a magnetic device called magnetic amplifier. This set up is
designed to study basic characteristics of such amplifier. To set up consists of magnetic amplifier
A.C & D.C power supply, to meters for load & control current & fixed value resistance of 50
ohms.

CIRCUIT DIAGRAM:-

PROCEDURE: -

• Connect the circuit as shown in fig. keep D.C. supply to minimum. Selects positive
direction.
• Connect DVM across D.C. input socket. Increase the D.C. voltage slowly & note IL, IC&
VC in observation & repeat the experiment.
• Plot the character tics curve between IL & IC in both direction.

13
 • Calculate power gain = pout/pin=ΔIL‫٭‬RL/Δ IC‫٭‬VC.

OBSERVATION TABLE:-

[Link]. IC(mA) IL(mA) Vc(+ve)

PRECAUTIONS:-
1. Apply voltage slowly to control winding as the coil may get heated up & burn.
2. Take the reading carefully & accurately.
3. Switch off the set up when not in use.

GRAPH:-

RESULT: - The graph is plotted between control current(IC) and load current (IL)For positive
polarity the control current increases linearly with load current in forward Direction but for
negative polarity the control current increases load current in reverse direction. This change in
direction of control current is due to change in polarity of control voltage.

VIVA VOCE:- Q.1. What is amplification?

A. Amplification is the control of a larger output quantity by the variation of a smaller input
quantity.

14
[Link] is magnetic amplifie ?

A. Magnetic amplifier is a device which amplifies a small input quantity to a large output
quantity. The saturable reactor i

Q.3. What is the working principle of magnetic amplifier? A

A magnetic amplifielr works on the principle of linkage of induced magneto Motive force( mmf)

Q4. What is magneto-motive force ?

A. Magneto- motive force in a magnetic circuit is similar to EMF in an electrical Circuit.

Q.5. What is the basis of selection of core of transformer and number of turns?

A. The basis of selection of core of transformer and number of turns is the slope B-H loop.

Q.6. What is saturable reactor ?

A. The saturable reactor is a specially wound transformer with three winding instead of two
windings like a common transformer.

Q.7. What is drawback of a magnetic amplifier?

A. The main drawback of magnetic amplifier is to control small DC current a Large number of
turns are required which has a greater resistance requires large DC voltage.

Q.8. How this problem is overcome in a magnetic amplifier ?

A. This problem is overcome in a magnetic amplifier by self saturation mode.

Q.9. What is the nature of saturable reactor ?

A. The saturable reactor is inductive in nature .

Q.10. What is effect of sudden current application to control winding ?

A. If a sudden current is applied to the control winding the current and ampere Turns of control
winding decreases slowly since it has large inductance .

15
 EXPERIMENT NO-4
AIM: To study magnetic amplifier and plot its load current and control current characteristics for
self

APPARATUS REQUIRED: Magnetic amplifier set up, digital multimeter and connecting
leads.

THEORY: Self saturation of core is achieved by using two diodes D1 and D2 in series with L1
and L2 load coils. The successive rectified half wave saturates the core in opposite direction in
few cycles. This leads to flow of current in RL greatly when control winding in open or there is
no current flow. The core does not saturate completely but operates to bring the core out of
saturation. DC current is made to flow in controlwinding. The control winding has more number
of turns than load winding. Applying a small DC current which oppose the magnetic flux caused
by self saturation tends to cut off produced mmf in load magnetic path. This causes to increase
inductance in l load winding and the voltage drop across then tends to rise which result in
decrease in AC current in [Link] the polarity of DC current is reversed then the saturation of core
takes place in opposite direction.

PROCEDURE:

• Connect the circuit as shown in fig. keep DC voltage to minimum.

• Select positive direction and switch ON the power.
• Increase the control current slowly and note the IL, Ic and Vc in observation table. Bring
DC voltage to minimum, select negative direction and repeat the characteristics curve in
both direction.
• Calculate power gain P (gain) = P (out)/P(in) or ∆ IL *RL/∆Ic*Vc

CIRCUIT DIAGRAM:

16
OBSERVATION TABLE:-

[Link]. IC(mA) IL(mA) Vc(+ve)

PRECAUTIONS:

1. Apply voltage slowly to control winding as the coil may get heated up and burn.

2. Take the reading carefully and accurately.

3. Switch off the set up when not in use.

GRAPH:

RESULT:- The graph is plotted between load current and control current. for positive polarity
the Control current rises in the forward direction with rise in load current where as for negative
polarity the control current decreases in the reverse direction with rise in load current .This is due
to the self saturation of the magnetic core .

VIVA VOCE:-

Q.1. What are the modes of operation of the magnetic amplifier?

A. The magnetic amplifier operates in two modes, series-parallel mode Self saturation mode.

Q.2. What is the value load resistance RL for magnetic amplifier?

A. The value of load resistance RL for magnetic amplifier is 50 ohms Fix.

17
Q.3. What is power gain in magnetic amplifier?

A. The power gain in magnetic amplifier is the ratio of output power to Input power.

Q4. What is current gain in magnetic amplifier?

A. The current gain in magnetic amplifier is the ratio of load current to Control current.

Q.5. What is core saturation?

A. When MMF in a coil is varied due to a varying current it causes the Magnetization to
approach to a limit called saturation.

Q.6. What is the direction of windings in the securable reactor?

A. In a securable reactor the two windings are anti- phase with each Other.

Q.7. How self saturation is achieved in a magnetic amplifier?

A. The self saturation of core is achieved by using two rectifier diodes D1 & D2 in series with
load coil L1 & L2.

Q.8. How the magnetic core is brought out of saturation?

A. The core is brought out of saturation by passing a current through Control winding.

Q.9. Which winding has more number of turns?

A. The control winding has more number of turns than the load Winding.

Q.10. Between which parameter graph is plotted for magnetic amplifier?

A. The graph is plotted between load current and control current.

18
 EXPERIMENT NO. 5
AIM: - To study of synchros (transmitter/ Receiver) system.

APPARATUS REQUIRED: - Synchro Tx & Rx set, A dual trace CRO and connecting leads.

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

remote transmission of position in AC servomechanism. These are also called as torque Tx and
Rx. The unit has one pair of Tx –Rx synchro motors powered by 60 V AC inbuilt supply. The
synchro Tx has dumb ball shaped magnetic structure having primary winding upon rotor which
is connected with the line through set of slip rings and brushes. The secondary windings are
wound in slotted stator and distributed around its periphery.

CIRCUIT DIAGRAM:-

PROCEDURE: - The experiment is completed is in three parts

1. To study of synchro Tx in terms of position V/s phase and voltage magnitude w.r.t. rotor
voltage magnitude/ phase. Connect the circuit as shown in fig. Note the o/p Vpp and its phase
angle either same as reference o/p or out of phase for each stator winding. Rotate Tx dial in 30
steps and note voltage magnitude and phase w.r. t. input as reference. Prepare an observation
table.

19
2. To study synchro Tx/Rx as an Error detector. Connect the circuit as shown in fig. Start from
60 or 90 and note the Rx R2 o/p voltage and phase.

3. To study of remote position indication system using synchro-Tx and Rx. Connect the circuit as
shown in fig. Keep Tx dial at 0 and watch Rx dial if there is any error removes it. Increase Tx
from 30 to 330 in steps of 30 and note the Rx position record the observation in a table and find
the difference between Tx and Rx dial position.

OBSERVATION TABLE:-1

[Link]. Angular Magnitude Magnitude Magnitude

Position in Deg. Phase S1 Phase S2 Phase S3
Tx

OBSERVATION TABLE: - 2

[Link]. Angular Position in deg. Tx Angular Position in deg. Rx

OBSERVATION TABLE:- 3

[Link]. 3 Angular Position Angular Position in Difference in Degree

in deg. Tx deg. Rx Tx-Rx.

PRECAUTIONS: - 1. Move the transmitter and receiver dials slowly to avoid errors in reading.

2. Take the reading carefully in steady condition.

3. Switch of the setup when not in use.

20
VIVA VOCE:

[Link] are synchros ?

A. Synchros are small motors used for remote transmission of shaft Angular position in AC
servo system .

Q.2. What is use of synchro transmitter and receiver ?

A. Synchro transmitter receiver are designed to study remote transmission of position in servo
mechanism .

Q.3. What is the basic structure of synchro ?

A. The basic structure of synchro is wound rotor and wound stator .

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

A. The two windings are mutually coupled to each other in such a way that it gives substantially
sinusoidal variation on a fynction of shaft angular position .

Q.5. What are the advantages of synchros ?

A. The operating speed of synchros is high, they have full 360 degreeRotation with out electrical
break and they are highly reliable .

Q.6. What are advantages of synchros ?

A hey have full range in order of 30 [Link] is not much better Than modern
potentiometers.

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

A. The three windings of synchros are 120 degrees apart .

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

A. The magnitude and polarity of voltage/phase depends upon the angular Position of rotor.

Q.9. Where the primary winding is connected ?

A. The primary winding of synchro transmitter is wound on rotor and is connected to Reference
voltage

Q.10. Where secondary winding is connected ?

A. The secondary winding is wound over slotted stator and is distributed Around the periphery.

21
 EXPERIMENT NO. 6
AIM: To study characteristics of positional error detector by angular displacement of two servo
potentiometers.

APPARATUS REQUIRED: Potentiometer kit,Dual trace CRO and connecting leads

THEORY: Potentiometric transducers are used in control applications. The set-up has built –in
source of +5V dc and about 2Vpp 400Hz AC output. A DVM is provided to read dc voltage and
AC can be read on CRO. The potentiometers are electrtomechanical devices which contain
resistance and a wiper arrangement for variation in resistance due to displacement. The
potentiometers have three terminals. The reference DC or AC voltage is given at the fixed
terminals and variable is taken from wiper terminals.

CIRCUIT DIAGRAM:

22
PROCEDURE:

• Connect the power and select the excitation switch to DC. Keep Pot.1 to center =180˚.
• Connect DVM to error output. Turn Pot.2 from 20˚ to 340˚ in regular steps. Note
displacement in 0˚=θ2 and output voltage E as V0.
• Plot graph between V0 and θe= θ1- θ2. 2. Switch ON the power and select excitation
switch to AC. Connect one of CRO input with carrier output socket and ground.
• Connect other input of CRO with error output socket. Keep pot.1 fixed at 180˚ and move
pot.2 from 20˚ to 340˚. Note displacement in θ˚ and Demodulator voltage VDM. Plot
graph between displacement and demodulator voltage.

OBSERVATION TABLE:

[Link] Pot.2 position in θ˚ θe= θ1- θ2 Output Voltage = V0

[Link]. Pot.2 position in θ ˚ θe= θ1- θ2 Output Voltage = V0

PRECAUTIONS:

1. Select the excitation switch as required, AC or DC. Wrong selection may cause error in
experiment or damage the setup.

2. Take the reading carefully.

3. Switch OFF the setup when not in use.

GRAPH:-

23
RESULT: The graph is plotted between displacement angle and output voltage. For DC
Excitation the output voltage increases linearly with positive displacement angle and decreases
with negative displacement [Link] for AC excitation it is reverse. The output voltage increases
with negative displacement and decreases with positive displacement angle.

VIVA VOCE:-

Q.1. What are potentiometers?

A. Potentiometers are elctromechanical devices containing resistance and wiper arrangement for
variation in resistance due to displacement .

Q.2. What is use of potentiometric error dectector?

A. The potentiometric error dectectors are used to compare the referenceAnd feedback signal and
detect the error.

Q.3. What is error signal?

A. The angular displacement between reference signal and feedback signaL Is called error signal.

[Link] is effective range of potwntiometer ?

A. The effective range of potentiometer is approximately 270 degrees.

[Link] is balanced demodulator ?

A. The balanced demodulator is provided to produce phase sensitive DC Signal when

potentiometers are fed with AC signal .

24
Q.6. How many terminals are there in potentiometers ?

A. There are three terminals in potentiometers, two are fixed and one isVariable.

Q.7. Where reference voltage is applied ?

A. Reference voltage is applied at fixed terminals .

Q.8. From where the variable output is taken ?

A. The variable output is taken from wiper terminals .

Q.9. What is linearity ?

A. Linearity is defined as the maximum deviation of output from idealVoltage .

[Link] is instrumentation amplifier ?

A. The instrumentation amplifier is a high impedence differential amplifier Having nity gain .

25
 EXPERIMENT NO. 7
AIM: - To study performance of PID controller with model as temperature control system.

APPARATUS REQUIRED:- PID control kit and stop watch. process as temperature control
system.

THEORY: - The set up has built in signal source as reference, DVM as temperature indicator;
PID controller and DC supply to operate the system. The set has three controls, P for
proportional gain, I for integrated gain, and D for derivative gain. A separate oven with fan is
provided to raise the temperature.

CIRCUIT DIAGRAM:

PROCEDURE: - The experiment is completed in four parts.

1. TO OBSERVE PROCESS CHARACTERISTICS: - Connect the oven and switch on the

power. Select temperature switch to oven and note the temperature. Now select the temperature
switch to S.P. adjust temperature to 20*C. again select temperature switch to oven, switch on the
heater and start the stop watch. Note the temperature at intervals of 5, 10,20,30,40 seconds till
the temperature is stable. Plot the curve between temperature and time.

2. TO OBSERVE SIGNAL CONDITIONAL CHARACTERISTICS: - Connect the Circuit

as before and set the temp. about 10* C. Connect the DVM across ground 0And signal
conditional socket. Select temp. switch to oven and note the temp. and voltage at error detector
point. Switch on heater and note error detector negative side input voltage.

3 P. CONTROL:-Connect the set as before and set temp. to 60*C and P control Kp To 10.
Switch on the heater and note temp. at 10 sec. interval. Switch off the heater and allow it to cool

26
with the help of fan. Now adjust Kp to 16. Switch on the heater and repeat the experiment. Plot
graph between temp. and time.

4 PI CONTROL: - Set temp. to 60* C . Select oven temp. at display reading. Switch On the
heater and stop watch. Note the temp. at 10 sec. interval. Plot graph between time and temp. 5
PID CONTROL:- Set temp. at 60* C select ovan temp. at display reading. Switch on heater and
stop watch. Note temp. at 10 sec. interval . plot response curve from results obtained from the
experiment. Find out set temp. Percentage from graph as: T( set) – T(ovan) / T(set) * 100.

OBSERVATION TABLE:-

S. NO. TIME(sec.) TEMPRETURE (· C)

PRECAUTIONS: -

1 Do not switch on the heater for long time.

2 Allow the heater to cool before next experiment.

3 Take the reading carefully. 4 Switch off the kit when not in use.

GRAPH:

27
RESULT: - The graph is plotted between time and temperature. The temperature increasesWith
time upto a certain limit and then becomes steady . this time temperature graph is used to findout
steady state error (Ess) the rise in temperature dependsUpon feedback gain . more the feedback
gain less the steady state error but it does not become zero .

VIVA VOCE: -

Q.1. What is full form of PID?

A. P stands for proportional, I stands for integrated and D stands for Derivative gain .

Q.2. What is derivative error compensation?

A. A system is said to have derivative error compensation when the generation of its output
depends in some way on its rate of change of actuating signal.

Q.3. What is integral error compensation?

A. A system is said to have integral error compensation if its output Response depends in some
way upon the integral of its actuating Signal.

Q.4. What is effect of integral error compensation on the system?

A. Integral error compensation changes a second order system to a Third order system.

Q.5. How derivative error compensation is obtained?

A. Derivative error compensation is obtained by using an amplifier Which provides a signal

having two terms, one proportional to To derivative of actuating signal and other proportional to
the actuating Signal itself.

Q.6. How integrating error compensation is obtained?

A. Integrating error compensation is obtained by introducing a controller which contains two

terms, one is proportional to the integration of Actuating- signal and other proportional to
actuating signal itself.

Q.7. Where PID is used?

A. PID is used in process industries for feedback gain.

Q.8. If dynamic model is not known then PID is tuned experimentally by Simulation.

Q.9. How PID is tuned if dynamic model is known?

A. If dynamic model is known then PID is tuned by Ziegelar-Nicholas Method.

28
Q.10. What time response specifications are required to be met by the control System?

A. Three time response specifications are to be met by the control system, Steady- state
accuracy, damping factor and settling time.

29
 EXPERIMENT NO. 8
AIM:-To study PID controller for level control of a plant.

APPARATUS REQUIRED: PID controller setup, CRO and connecting leads.

THEORY:- The setup is designed to study performance of analog PID controller with regulated
system. The board has built in signal source, DVM, simulated process and thre adjustable
parameters as PID,Pfor proportional gain , I for integrated gain and D for derivative gain .three
socket are given to add or out any parameter PI &D .threr are two signal sources of squire wave
which is adjustable in frequency (10-40 Hz) and amplitude (0-2 Vpp) and other signal source in
shape of triangular wave to sweep CRO in Xdirection. One DC voltage output which is
continuously variable between – 2Vand +2V.

CIRCUIT DIAGRAM:

PROCEDURE: P control mode: connect the circuit as shown in the figure.

• Switch over CRO for XY mode. Adjust P control to 0.1 and note the X and Y values.
Increase the value of P and note the results in table. Input 1.0 Vpp , squire wave of 50ms .
I not connected to adder and D control at 00. switch over CRO in tigger mode and find
out period of oscillation.
• Switch over again in XY mode and find out percentage over shoot and steady state error
PI control mode : connect the circuit as shown in figure set Kp =reading of dial. Kd=00.
input signal of squire wave amplitude = 1Vpp at 20 Hz.
• Switch over CRO in XY mode. Increase I in steps and note the reading . find the result of
Ki for 10-15 % over shoot with minimum Ess . PID control mode : connect the circuit as
shown in figure. Input =1Vpp squire wave of same frequency adjust Kp and Ki as table 1

30
 and 2 . Increase Kd in steps and note the Ypp and Xpp output from CRO. The equation of
PID controller is M(t) = Kp e(t) +Ki e(t) dt+ Kd de / dt

OBSERVATION TABLE:

S NO. Kp Xpp Ypp OSPP ESSPP

PRECAUTIONS: 1. Do not keep CRO in XY mode for long time.

2. Take the reading carefully and accurately.

3. Apply the required signal to the kit to avoid error.

4. Switch off the kit when not in use.

RESULT: - In open loop response the plots are performed between Magnitude/frequency and
phase/frequency. The upper curve is for gain/ Frequency raised to 9.35 db. The middle curve is
for frequency and the Lower curve is for phase. This shift in gain-cross over frequency and phase
Margin is due to applied gain KA.

VIVA VOCE:-

Q.1. What for compensation networks are used?

A. Compensation networks are used to make appreciable improvement in Transient response and
small change in steady- state accuracy.

Q.2. What are the types of compensation networks?

A. There are three types of compensation networks, LEAD, LAG and LEAD- LAG
Compensation network.

Q.3. What is the use of all pass filter?

A. The all pass filter is used to observe phase/frequency response.

Q.4. What is use of inverting amplifier?

A. The inverting amplifier is used to invert the phase oh feed back signal. It has gainK=-1

Q.5. What are the responses of compensation network?

A. Compensation network has two responses, open loop response and Close loop response.

31
Q.6. What is use of LEAD compensation?

A. LEAD compensation is used to improve the phase margin to any desired Value for a specified
error constant.

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

A. It increases the bandwidth and makes the speed response faster.

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

A. It reduces the bandwidth and slows down the speed response.

Q.9. What is use of LAG compensation?

A. LAG compensation is used for high order system with large error Constant and large
bandwidth.

Q.10. What is process or plant?

A. It consists of an active network simulation of second order system. Its transfer function is K/
(St+1).

32
 EXPERIMENT N0. 9
AIM: - To study the stepper motor and to execute microprocessor computer based control of the
same by changing number of steps, the direction of rotation and speed.

APPARATUS REQUIRED: - Stepper Motor Kit,µP Kit, Interface Cord and Connecting Leads.

THEORY: - The stepper motor is a special type of motor which is designed to rotate through a
specific angle called step for each electrical pulse received from its control unit. It is used in
digitally controlled position control system in open loop mode. The input command is in form of
a train of pulses to turn the shaft through a specified angle. the main unit is designed to interface
with µP 8085 kit. The stepper motor controller card remains active while the pulse sequence
generator disabled as given plug is connected with µp interface socket . following programme
enables the stepper motor to run with µp 8085 kit. For two phase four winding stepper motor
only four LSB signals are required.

CIRCUIT DIAGRAM:-

PROCEDURE:- Connect the stepper motor with µp 8085 kit as shown in fig. press EXMEM
key to enter the address as given then press NEXT to enter data .

ADDRESS DATA

2000 3E 80 MVI A,80 Initialize port A as output port.

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2002 D3 03 OUT 03 OB

2004 3E F9 Start MVI AFA

2006 D3 00 OUT 00 Output code for step o.

2008 CD 3020 call delay delay between two steps.

200B 3E F5 MVI A, F6 Location reserve for current Delay.

200d D3 OO OUT OO Output code for step 1.

200F CD 3020 Call delay delay between two steps.

2012 3E F6 MVI A, F5

2014 D3 OO OUT OO Output code for step 2.

2016 CD 3020 calls delay between two steps.

2019 3E FA MVI A, F9.

201B D3 OO OUT OO Output code for step 3.

201D CD 3020 call delay delay between two steps.

2020 C3 04 20 JMP START Start.

Press FILL key to store data in memory area. This will complete the pulse sequence generation.
To delay programme route, first press EXMEM to start, a dot sign will appear in address field
then enter the start address. Press NEXT to enter data.

ADDRESS DATA

2030 11 00 00 LXI D 00 00 Generates a delay.

2033 CD BC 03 CALL DELAY

2036 11 00 00 LXI D 00 00 Generates a delay.

2039 CD BC 03 CALL DELAY

203C C9 RET

Press FILL to save [Link] execute the programme press the key GO .The above programme is to
rotate the motor at a particular as defined by the given address. Changing the following contents
will change the motor speed.

ADDRESS DATA
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2030 11 00 20 AND 2036 TO SIMILAR 11 00 20

CHANGE 11 00 10 TO 11 00 10

CHANGE 11 00 05 TO 11 00 05

CHANGE 11 00 03 TO 11 00 03.

The motor direction depends upon codes FA, F6, F5 AND [Link] in following codes will
change the motor direction.

ADDRESS DATA

2005 3E F9 TO 3E FA

200C 3E F5 TO 3E F6

2012 3E F6 TO 3E F5

2019 3E FA TO 3E F9.

OBSERVATION TABLE:-

Sr No. No. of Pulses Displacement Step Angle

RESULT:- The stepper motor runs as per fed programme.

PRECAUTION:-

1. Make the connection of motor with µp kit properly.

2. Feed the programme carefully and correctly.

3. Do not change the motor direction at high speed.

VIVA VOCE:

[Link] the application of stepper motor is increasing?

A. The use of stepper motor is increasing due to availability in large power rating and reducing
cost.

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

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A. It is that angle at which torque is zero and is positive for smaller angle and negative for larger
angle.

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

A. There are two modes of operation of stepper motor, open loop and close loop mode.

Q.4. What are the types of stepper motor?

A. There are three types of stepper motors, VR stepper motor, PM stepper motor and hybrid
stepper motor.

Q.5. How the windings of stepper motor are wound?

A. The windings of stepper motor are wound in such a way that there are only two phases.

Q.6. How many logics are there in each sequence?

A. There are two logics in each sequence, o and 1.

Q.7. In how many phases does the motor run?

A. the stepper motor runs in four phases, A,AB, B and AB.

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

A. The stepper motor is run in four phases to avoid over stepping and to improve the response

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

A. The settling time of stepper motor depends upon loading and input sequence.

Q.10 What is use of µp kit?

A. The µp kit is used to run the stepper motor as per the fed programme.

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 EXPERIMENT NO. 10
AIM: To study LAG compensator and draw eats magnitude and phase plot.

APPRATUS REQUIRED: lead lag compensator kit, CRO, and connecting leads.

THEORY: compensation network are often used to make improvement in transient response and
small change in steady state accuracy. The set up is divided in to three parts. Signal source: It has
sine wave of 10-1200 Hz. Of 0-8 Vpp, Square wave of 20, 40 and 80 Hz of 0-2 Vpp. Trigger is
available for trigger of CRO in external trigger mode. The amplitude is 1.2 Vpp. There are three
compensation circuits as lag, Lead and Lag-Lead with transfer function. The set up has two DC
regulated power supply for signal source and systems.

CIRCUIT DIAGRAM

PROCEDURE: The experiment is divided in two parts.

1. Open Loop Response: Connect square wave to gain and CRO across input and output. Select
frequency to 80 Hz at 0.2 Vpp. Measure input amplitude Vpp as A and output as amplitude as B.
Calculate gain factor=B/A. Connect sine wave with process input, CRO across input and output.
Set input voltage =8Vpp. From low frequency end 10Hz note output voltage Vpp as B. Note the
phase difference for each test frequency. Connect the sine wave with lag input .connect CRO
across input and output. Note the output voltage, phase difference for each test frequency.
Prepare a table between input/output voltage, gain magnitude in db and phase angle in degrees.
Plot a graph accordingly.

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 2. Close loop response: connect the square wave signal of 20Hz, 1Vpp at input of error detector.
Adjust gain to the value found from plot for required shape of response and sketch it 0 the paper.
From the transient response measure maximum over shoot Mp, steady state error Ess and peak
time Tp. Select wave frequency to 40Hz, 1Vpp and adjust gain control to 60%. Not gain control
setting. Trace wave form on paper with record of Ess, Mp, and Tp. Select frequency to 80Hz and
adjust gain control for minimum Ess 0. Trace wave form with Mp and Tp. connect process with
lag compensator and gain 2. Set square wave frequency to 20Hz, 1Vpp at error detector input .
Adjunct gain control to for similar Ess. Note gain to from dial setting. Trace the wave form on
paper with record of Mp, Tp and Ess.

OBSERVATION TABLE :

[Link]. A Vpp B Vpp GAIN dB PHASE

ANGLE

GRAPH:

VIVA VOCE:

Q.1. What is the use of adder at the input of PID controller?

A. Adder is used to sum up the reference signal and feed Back signal.

Q.2. What is the use of time delay?

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A. Time delay generates a delay of 1.3 seconds between input And output.

Q.3. What is uncommitted amplifier?

A. It is an operational amplifier configurated as phase inverter. Its gain constant is= -1.

Q.4. What is the range of frequency and amplitude of square wave Source?

A. The range of frequency is from 10 to 40 hz and amplitude is From 0 to 2 Vpp.

Q.5. What is range of voltage source?

A. The range of voltage source is from -2 to +2 v.

Q.6. What is equation of PID controller?

A. The equation of PID controller is m(t) = Kp e(t)+Ki∫e(t)dt+Kd de(t)/dt.

Q.7. What is the transfer function of PID controller?

A. The transfer function of PID is G(PID) = m(s)/E(S).

Q.8. What are the methods of tuning PID?

A. There are two methods of tuning PID, process reaction curve method and continuous cycling
method.

Q.9. What is the main advantage of derivative error compensation?

A. Main advantage of this compensation is that as the damping increases due to compensation ,
system settling time reduces.

Q.10. How derivative output compensation is obtained?

A. Derivative output compensation is obtained by means of a Tachometer feedback.

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