CONTROL SYSTEM LAB

(EE-405/EC-404)
LIST OF EXPERIMENTS

PAGE
S. NO NAME OF THE EXPERIMENT NO.
1. TO STUDY A.C SERVO MOTOR AND PLOT ITS
TORQUE SPEED CHARACTERISTICS.
TO STUDY D.C SERVO MOTOR AND PLOT ITS
2.
TORQUE SPEED CHARACTERISTICS.
TO STUDY LEAD LAG COMPENSATOR AND DRAW
3.
MAGNITUDE AND PHASE PLOTS.
TO STUDY A STEPPER MOTOR & EXECUTE
MICROPROCESSOR OR COMPUTER BASED CONTROLOF
4. THE SAME BY CHANGING NUMBER OF STEPS,
DIRECTION OF ROTATION & SPEED.
TO STUDY THE BASIC OPEN LOOP AND CLOSED LOOP
5.
CONTROL SYSTEM.

Submitted by Submitted to

Mr Alok Pathak (EE Deptt)

 EXPERIMENT NO: 1

AIM: - To study AC servo motor and plot its torque speed 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 energised with fixed voltage known as “Reference” and phase B is
energized with variable voltage called “Control voltage”. In this setup AC servomotor is
mounted and mechanically coupled a small PMDC motor loading purpose. When DC supply i s
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:-

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 PROCEDURE:
1. Switch ON the power supply, switches ON S1. Slowly increase control P1 so that AC
servomotor starts rotating. Connect DVM across DC motor sockets (red & black).Vary the speed
of servomotor gradually and note the speed N rpm and corresponding back emf E b 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
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P=Ia*Eb and Torque=P*1.019*10 60/2.2.14Ngm/cm

OBSERVATION TABLE:-

TABLE-1

[Link] SPEED N rpm Eb volts

1.
2.
3.
4.

TABLE-2

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

rpm
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.

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GRAPH:-

DISCUSSION:-
The graph is plotted between speed and torque. As we reduce the speed of the motor the torque
goes on increasing therefore the graph starts with a low value and rises to a high value
approximately linearly .This rise in the graph is due to the rising speed-torque characteristics of
AC servo motor .

QUIZ:-
Que 1. What is AC servo motor?
Ans. An AC servo motor is basically a two phase induction motor except for
some Design feature.
Que.2 What is the use of AC servo motor?
Ans. AC servo motor has best use for low power control application.
Que.3 What are the advantages of AC servo motor?
Ans. It is rugged, light weighted, and has no brush contact as in DC servo
motor.
Que.5 On what factor does the direction of rotation of AC servo motor
Depend.
Ans. The direction of rotation of AC servo motor depends on the phase
relationship of Input voltage V1 and V2 .
Que 6. What is the drawback of AC servo motor ?
Ans. The main drawback of AC servo motor is its positive slope which causes
Negative damping to lead instability in control system
Que.8 What is the input of AC servo motor in feedback control application?
Ans. 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.
Que.9 What is the phase relationship between reference voltage and control
Voltage?
Ans. The reference voltage and control voltage are 90 degrees out of phase
with each other.
Que.10 What are the types of AC servo motor ?
Ans. AC servo motors are of various type as squirrel cage rotor motor ,drag
cup Rotor and solid iron rotor motor.

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 EXPERIMENT NO: 2

AIM:- To study dc servo motor and plot its torque speed characteristics.

APPARATUS:- 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 tacho 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. This is observed by decreased motor
speed. Record the result between gain factor Ka and speed N. draw the graph between techo

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voltage Vt and speed N.

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:-
For open loop:

DISCUSSION:-

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. Similarly
the motor voltage increases with RPM .in open loop. The slope is less but in close loop the slope
is sharp and this is due to the feed back gain.
QUIZ:-
Que.1 What are the uses of DC servo motor?
Ans. DC servo motor is widely used in radars, computers, robots, tracking systems
and process controllers etc.
Que.2. What are the types of DC servo motors?
Ans. DC servo motors are separately excited or permanent magnet type.
Que.3. How the speed of DC servo motor is controlled?

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 EXPERIMENT NO. 3
AIM: To study LEAD LAG compensator and draw 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.
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
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 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:

QUIZ:
Que.1. What is the use of adder at the input of PID controller?
Ans. Adder is used to sum up the reference signal and feed Back signal.
Que.2. What is the use of time delay?
Ans. Time delay generates a delay of 1.3 seconds between input And output.
Que.3. What is uncommitted amplifier?
Ans. It is an operational amplifier configurated as phase inverter.
Its gain constant is= -1.
Que.4. What is the range of frequency and amplitude of square wave Source?
Ans. The range of frequency is from 10 to 40 hz and amplitude is From 0 to 2 Vpp.
Que.5. What is range of voltage source?
Ans. The range of voltage source is from -2 to +2 v
Que.6. What is equation of PID controller?
Ans. The equation of PID controller is
m(t) = Kp e(t)+Ki∫e(t)dt+Kd de(t)/dt.
Que.7. What is the transfer function of PID controller?
Ans. The transfer function of PID is G(PID) = m(s)/E(S).
Ans. There are two methods of tuning PID, process reaction curve method and continuous
Que.10. How derivative output compensation is obtained?
Ans. Derivative output compensation is obtained by means of a Tachometer feedback
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 EXPERIMENT No. 4
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 USED: - 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 . The following
programme enables the stepper motor to run with µp 8085 kit. For two phases 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 .

OBSERVATION TABLE:-

Sr No. of Pulses Displacement Step Angle

No.

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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.
QUIZ:-
[Link] the application of stepper motor is increasing?
Ans. The use of stepper motor is increasing due to availability in large power rating and reducing
cost.
Que.2. What is stable condition of rotor in stepper motor ?
Ans. It is that angle at which torque is zero and is positive for smaller angle and negative for
larger angle.
Que.3. What are the modes of operation of stepper motor?
Ans. There are two modes of operation of stepper motor, open loop and close loop mode.
Que.4. What are the types of stepper motor?
Ans. There are three types of stepper motors, VR stepper motor, P stepper motor and hybrid
stepper motor.
Que.5. How the windings of stepper motor are wound?
Ans. The windings of stepper motor are wound in such a way that there are only two phases.

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

Ans. There are two logics in each sequence, 0 and 1.
Que.7. In how many phases does the motor run?
Ans. The stepper motor runs in four phases, A,AB, B and AB. Que.8. Why the stepper motor is
run in four phases?
Ans. The stepper motor is run in four phases to avoid over stepping and to improve the response
Que.9. On what factor does the settling time of stepper motor depend?
Ans. The settling time of stepper motor depends upon loading and input sequence.
Que.10. What is use of µp kit?
Ans. The µp kit is used to run the stepper motor as per the fed programme.

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 EXPERIMENT NO. 5
AIM:- To study basic open loop and close loop control systems.
Control System :-
A control system is a combination of elements intended to act together to accomplish an
objective. Control systems are classified into two general categories. Open loop and closed loop
control system. The distinction is determined by the control action, which is that quantity
responsible for activating the system to produce the output.

Open loop control system:-

An open loop control system is one in which the control action is independent of the output. The
important features of open loop control system are:-
(1) Their ability to perform accurately is determined by their calibration, which implies to
establish the input-output relation to obtain a desired system accuracy.
(2) They are not generally troubled with problems of instability.

BLOCK DIAGRAM:-

Examples of open loop control system:-

1. A man working on a road with his eyes closed is an example of open loop control system. The
major components in walking are the brain, the eyes and the feet. The input may be chosen as
desired work direction and the output actual work direction. The control action is determined by
the eyes which detect the difference between input and output and send information to brain.
Since the eyes are closed therefore the system is open loop.
2. Another example of open loop control system is an electric automatic coffee maker. One
possible input for coffee maker is amount of coffee used. In addition most coffee makers have a
dial which can be set for weak, medium or strong coffee. This setting usually regulates a timing
mechanism. There for brewing time of coffee is another possible input and the output of any
coffee maker can be chosen as coffee strength.

CLOSE LOOP CONTROL SYSTEM:-

A close loop control system is one in which the control action is some how dependent of the

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 output. Close loop control systems are commonly called feedback control system. Feedback is
that characteristics of close loop control system which differentiates it from open loop. It is the
property of closed loop system which permits the output to be compared with the input. So that
appropriate control action maybe formed as a function of input and output.
Important features of feedback are:-
1. Reduced effects of non linearites and distortion.
2. Increased accuracy.
3. Increased bandwidth.
4. Reduced sensitivity of the ratio of output to input to variations in system characteristics.
5. Tendency towards oscillation or instability.

BLOCK DIAGRAM:-

Examples of closed loop control system:-

1. A man working on a road with his eyes open is an example of closed loop control system. As
eyes can distinguish between the desired walk direction and actual walk direction and make the
necessary correction therefore the system is closed loop.
2. Another example of closed loop control system is an automatic toaster. In which each heating
element supplies same amount of heat to both sides of the bread. And toast quality can be
determined by its color. The toaster is initially calibrated for a desired toast quality which needs
no re-adjustment. The toaster is automatically switched off when the sensor sees the desired
color with the help of feedback linkage which may be electrical or mechanical. Since the output
(color of toast ) is dependent on input ( temperature setting) there for the system is closed loop.

QUIZ:-

Qur.1 What is control system?

Ans It is combination of elements intended to act together to accomplish an objective. Que.2
How control system is classified?
Ans Control systems are classified as open loop and close loop open control system. Que.3 What
is open loop control system?
Ans A system in which control action is independent of output. Que.4 What is closed loop
control system?
Ans A system in which the control action is dependent on the output. Que.5 What are the main
features of open loop control system?
Ans Ability to perform accurately and free from troubles of instability. Que.6 What are the main
features of close loop control system?
Ans Reduced distortion and increased accuracy and bandwidth are the main features of close

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