EXPERIMENT 1:-

TITLE: STUDY OF BOEBOT

OBJECTIVE: To study and perform various maneuvers of BoeBot.

THEORY:-

The robot we have used for our activities is called BOE-BOT as shown in
the below fig 1. Here, Basic Stamp (BS2) is used which is basically a
microcontroller acting as the brain of the robot. It is placed on the Board of
Education in the space provided for it.

Fig 1: picture of a boebot

1
The Boe-Bot Performs following tasks-

1. Monitor sensors to detect the world around it

2. Make decisions based on what it senses

3. Control its motion (by operating the motors that make its wheels turn)

4. Exchange information with its operator.

There are two types of boards used for robotic operational purpose-

1) Board Of Education:

It has different features like-

1. Places for plugging in Servo motors

2. control over the type of power supply the servo receives
3. A three position switch to control what parts of the system receives
power.
The BS2 is removable and can be replaced.

Fig.2 basic stamp 2

2
2) Basic Stamp Homework Board:

The BS2 cannot be removed or replaced. it has no servo ports, external

power supply.
In our case we use ‘Board Of Education’

Setting Up The Basic Hardware For Programming:-

Servo Movements:

To make the boe-bot move in different direction, the servos have to be

moved in different direction as shown below-

MOVEMENTS RIGHT SERVO LEFT SERVO

FORWARD CLOCKWISE ANTICLOCKWISE
BACKWARD ANTICLOCKWISE CLOCKWISE
LEFT CLOCKWISE CLOCKWISE
RIGHT ANTICLOCKWISE ANTICLOCKWISE

PBASIC:-

The language used to program the BS2 microcontroller is PBASIC

Variable usable in PBASIC

 Bit - A variable type of a single bit, ranging from 0 to 1

 Nib - A variable type of a nibble (half a byte, 4 bits), ranging from 0 to
15
 Byte - A variable type of a single byte (8 bits), ranging from 0 to 255
 Word - A variable type of two bytes (16 bits), ranging from 0 to 65535

Following Basic Commands Are Used In PBASIC

 Pause Period:-
Period is a variable/constant/expression(0-65535)that specifies the
duration of the pause

3
  For….Next:-

Syntax : FOR Counter =

StartValue TO EndValue {STEP {-} StepValue} ... NEXT {Counter}
Syntax : FOR Counter =
StartValue TO EndValue {STEP StepValue} ... NEXT

This creates a repeating loop that executes the program lines

between FOR and NEXT, incrementing or decrementing Counter according
to StepValue until the value of theCounter variable passes the EndValue.

 Counter:-

It is a variable (usually a byte or a word) used as a counter.

 StartValue: is a variable/constant/expression (0 - 65535) that

specifies the initial value of the variable (Counter).

 EndValue: is a variable/constant/expression (0 - 65535) that specifies

the end value of the variable (Counter). When the value of Counter is
outside of the rangeStartValue to EndValue, the FOR...NEXT loop
stops executing and the program goes on to the instruction
after NEXT.

 StepValue: is an optional variable/constant/expression (0 - 65535) by

which the Counter increases or decreases with each iteration through
the FOR...NEXT loop. On the BS1, use a minus sign (-) in front of
the StepValue to indicate a negative step. On all other BASIC Stamp
models, if StartValue is larger than EndValue, PBASIC
understands StepValue to be negative, even though no minus sign is
used.

 FREQOUT pin, duration, frequency

pin is simply the pin number that you want to send the frequency to.
Duration is simply the length of time in milliseconds you want the frequency
to play. And Frequency is the frequency in hertz that you want to generate

4
  Gosub:-

Syntax: Gosub Address

Stores the address of the next instruction after GOSUB, then go to the point
in the program specified by y Address; with the intention of returning to the
stored address. Address is a label that specifies where to go. When a
PBASIC program reaches a GOSUB, the program executes the code
beginning at the specified address label. Unlike GOTO, GOSUB also stores
the address of the instruction immediately following itself.

 Return:-

Returns from a subroutine, assuming there was a previous Gosub

executed.

 Pulse out:_

Syntax: Pulse out Pin, Duration

It generates a pulse on Pin with a width of Duration. Pin is a

variable/constant/expression (0 - 15) that specifies the I/O pin to use.
This pin will be set to output mode. Duration is a
variable/constant/expression (0 - 65535) that specifies the duration of the
pulse. PULSEOUT sets Pin to output mode, inverts the state of that pin;
waits for the specified Duration; then inverts the state of the pin again;
returning the bit to its original state.

 {$STAMP}

The $STAMP directive is a special command that is included (usually at the

top) in a program to indicate the model of BASIC Stamp targeted. Buttons
on the editor tool bar simplify adding or modifying the $STAMP directive.
The line below is an example of the $STAMP directive (in this case, it
indicates that the program is intended for a BASIC Stamp 2):

' {$STAMP BS2}

5
This line should be entered into your code, usually near the top, on a line by
itself. Note that the directive appears on a comment line (the apostrophe (')
indicates this) for compatibility with the DOS versions of the editor.

The 'BS2' in the example above should be changed to indicate the

appropriate model of the BASIC Stamp you are using. For example, to use
other BASIC Stamp module, enter one (just one) of the following lines into
your code:

' {$STAMP BS1}

' {$STAMP BS2}
' {$STAMP BS2e}
' {$STAMP BS2sx}
' {$STAMP BS2p}
' {$STAMP BS2pe}
' {$STAMP BS2px}

The directive itself must be enclosed in brackets, {...}. There should not be
any spaces between the dollar sign, $

 DEBUG:-

Syntax: DEBUG OutputData {, OutputData}

Display information on the PC screen within the BASIC Stamp editor

program. This command can be used to display text or numbers in various
formats on the PC screen in order to follow program flow (called debugging)
or as part of the functionality of the BASIC Stamp application.

 OutputData is a variable/constant/expression (0 - 65535) that specifies

the information to output. Valid data can be ASCII characters (text
strings and control characters), decimal numbers (0 - 65535),
hexadecimal numbers ($0000 - $FFFF) or binary numbers (up to
%1111111111111111). Data can be modified with special formatters
as explained below.
DEBUG provides a convenient way for your BASIC Stamp to send
messages to the PC screen while running. The name "debug" suggests its
most popular use; debugging programs by showing you the value of a
variable or expression, or by indicating what portion of a program is
currently executing. demonstrates using the DEBUG command to send the
text string message "Hello World!".
6
 DEBUG "Hello, World!" ' test Message
After you download this one-line program, the BASIC Stamp Editor will
open a Debug terminal on your PC screen and wait for a response from the
BASIC Stamp. A moment later, the phrase "Hello World!" will appear. Note
that if you close the Debug terminal, your program keeps executing, but you
can't see the DEBUG data anymore.

 ‘COMMENT:-

The apostrophe character was used in two ways in this program. The first
line used the apostrophe to include a comment in t he program and make it
more understandable.

‘Robotics!v1.5,Program Listing1.1:Hello world!

Is a comment .

Programs :-

1) Forward Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
FOR pulse_count=1 To 60
PULSOUT 12,650
PULSOUT13,850
PAUSE 20
NEXT
END

2) Backward Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
FOR pulse_count=1 To 60
PULSOUT 12,850
PULSOUT 13,650

7
 PAUSE 20
NEXT
END

3) Left Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
FOR pulse_count=1 To 60
PULSOUT 12,650
PULSOUT 13,650
PAUSE 20
NEXT
END

4) Right Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
FOR pulse_count=1 To 60
PULSOUT 12,850
PULSOUT 13,850
PAUSE 20
NEXT
END

5) Square Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
Loop:
FOR pulse_count=1 To 50
PULSOUT 12,850
PULSOUT13,650
PAUSE 20
NEXT
FOR pulse_count=1 To 31
PULSOUT 12,850
PULSOUT13,850

8
 PAUSE 20
NEXT
GOTO LOOP
END

6) Triangular Movement Of BOE-BOT:-

‘{$Stamp bs2}
pulse_count VAR Byte
GOSUB RIGHT-TURN
GOSUB FORWARD
GOSUB RIGHT-TURN
GOSUB FORWARD
FORWARD
FOR pulse_count=1 To 60
PULSOUT 12,850
PULSOUT13,650
PAUSE 20
NEXT
RIGHT-TURN
FOR pulse_count=1 To 60
PULSOUT 12,850
PULSOUT13,850
PAUSE 20
NEXT
END

CONCLUSION:-

Hence with help of this experiment we could study and

pogram the various maneuvers of BoeBot .

9
EXPERIMENT 2:-
TITLE: DC MOTOR STUDY

OBJECTIVE: To study the torque speed, step response, motor-generator

characteristics of a d.c. motor.

THEORY:-

D.C. motors are the most commonly used actuators in electro-

mechanical control systems or servomechanisms. Compared to actuators like
2-phase a.c. motor and stepper motor, the d.c. motor has the advantage of
higher torque and simpler driving [Link] the presence of a
commutator and a set of brushes with the problems of sparking make the d.c.
motor somewhat less durable. This ofcourse is not true for the present day
well designed d.c. servomotor.
The study of the dynamic characteristics of the d.c. motor is important
because the overall performance of the control system depends on it. A
standard analysis procedure is to model the various subsystems and then
combine these to develop the model of the overall system.
This experiment is designed to obtain the torque-speed characteristics,
compute the various parameter and finally determine the transfer function of
a d.c. motor.

The various sections of the unit are described below:-

(a) Mechnical Section: It comprises of the experimental permanent

magnet d.c. motor (approx. 8W) coupled to a small d.c.
generator(approx 2W), which serves twin purposes of-
 Electrical loading of the motor
 Transient response signal pick up
Further, a slotted disk mounted on the common shaft produces 6 pulses per
revolution through an opto-interrupter, which is used in a 4-digit speed
display in r.p.m.

(b) Motor Power supply: The operating voltage of the motor is 12 volt
d.c. while the current, depending on loading, is around 120-650 mA.
A built-in variable voltage source (2-14V d.c.) provides this power

10
 and two 3½ digit DPMs are available to monitor the armature volatge
armature current of the motor.
(c) Transient Response Timing Section: When the power is suddenly
switched ON, the motor speed increases gradually and finally reaches
a steady value. This process is quite slow for a CRO display with
repeated ON/OFF of the motor. Hence a 3-digit time count display
enables the user to measure the time constant.
(d) Power Supplies: All the circuits are powered through built-in I.C.
regulated power supply of appropriate capacities.

Fig 1: schematic diagram

In the present set up a permanent magnet d.c. motor is used, the field
widing is thus absent and the air gap flux is thus constant. The input drive
may therefore be applied to the armature only, that is, only armature
controlled operation is possible.
The mathematical equations in this operationg mode are,

TM = KT i a ; KT : torque constant

eb=Kb ω ; Kb : back emf constant

d ia
La + R a i a + e b = e a; armature circuit model
dt

dω
J dt + Bω + TL = TM; mechanical model

11
Taking laplace transform and reaaranging the terms:-

ω (s ) KT
Ea (s)
= (sL ¿ ¿ a+ k R ) ( sJ + B ) + K K b¿
a T

Assuming the inductance of the armature circuit to be very small, the motor
transfer function may be written as,

KT

GM(s)= E (s) = K K =KM/(sτM+1)

ω (s ) Ra
.........
a
Js +B+ T b
Ra
(1)

Where,

KM = KT /(Ra B+ KT B) : motor gain constant

τ M =¿ Ra J/(Ra B + KT B) : motor time constant

Torque-Speed Curves:-

As a mechanical actuator the magnitude of the steady state torque

produced by the motor with a given armature voltage is of interest to an user.
With a simple rearrangement of terms the motor torque may be witten as,

Steady state armature current, Ia = (Ea – Eb)/Rb = Eb/Ra – Kbω /Ra

Steady state torque generated,

TM = KT Ia = -(KT Kb/Ra). ω + (KT/Ra).Ea ..(2)

Where TM, Ea, Eb, Ia and ω are the steady state values of the motor torque,
applied armature voltage, back emf, armature current and angular velocity of
the shaft.

12
 Fig2: typical torque speed curve

A typical plot is shown in fig 2. As the motor runs with constant

speed,

Electrical power input, Pin = Ea x Ia

Power lost in Ra = Ra x Ia x Ia

Power availbale in the armature, Parm = (Ea-Ia Ra)Ia

= Eb x Ia
= Kb x ω x Ia

Mechanical power developed Pmech = TM x ω

= KT x Ia x ω

Assuming 100% conversion of power from electrical input to mechanical

output, the above equations can be expressed as,

Kb = KT

The torque may be expressed as,

TM = -(Kb2/Ra). ω + (Kb/Ra). Ea …(3)

13
When the motor is loaded, the speed dcreases which reduces the back emf.
This increases the armature current ia so that the motor developes more
torque in order to supply the load. The operation for a constant voltage Ea is
shown in fig.2.

At steady state the toeque equation is written as,

TM = B ω + T L ; TL : load torque ……(4)

In experiment, TL is increased in steps by loading the motor with the help of

coupled generator and the values of TM and ωare recorded. The followinf
equation is used to compute the motor torque TM at a constan value of Ea,

TM = KT Ia = Kb Ia = (Ea¿ ω). Ia = ((Ea – Ia Ra)/ω ). Ia …… (5)

Transient response:-

The transfer function of the motor was obtained in eq. 1. Now in response to
a step input ea (t)= E.u(t) , the motor speed will follow the expression,

ω (t) = [Link] (1- exp(- t/τ m) , as shown in fig 3.

Fig 3: step response of the motor

The steady speed N and value of KM is given as:-

14
ω (t) | t→ α = ω ss = EKM

or, KM = N/E = π N/ 30 Ea

The coefficient of inertia is given as,

J= τ m (B + (Kb2/ Ra)) ……(6)

PROCEDURE:-

1) Armature Circuit Parameters:-

Ra and La are the two parameters in the armature circuit, which may be
measured by any standard method. Although Ra is required for calculations,
La has been neglected.

2) Motor and Generator Characteristics:-

 Set ‘MOTOR’ switch ON. Set ‘RESET’ switch to ‘RESET’. Set

‘LOAD’ switch to 0 position.
 Vary Ea in small steps and take the readings
 Plot N vs. Ea and Eg vs. N. Obtain the slopes and compute KM and KG.

3) Torque Speed Characteristics:-

 Set ‘MOTOR’ switch to ‘OFF’. Set ‘RESET’ switch to ‘RESET’. Set

‘LOAD’ switch to 0 position.
 Connect Ea to the voltmeter and set Ea = 6V.
 Shift the ‘MOTOR’ switch to ‘ON’. Measure armature input (E a),
motor current(Ia) and motor speed in rpm. Record the redings.
 Set the ‘LOAD’ switch to 1,2……5 and take the readings as above.
 Plot torque vs. speed curves
 Compute B from the slope of the torque curve and average K b from
the table
 Repeat the above for Ea= 8,10, 12 V and record the average values of
motor parameters B and Kb.

15
4) Step Response:-

 Set ‘MOTOR’ switch to ‘OFF’. Set the ‘RESET’ switch to ‘RESET’.

Set ‘LOAD’ switch to 0 position.
 Connect Ea to voltmeter and set it to 8 V.
 Switch ‘ON’ the motor and measure Eg and the speed in rpm. These
are the steady stae generator volatge Eg and the steady state motor
speed N, respectively.
 Set Es to 63.2% of Eg measured above. This is the generator voltage at
which the counter will stop counting.
 Switch ‘OFF’ the motor. Set ‘RESET’ switch to ‘READY’.
 Now switch the motor ‘ON’. Record the counter reading as time
constant in milliseconds.
 Repeat the above with Ea= 10, 12 V and tabulate the results.
 Sunstitute the values of KM and τ m in eq.1 and calculate the motor
transfer function.
 Using the average values of τ m, B, Kb and Ra, calculate the motor
inertia J.

OBSERVATION AND RESULTS:-

16
(a) Armature Resistance Ra = 4.42 ohms,
AND Armature Inductance= 2.21mH

(b) Motor and Generator Characteristics:-

[Link]. Ea (volts) Ia (mA) N (rpm) Eg (volts)

1. 2 65 778 1.45
2. 3 70 1216 2.27
3. 4 75 1650 3.08
4. 5 81 2085 3.89
5. 6 86 2514 4.70
6. 7 91 2943 5.50
7. 8 96 3379 6.32
8. 9 101 3797 7.09
9. 10 106 4195 7.83
10. 11 111 4586 8.55
11. 12 116 4974 9.26
12. 13 121 5364 9.98
13. 14 128 5773 10.72
14. 14.58 131 6009 10.90

Graphical analysis:-

17
(a) Motor Characteristics:-

(b) Generator Characteristics:-

18
 (c) Torque Speed Characteristics:-

Ea= 8V, Ra = 4.42 ohms

[Link] Load Ia(mA) N (rpm) ω = N π Eb=Ea Kb=Eb/ TM = Kb

. step 30 –IaRa ω Ia
(rad/sec) (volts) (Nm)
1. 0 96 3379 351.4 7.57 0.0215 0.0020640
2. 1 136 3286 341.7 7.39 0.0216 0.0029376
3. 2 173 3194 332.2 7.23 0.0217 0.0037541
4. 3 209 3107 323.1 7.07 0.0218 0.0045562
5. 4 245 3016 313.7 6.91 0.0220 0.0053900
6. 5 287 2911 302.7 6.73 0.0222 0.0063741

Graphical analysis:-

19
 (d) Step Response study:-

Ea= 8V, Et= 6.04 V, τ m=77 msec

[Link] Ea Eg N Es=0.632 Time Gain

(volts) (volts) (rpm) Eg (volts) const. const.
τm KM= π
msec N/30Ea
1. 8 6.29 3379 3.79 91 44.23
2. 10 7.83 4199 4.94 94 43.97
3. 12 9.24 4966 5.83 103 43.34

CONCLUSION:-

Hence, with the help of this experiment we could study the torque speed,
step response, motor-generator characteristics of a d.c. motor.

EXPERIMENT 3:-
20
TITLE: CONTROL OF D.C. POWER USING SCR

OBJECTIVE: To control d.c. power using SCR

THEORY:-

With a positive dc voltage, an SCR triggers when a positive gate

voltage is applied. Thus the SCR can be triggered by an ac gating voltage
whose phase is variable with respect to the d.c. voltage. With a gating
voltage eg , the gating angle can be adjusted by variation of the phase of the
eg wave as in fig 1.

Fig.1

The average current to the resistive load R can be expressed in terms

of the firing and Q1 and Q2 where,

Q2= π - sin-1 (E0/Em)

E0 being the voltage drop (of the order of 2.0 volts) across the SCR after
firing and Em is the amplitude of the a.c. supply

Idc= (Em/2 πR) [cos (sin-1 (E0/Em))+ cos Q1 – (E0/Em)(Q2-Q1)]

The phase angle Q1 must be always lagging.

Because of the steepness with which a large amplitude a.c. gating
voltage wave across the zero axis, variations in the time of SCR turn on are
reduced. The a.c. phase control circuit provides precission in triggering
angle, as well as smooth control over the full range of current.
A simple circuit or shifting the phase of an a.c. voltage is the phase
shift bridge shown in fig 2. The transformer is polarised and the voltage at A

21
is in phase with a d.c. [Link] CA is drawn as a phasor and with
Z1=R and Z0=j/WC, it is known that IR and IX0 must be straight angles and
must add to the constant voltage CA. Thus the locus of the point is a circle
of diameter CA as shown in fig 2(b). Phasor BD is the triggering voltage,
which will be of constant magnitude, and the angle Q is the angle of the lag
of triggering voltage behind the anode voltage.

Fig. 2(a) fig. 2(b)

Version of either R or Xc will change he triggering phase angle, with

Q=0 for R=0 and Q=1800 for R=∝. From the geometry of the phasor diagram
it is that triangle BCD is isosceles. Then,

Q+(1800-2α )=1800

Q=2α = 2 tan-1 (Z1/Z2)=2 tan-1 WCR

For the circuit usinf C and R elements.

If the inductance is used interchanged, or Z1= JWL and Z2=R as in fig 3. It
can be found that,

Q=2 tan-1 (Z1/Z2) = 2 tan-1 WL/R

22
 Fig. 3(a) Fig 3(b)

This circuit modification is frequently employed because variable

inductances are of practical size at supply frequencies. The variation can be
aobtained by moving an iron core in a solenoid or by satuarting an iron core
reactor as the inductive element. The circuit for experimental set up is shown
in fig 4.

Fig.4

PROCEDURE:-

The required steps are as follows:-

1) Trace the circuit diagram

2) Select the gate resistance by 2.2K by the switch S. Connect the
prim ary of the transformer to the mains.
3) Select the resistance 100 ohms by the hand switch B and note the
reading of ammeter and observe the wave form by CRO across the
load.
23
 4) Repeat operation (3) with resistance 390 ohms, 820 ohms, 1.5K,
2.2K, 2.92K, 5.6K
5) Select the gate resistance 1.0K nad repeat operations (3) and (4)

OBSERVATION AND RESULTS:-

TABLE 1

[Link]. Value of R (Kilo- Load current in amp Theor. Value of

ohms) for GATE resistance firing
2.2K 1K angle(degree)
1. 0.1 1.04 1.06 3.5980
2. 0.39 0.96 1.05 13.979
3. 0.82 0.80 0.95 29.440
4. 1.5 0.65 0.75 53.960
5. 2.2 0.40 0.60 78.940
6. 3.9 0.10 0.25 139.60

TABLE 2

Value of 0.1 0.39 0.82 1.5 2.2 3.9

R ( kilo-
ohms)
Firing 0.063 0.244 0.513 0.942 1.378 2.436
angle
(radians)
Id.c. 1.20 1.19 1.15 1.01 0.80 0.30
current
in amp
(theor.)

24
 Graphical analysis:-

CONCLUSION:-

Hence, with the help of this experiment we could control d.c. power
using SCR.

25
EXPERIMENT 4:-
TITLE: SYNCHRO CHARACTERISTICS

OBJECTIVE: To study the characteristics of the synchro transmitter and

the synchro control transformer.

THEORY:-
Synchro or selsyn system is used in position control which causes
angular position of one shaft to follow that of another without any
mechanical linkage between them. They are used for instrumentation and
data transmission, and in many similar applications requiring speed
coordination between the parts of complex apparatus. Single selsyn is used
for small power handling, whereas for large power application a 3 phase
selsyn is used.
A single phase selsyn system shown in Fig.1. consists of one synchro
generator of transmitter electrically connected to the synchro motor or
receiver. Each motor has a single phase winding while the stator has 3
windings with axis 1200 apart and connected in delta or star. These windings
of the generator and motor have their corresponding terminals connected
together.

Fig.1

Since rotors r excited are excited by the ac mains,voltage will be induced in

the stator windings by transformer action . If the two rotors are in the same
26
space position relatve to their two windings ,the generator and motor stator
winding voltages are equal and hence no net current flow through the stator
windings. The motor totrque is thus zero and the receiver motor remains
[Link] the two rotor positions do not corresponds, the stator winding
voltges are unequal resulting in circulating currents through the stator
[Link] urrent will produce a magnetic field due to the receiver
rotor current thereby, developing a torque which will cause the receiver
rotor t rotate till it comes perfect alignment with the transmitter rotor. Thus
any movement of transmitter shaft will cause a corresponding movement in
receiver shaft.
In selsyn system,the torque to drive the output shaft is produced by
the discrepancy in the angular [Link] controlling the instant-by-instant
angular position of the output shaft,or in selsyn system with large load
coupled to the output shaft,large torque is to be developed which can only
possible when angular discrepancy is large i.e. for large torque, accuracy is
to be [Link] however, can be remedied by the proper modification
of the [Link] such conditinal purposes,selsyn system is connected in
such a way as to produce a voltage whose magnitude is a function of angular
[Link] a voltage is called ‘error voltage’ which is then fed into a
controller which corrects the discrepancy by the production of the required
[Link] selsyn thus merely acts as an erroe indicator as observed in Fig.2.

Fig.2

It consists of two inter-connected selsyns – one is called the synchro

transmitter and the other is called the synchro control [Link]
transmittter rotor is excited from a single phase source and voltages will be
induced in the transformer sttor windings which will send circulatory
currents through the windings of both stators. The flux distribution of the

27
control ytansformer will be exactly same as that of the [Link] effect
is thus same as if the two rotor windings are on the same magnetic
[Link], when the two rotor axes are parallel,the error voltage
developed at the control transformerrotor will be maximum and will be zero
when they are at right [Link] magnitude of the error voltage wil be a
cosine function of the angular discrepancy of the two rotor axes, and its
instaneous polarity will depend on the sign of the [Link] this
arrangement ,the input and output shafts are coupled to the corresponding
rotor in such a way that when two shafts correspond,there is an angular
discrepancy of 900 between the two rotor [Link] shafts will thus be
standstill keeping the output shaft fixed,if the input shaft is rotated by an
angle of +α will be resulted between the rotor axes, and the error
voltage,will be developed which will cause the output rotor to rotate till the
discrepancy of the rotor axes comes back to 900,that is,till the shaft position
correspond.
The output error voltage is actually an error-modulated signal because it is a
wave of frequency equal to that of the A-C mains whse amplitude is a
function of the angular error and whose instaneous polarity is determined by
the sign of the error as shown in Fig-3.

Fig.3

Fig-4 shows an arrangement made to control the angular position of the

output shaft employing synchro control [Link] input shaft is
connected to the transmitter rotor while the control transformer rotor is
mechnically coupled to the output shaft driven by the two phase control

28
motor. The error voltage from the Control Transformer amplified by an
amplifier and fed to the control field of th Control Motor-the other field
winding called “reference feild” is connected to the [Link] exciting the
transmitter [Link] the output shaft positon crresponds that of the
input,the error voltage and hence power input to the control winding are zero
and the motor does not [Link] an angular discrepancy exists,an error
voltage will appear at the amplifier [Link] polarity is such that the motor is
caused to turn in direction to correct the angular error.

Fig.4

When the selsyn system is to supply the armature of a d.c. control motor to
correct the angular dicrepancy,the outlet of the cotrol Transformer must be
rectified or [Link] rectification must be phase sensitive i.e. the
polarities of the output direct voltage must depend on whether the controlled
shaft leads or bags the desired position. Such phase-sensitive rectifier is
employed following the amplifier the error signal as shown in Fig-5.

Fig.5

29
PROCEDURE:-

The setup consists of a Synchro Generator whose rotor is excited by a

50V,50c/s supply obtained from the A.C. mains through a step-down
[Link] two motors are set in such a way that whe the transmitter
rotor is kept at 00 position on the panel,it is exactly at right angle to the axis
of the [Link],00 positin of the transmitter rotor corresponds to
an anguular discrepancy of +900.

RUN-1: The control transformer stator is discarded from those of the

synchro generator,keeping the rotor of the generator in the zero angular
position of the [Link] the stator voltages V1-2 , V2-3 and [Link] the
rotor position at 150,300,450,……….to complete one rotation and measure in
each position the stator voltages V1-2 , V2-3 and V3-1.

RUN-2: The control transformer statorterminals are connected with the

corresponding terminals of the transmitter [Link] error voltage is
measured across the rotor of the control transformer with the transmitter
rotor set at 00,150,300……….3600 positions.

Finally,
1. V1-2 , V2-3 and V3-1 are plotted against the rotor angular position
2. The curve of the error voltage versus the angular discripency of the two
rotor shafts is plotted.

OBSERVATION & RESULTS:-

Angular Stator Stator Stator Error

position Voltage(1-2) Voltage(2-3) voltage(3-1) voltage
(in degree) (in V) (in V) (in V) (in V)
0 18 4 -23 0
15 16 13 -25 0.2
30 9 18 -26 2.4
30
 45 0 23 -25 4.4
60 -4 26 -21 6.1
75 -11 27 -14 7.6
90 -18 26 -7 8.0
105 -23 24 0 7.4
120 -25 19 5 6.0
135 -26 13 12 4.2
150 -25 6 18 4.6
165 -22 0 22 0.8
180 -17 -6 25 0.2
195 -12 -12 26 1.4
210 -6 -17 25 1.3
225 0 -22 22 4.6
240 5 -24 18 6.4
255 11 -25 12 7.4
270 17 -25 6 7.8
285 21 -22 0 7.4
300 24 -18 -4 6.2
315 25 -13 -10 4.6
330 24 -8 -15 2.9
345 22 -4 -20 1.4
360 18 0 -23 0.2

Graphical analysis:-

31
32
CONCLUSION:-

Hence by observing table and rsulting graphs we are now familiarized

with the experiment , thereby have studied the characteristics of the synchro
transmitter and the synchro control transformer.

33
EXPERIMENT 5:-

TITLE: STUDY OF AMPLIDYNE

OBJECTIVE: To study the characteristics of amplidyne

THEORY: -

An amplidyne is a rotating amplifier. It is a prime-mover-driven d.c.

generator whose output power can be controlled by a small field power
input. An amplidyne is capable of giving a controlled power output in the
range of a few hundred to a few thousand watts with a power amplification
of the order 10,000 or more and hence finds wide application in feedback
control systems.

PRINCIPLE OF OPERATION:-

Fig: 1 shows a DC generator with a control field If and the resulting

control field φf .If the armature is rotated, a voltage will be induced in the
armature and conductors that will set up an armature reaction flux φq ( called
quadrature flux) at right angles to φf.

Fig. 1

In conventional generators, this armature reaction flux is suppressed, but in

amplidyne a magnetic path is provided to encourage it. Moreover, the
brushes are short circuited so that maximum amount of φq will induce
34
voltage ed in the armature conductors in a direction as show in fig: 2 and is
called the direct axis voltage. A second set of brushes (called direct axis
brushes) is used to connect this to the load. Since φq >> φf , therefore ed>>eq.

Fig. 2

When the output brushes are connected to the load, the resulting load current
Id will again raise to an armature reaction flux which obviously opposes the
original control field flux φf . The load current will thus be limited to a value
such that mmf of this armature reaction is equal to the mmf by the control
field current If. Thus the machine will act like a constant current generator-
the load current depending only on the field current and independent of the
speed and direction of rotation of armature which is also known as
Rosenberg Generator, used in train lightning.
In control system, such constant current feature is undesirable and the
armature reaction flux due to load current is compensated by the use of a
compensating winding as shown in Fig: 3. Such a machine is called
[Link] compensating winding is placed in series with the load and is
designed to produce a flux as nearly as possible equal and opposite to the
flux produced by direct axis armature current .The machine will thus give a
voltage that is only moderately affected by the load current.

35
 Fig. 3

CHARACHTERISTICS OF AMPLIDYNE:-

The amplidyne is essentially a two-stage generator and combines two

stages of amplidyne. The control field current causes a heavy current
through the short circulated brushes to produce a very high quadrature flux.
This flux acts as the effective input to the second stage giving amplified
output across the direct axis brushes.
The control field of an amplidyne has usually several sections so that
several signals can be superimposed on the direct axis magnetic circuit. The
magnetic effect of any one signal may be added to or subtracted from the
combined effect of other signals. A very common connection is to impress
on one control field a direct voltage whose magnitude is proportional to the
desired value of the quantity being controlled and is referred as reference
field. The other field connected so as to oppose the reference field has
impressed on it a voltage proportional to the actual value of the quantity
being controlled. When the desired and actual values are same, the
amplidyne output voltage is approximately proportional to the difference and
is of a polarity depending on the sign of the difference.
The plot of the output voltage e0 vs effective control field current
If is however not linear due to the magnetic hysteresis and the nonlinearity
caused by the brush contacts. When an amplidyne is employed in a feedback
control system, the dead band tends to reduce the loop gain and the accuracy
near zero fieldsi.e. when input output approach correspondence.

36
 Fig. 4

Amplidyne is used in a variety of industrial applications such as

in voltage regulator, current control selsyn system, speed control of paper
mills, positioning control in machine tool control systems, power factor
control of synchronous machines etc.

PROCEDURE:-

The armature is driven by a 3-phase motor. Two potentiometers R1

and R2 are for adjusting the two control field currents. 3 lamps of 100w,
200w and 200w are connected across the output as loads. The 115v, 50 Hz,
3-phase supply to the motor is supplied from 400V, 3-phase supply through
a step-down 3-phase transformer.

37
 Fig. 5

RUN 1: NO LOAD CHARACHTERISTICS:-

 Switches S1, S2, S3 and S5 are kept OFF and S4 in ON position. The
battery (30 volt) is connected. R1 and R2 both are varied so that both
I1 and I2need 2mA. V0 is measured.
 Keeping I1 constant at 2mA, I2 is increased in steps of 1 mA by
decreasing R2 and V0 is measured in each step till V0 reaches 150V
(but not exceeding 250 V). I2 is then reduced in steps of 1 mA till it
comes down to 2mA. The output voltage V0 is recorded in each step.
 Keeping I2 constant at 2mA, I1 is increased in steps of 2 mA and V0 is
measured in each step till it reaches 150V. I2 is then reduced in steps
of 1 mA to reach 2mA. The output voltage V0 is again recorded in
each step.

RUN 2: CHARACHTERISTICS WITH FULL LOAD (500W/250W):-

 S1, S2, S3 and S4 are switched ON leaving S5 OFF.

 Last two steps of RUN 1 are repeated and then load current IL is
measured in each step.

38
RUN 3: CHARACHTERISTICS WITHOUT COMPOUNDING
WINDING:-

 S1, S2, S3, S4 and S5 are switched ON.

 R1 and R2 are adjusted so that both I1 and I2 are 2mA.
 Last two steps of RUN 1 are repeated and then load current IL is
measured in each step.

RUN 5: TO FIND OUT POWER GAIN:-

The power gain of an amplidyne is defined as the ratio of the power

output to the power input to any single control field with other field de-
energised.
 S4 is switched OFF to disconnect the control field F3-F4.
 S1, S2and S3 are switched ON leaving S5 in OFF position. R1 is
adjusted so that I1 is 2mA.
 A voltmeter is connected across F1 and F2.
 [Link] and voltage V1 are measured across F1 and F2.

Finally, the curves of V0 vs I1-I2 are plotted for RUN 1, 2 and [Link]
amplification of the amplidyne in output voltage per effective field current at
no load and full load conditions are calculated when If = I1 – I2 = + 2mA. The
power gain is calculated which is given by [Link]/V1.I1.

39
OBSERVATION & RESULTS:-

No Load characteristic (keeping I2=2mA)

TABLE 1(A)

I1(mA) I1-I2 (mA) Voltage (in V)

2 0 -4.3
3 1 -7.4
4 2 -19.6
5 3 -28.2
6 4 -41.3
7 5 -51.5
8 6 -62.7
9 7 -74.5
10 8 -83.7
11 9 -91.4
12 10 -104.2
13 11 -111.8
14 12 -120.2
15 13 -133.9
16 14 -136.4
17 15 -142.3
18 16 -146.4
19 17 -150.6

40
TABLE 1(B)

I1(mA) I1-I2 (mA) Voltage(in V)

20 18 -146.2
19 17 -140.9
18 16 -138.2
17 15 -132.3
16 14 -125.6
15 13 -123.7
14 12 -115.9
13 11 -108.0
12 10 -100.0
11 9 -94.4
10 8 -89.8
9 7 -82.0
8 6 -72.0
7 5 -62.3
6 4 -50.2
5 3 -38.8
4 2 -26.5
3 1 -15.1
2 0 -6.5

41
No Load characteristic (keeping I1=2mA)

TABLE 2(A)

I2(mA) I2-I1(mA) Voltage (in V)

2 0 -6.1
3 1 1.6
4 2 7.3
5 3 18.6
6 4 31.2
7 5 42.0
8 6 58.9
9 7 67.8
10 8 78.6
11 9 79.4
12 10 93.9
13 11 102.0
14 12 108.5
15 13 116.8
16 14 125.2
17 15 131.3
18 16 133.9
19 17 138.5
20 18 143.4
21 19 146.9
22 20 147.3
23 21 156.2

42
TABLE 2(B)

I2(mA) I2-I1(mA) Voltage (in V)

23 21 157.1
22 20 149.0
21 19 147.2
20 18 145.7
19 17 141.9
18 16 137.6
17 15 134.1
16 14 128.6
15 13 120.9
14 12 112.3
13 11 107.5
12 10 97.2
11 9 92.2
10 8 83.0
9 7 73.2
8 6 61.6
7 5 50.4
6 4 34.4
5 3 28.9
4 2 19.1
3 1 7.6
2 0 0.2

43
Full load characteristics (with compounding winding- keeping I2=2mA)

TABLE 3(A)

I2(mA) I2-I1(mA) Current (in A) Voltage(in V)

2 0 -0.01 -0.1
3 1 -0.06 -0.3
4 2 -0.57 -7.4
5 3 -0.80 -18.4
6 4 -0.9 -29.7
7 5 -1.15 -40.2
8 6 -1.28 -48.5
9 7 -1.48 -62.9
10 8 -1.57 -70.4
11 9 -1.7 -81.6
12 10 -1.74 -85.4
13 11 -1.84 -94.4
14 12 -1.9 -100.4
15 13 -1.93 -102.6

44
TABLE 3(B)

I2(mA) I2-I1(mA) Current (in A) Voltage(in V)

14 12 -1.89 -98.6
13 11 -1.83 -93.3
12 10 -1.81 -91.1
11 9 -1.755 -82.3
10 8 -1.662 -77.5
9 7 -1.543 -60.2
8 6 -1.403 -56..4
7 5 -1.315 -49.8
6 4 -1.169 -39.0
5 3 -0.96 -27.8
4 2 -0.80 -19.1
3 1 -0.576 -9.1
2 0 -0.330 -3.2

45
Full load characteristics (with compounding winding - keeping I1=2mA)

TABLE 4(A)

I1(mA) I1-I2(mA) Current(in A) Voltage(in V)

2 0 0.33 2.6
3 1 0.19 1.3
4 2 0.33 2.4
5 3 0.66 11.1
6 4 0.83 20.4
7 5 1.02 31.2
8 6 1.183 41.4
9 7 1.305 50.2
10 8 1.427 58.9
11 9 1.572 70.2
12 10 1.65 77.2
13 11 1.70 81.4
14 12 1.784 88.2
15 13 1.830 92.7

46
TABLE 4(B)

I2(mA) I2-I1(mA) Current(in A) Voltage(in V)

14 12 1.768 87.1
13 11 1.722 82.2
12 10 1.678 78.5
11 9 1.558 68.9
10 8 1.505 64.4
9 7 1.412 57.3
8 6 1.281 47.7
7 5 1.182 40.4
6 4 1.026 31.5
5 3 0.871 22.5
4 2 0.724 14.5
3 1 0.440 5.1
2 0 0.039 0.1

47
Full load characteristics (without compounding winding-keeping
I2=2mA)

TABLE 5(A)

I1(mA) I1-I2(mA) Current(in A) Voltage(in V)

2 0 -0.042 -0.2
3 1 -0.054 -0.3
4 2 -0.091 -0.5
5 3 -0.129 -0.7
6 4 -0.171 -1
7 5 -0.209 -1.3
8 6 -0.256 -1.6
9 7 -0.294 -1.9
10 8 -0.334 -2.3
11 9 -0.377 -2.8
12 10 -0.386 -3.1
13 11 -0.453 -4.2
14 12 -0.489 -4.9
15 13 -0.546 -6.7
16 14 -0.544 -6.8
17 15 -0.604 -8.5
18 16 -0.598 -9.2
19 17 -0.634 -10.1
20 18 -0.678 -12.4

48
TABLE 5(B)

I1(mA) I1-I2(mA) Current(in A) Voltage(in V)

20 18 -0.696 -13.3
19 17 -0.668 -11.7
18 16 -0.589 -8.8
17 15 -0.583 -8.3
16 14 -0.542 -7.1
15 13 -0.495 -5.6
14 12 -0.466 -4.9
13 11 -0.433 -4.2
12 10 -0.388 -3.4
11 9 -0.355 -2.9
10 8 -0.338 -2.6
9 7 -0.279 -2.0
8 6 -0.250 -1.7
7 5 -0.217 -1.4
6 4 -0.195 -1.3
5 3 -0.138 -1.0
4 2 -0.119 -0.8
3 1 -0.084 -0.5
2 0 -0.046 -0.4

49
Full load characteristics (without compounding winding-keeping
I1=2mA)

TABLE 6(A)

I2(mA) I2-I1(mA) Current(in A) Voltage(in V)

2 0 -0.046 -0.4
3 1 -0.036 -0.3
4 2 0.005 0
5 3 0.040 0.3
6 4 0.073 0.7
7 5 0.101 0.7
8 6 0.129 0.8
9 7 0.174 1.1
10 8 0.228 1.5
11 9 0.292 2
12 10 0.316 2.3
13 11 0.335 2.6
14 12 0.382 3.1
15 13 0.424 3.6
16 14 0.453 4.3
17 15 0.464 4.3
18 16 0.502 5.5
19 17 0.546 6.8
20 18 0.557 7.1

50
TABLE 6(B)

I2(mA) I2-I1(mA) Current(in A) Voltage(in V)

20 18 0.556 7.2
19 17 0.542 6.7
18 16 0.499 5.4
17 15 0.460 4.7
16 14 0.429 4.0
15 13 0.407 3.4
14 12 0.377 2.9
13 11 0.340 2.5
12 10 0.298 2.1
11 9 0.275 1.9
10 8 0.236 1.5
9 7 0.205 1.3
8 6 0.148 0.9
7 5 0.113 0.6
6 4 0.077 0.4
5 3 0.052 0.3
4 2 0.026 0.1
3 1 -0.005 0
2 0 -0.038 -0.3

CALCULATIONS:-
TABLE 7

I1(mA) IL (in A) Vo (in V) V1(inV)

5 1.497 64.2 7.6

Therefore, Power Gain= (V0IL)/(V1I1) = 2529.142

51
Graphical analysis:-

52
CONCLUSION:-

Hence from all the graph and calculations we have finally obtained
the power gain of amplidyne and thereby studied the characteristics of it.

53
EXPERIMENT 6:-
TITLE: TEMPERATURE CONTROL SYSTEM

OBJECTIVE: To study the performance of various types of controllers

used to control the temperature of an oven

THEORY:-

SYSTEM DESCRIPTION:-
At present days Temperature Control is one of the most common
control system. The plant to be controlled is a specially designed oven
having a short heating and cooling time. Temperature time data may be
obtained manually, thus avoiding expensive equipment .A solid temperature
sensor converts the absolute temperature information to a proportional
electric signal. The reference and actual temperature are indicated in degree
Celsius on a switch selectable digital display.
The Block diagram of Fig1 describes the complete system-

Fig1: BLOCK DIAGRAM

BLOCK DIAGRAM DESCRIPTION:-

The controller unit compares the reference and the measured signals
to generate the error. Controller options available to the user consist of ON-
OFF or relay with two hysteresis settings and combination of proportional,
integral, derivative blocks having independent coefficient settings.

54
 The plant (Oven): The plant is an electric oven, the temperature of
which must adjust itself in accordance with the reference or
command. This system involves transfer of heat from one section to
[Link] our case heat are transferred from heater coil to the oven
and the leakage of heat from the oven to the atmosphere. Such
system may be conveniently analysed in terms of thermal resistance
and capacitance. But the analysis is not very accurate, since the
transfer of heat essentially analysed in terms of thermal resistance
and capacitance.
There are three modes of heat transfer:-
1) Conduction
2) Convection
3) Radiation
Heat transfer through radiation may be neglected in the present case
since the temperature involved are quite small.
For conductive and convective heat transfer-

E=α∆T,

where E=rate of heat flow in Joule/sec

∆T=temperature difference in ºc
α = constant

Under assumption of linearity, the thermal resistance R=∆T/E=1/ α, which is

analogues to electrical resistance I=V/R. In a similar manner thermal
capacitance of the mass is defined by-

E=Cd(∆T)/dt

Above equation is analogues to electrical capacitance I=Cdv/dt, where

C=Rate of heat flow. Combining above two equations-

E=CdT/dt+(1/R)*T

With the initial condition T(t=0)=Tamb. Now ,taking Laplace Transform with
Zero initial condition-

T(s)/E(s)=R/(1+sCR)

55
  CONTROLLER:-
Basic control action commonly used in temperature control systems
are-

a) ON-OFF or Relay
b) Proportional
c) Proportional and Integral
d) Proportional - Integral –Derivative

a) ON-OFF or Relay Controller: Also referred to as Two Position

Controllers, consist of a simple and inexpensive switch /relay and are used
very commonly in industrial and domestic control systems. The basic input-
output behavior of this controller is shown in fig 2-

Fig 2: ON-OFF CONTROLLER

The hysteresis is necessary, for it enables the controller output to remain at

its present value till the input or error has increased a little beyond zero. It
also helps in avoiding too frequent switching of the controller, although
large value results in greater errors.

b) Proportional Controller: Now we are in a condition to discuss

proportional controllers, as the name suggests in a proportional controller the
output (also called the actuating signal) is directly proportional to the error
signal. Now let us analyze proportional controller mathematically. As we
know in proportional controller output is directly proportional to error
signal, writing this mathematically we have,
A(t) α e(t)

Removing the sign of proportionality we have,

A(t)=Kp . e(t)

56
Where, Kp is proportional constant also known as controller gain. It is
recommended that Kp should be kept greater than unity. If the value of K p is
greater than unity, then it will amplify the error signal and thus the amplified
error signal can be detected easily. This controller is shown in fig 3.

Fig 3: RESPONSE OF ON-OFF CONTROLLER

c) Proportional and Integral Controller: The output (also called the actuating
signal) is equal to the summation of proportional and integral of the error
signal. Now let us analyze proportional and integral controller
mathematically. As we know in a proportional and integral controller output
is directly proportional to the summation of proportional of error and
integration of the error signal, writing this mathematically we have,
t

A(t) α ∫ e(t ) dt + A(t) α e(t)

0

Removing the sign of proportionality we have,

t

A(t) = Ki ∫ e(t ) dt + Kp e(t)

0

Where, Ki and Kp proportional constant and integral constants.

57
 Fig 4: P-I CONTROLLER

d) Proportional - Integral –Derivative Controller: Block diagrams of the

controllers are depicted in figs 5 and 6.

Fig 5: BLOCK DIAGRAM OF PID CONTROLLER

Fig 6: SYSTEM WITH PID CONTROLLER

The output of a PID controller, equal to the control input to the plant, in the
time-domain is as follows:
u(t)= Kp e(t) + Ki ∫ e(t ) dt + Kd de/dt

58
First, let's take a look at how the PID controller works in a closed-loop
system using the schematic shown above. The variable (e) represents the
tracking error, the difference between the desired input value (r) and the
actual output (y). This error signal (e) will be sent to the PID controller, and
the controller computes both the derivative and the integral of this error
signal. The control signal (u) to the plant is equal to the proportional gain
(Kp) times the magnitude of the error plus the integral gain (K i) times the
integral of the error plus the derivative gain (K d) times the derivative of the
[Link] control signal (u) is sent to the plant, and the new output (y) is
obtained. The new output (y) is then fed back and compared to the reference
to find the new error signal (e). The controller takes this new error signal and
computes its derivative and its integral again, ad infinitum.
The transfer function of a PID controller (as shown in fig 4) is found by
taking the Laplace transform-
u(t)= Kp + Ki/s + Kd s = (Kp s + Ki+ Kd s2)/s

TEMPERATURE MEASUREMENT:-
The oven temperature can be sensed by a variety of transducers like
thermistor, RTD, thermocouple and semiconductor sensors. In the present
setup, the maximum oven temperature is around 90ºC which is well within
the operating range of a semiconductor temperature sensor like AD590.
Further, these sensors are linear and have a good sensitivity,viz.1µa/ºK.

PROCEDURE:-

Identification of oven parameters:-

OPEN LOOP STUDY:-

Run 1:-

1) Set P-amplifier (Kp)to its maximum gain of 10

2) Make sure feedback is not connected.
3) Keep switch S1 to wait S2 to set.
4)Set reference potentiometer corresponding to 5º[Link],the input to the
proportional amplifier is 50 mV and its output is 0.5V.
5) Connect P output to the actuator input.
6) Put switch S2 to the ‘MEASURE ’position and note down the room
temperature.

59
7) Put switch S1 to the ‘RUN’ position and note temperature reading every
15 sec till the temperature becomes almost constant.

CLOSED LOOP STUDY:-

Run 2:-

ON-OFF CONTROLLER:-

1) Short feedback terminals

2) Put switch S1 to ‘WAIT’ position and allow oven to cool to room
temperature.
3) Repeat step 3 of Run 1.
4) Set reference input at 55ºC.
5) connect R output to the controller input. Keep Hysteresis switch to ‘LO’
outputs of ‘P.D’and I must be disconnected.
6) Repeat step 6 and 7 of Run 1.

Run 3:-

PROPORTIONAL CONTROLLER:-

Kp =(1/K).(T1/T2 )

1) Put switch S1 to ‘WAIT’ position and allow oven to cool to room

temperature. Connect P output to the actuation input .keeping all others
open.
2) Calculate P-setting keeping in mind maximum gain is 10.
3) Set P potentiometer to the calculated value
Psetting=(Kp/(Kp max))*100 where Kp max=10*10 mV/ºc.
4) Repeat step 4 of Run2.
5) Repeat steps 6 and 7 of Run1.

PROPORTIONAL INTEGRAL CONTROLLER:-

According to Ziegler-Nichols-

60
Kp=(0.9/K).(T1/T2 ).T1=1/K1=3.3T2 giving K1=1/3.3T2

1) Repeat step 1 of Run3.

2) Calculate P and I settings.
3) Isetting=(Ki/(Ki max))*100 where Ki max=1/41sec
4) Set P and Ipotentiometers to the calculated value
5) Repeat step6 of Run2.

PROPORTIONAL -INTEGRAL – DERIVATIVE-CONTROLLER:-

According to Ziegler-Nichols-

Kp=(1.2/K).(T1/T2 ).T1=1/K1=2T2 giving K1=1/2T2 and Kd=Td=0.5T2

1) Repeat step 1 of Run3.

2) Calculate P and I and Dsettings.
3) Dsetting=(Kd/(K d max))*100 where K dmax=19.97
4) Set P,D and I potentiometers to the calculated value
5) Repeat step 5 and 6 of Run2

OBSERVATIONS:-

1) Open loop study:-

Table 1:-

61
Room Temperature (25.5 ºC)

Sl Time in Sec Temperature

no. in ºC

1. 0 25.5
2. 15 25.9
3. 30 27.3
4. 45 28.6
5. 60 30.3
6. 75 32.3
7. 90 34
8. 105 34.9
9. 120 35.9
10. 135 37.1
11. 150 38.5
12. 165 39.9
13. 180 41.2
14. 195 42.9
15. 210 44.7
16. 225 46.6
17. 240 48.3
18. 255 49.8
19. 270 50.5
20. 285 51.8
21. 300 52.9
22. 315 54.3
23. 330 54.8
24. 345 55.6
25. 360 56.7
26. 375 57.4
27. 390 57.9
28. 405 58
29. 420 58.5
30. 435 58.9
31. 450 59.1

62
 32. 465 59.6
33. 480 59.9
34. 495 60
35. 510 60.5
36. 525 60.7
37. 540 61.6
38. 555 61.8
39. 570 61.9

2) P Controller:-

Psetting temp=45.4

K=61/0.5=122

Psetting =(Kp/Kpmax)*100

Kp=(1/K)*(T1/T2)
=(1/122)*(240/25)
=0.078
~78%

Table 2:-
Room Temperature=26.5ºC

63
 [Link]. Time in Temperature
Sec in ºc
1. 0 26.5
2. 15 26.6
3. 30 27.4
4. 45 28.7
5. 60 32.2
6. 75 33.7
7. 90 35.6
8. 105 37.9
9. 120 39.6
10. 135 41.4
11. 150 41.6
3) PI 12. 165 40.7 Controller:-
13. 180 40.7
Kp= 0.9*0.78 14. 195 40.8
=0.702 15. 210 40.9
~ 70.2% 16. 225 40.9
17. 240 40.9
Isetting=Ki/ 18. 255 26.6 Kimax=1/3.3
19. 270 26.6 T2=(1/(3.3*25))*41
20. 285 27.4 =0.49
21. 300 28.7 ~50%
22. 315 30.4
23. 330 32.5
Table 3:- 24. 345 33.9
25. 360 35.6
26. 375 37.4
27. 390 38.7
28. 405 40.2
29. 420 41.2
30. 435 42.3
31. 450 43.6
32. 465 44.3
33. 480 44.5
34. 495 44.4
35. 510 44.2 64
Room Temperature=26.5ºC

[Link] Time in Temperature

. secs in ºC
1. 0 26.5
2. 15 26.6
3. 30 27.4
4. 45 28.8
5. 60 30.4
6. 75 32.5
7. 90 33.9
8. 105 35.6
9. 120 37.4
10. 135 38.7
11. 150 40.2
12. 165 41.2
13. 180 42.2
14. 195 43.1
15. 210 43.6
16. 225 44.1
17. 240 44.3
18. 255 44.4
19. 270 44.3
20. 285 44.2
21. 300 44.1
22. 315 44.0
23. 330 44.0
24. 345 44.0
25. 360 44.0
26. 375 44.0
27. 390 44.1
28. 405 44.2
29. 420 44.3
30. 435 44.4
31. 450 44.4
32. 465 44.4

65
 4) PID Controller:-

Kp=(1.2/K)*(T1/T2)

= 1.2*1229*9.6
=0.936

Kd =0.5*T2
=12.5

Kdmax=19.97(given)

Dsetting=(kd/kdmax)*100
=(12.5/19.97)*100
~ 62.59

Table 4:-
Room Temperature=25.3ºC

[Link] Time in secs Temperature in ºC

.
1. 0 25.3
2. 15 25.5
3. 30 26.4
4. 45 27.8
5. 60 29.6
6. 75 31.5
7. 90 33.4
8. 105 35.3
9. 120 36.9
10. 135 38.6
11. 150 40.0
12. 165 41.1
13. 180 42.7
14. 195 43.7
15. 210 44.6

66
 16. 225 45.4
17. 240 46.1
18. 255 46.7
19. 270 47.1
20. 285 47.4
21. 300 47.6
22. 315 47.6
23. 330 47.5
24. 345 47.4
25. 360 47.3
26. 375 47.2
27. 390 47.1
28. 405 47.1
29. 420 47.1
30. 435 47.1

5) RELAY HYSTERESIS LOW:-

Room Temperature=25.6ºC

Table 5:-

Sl Time in secs Temperature in ºC

no.
1. 0 25.6
2. 15 26.8
3. 30 26.9
4. 45 28.6
5. 60 30.8
6. 75 33.8
7. 90 36.3
8. 105 37.6
9. 120 39.8
10. 135 41.7
11. 150 43.7
12. 165 45.4
13. 180 47.0
14. 195 48.1
15. 210 48.3

67
16. 225 47.8
17. 240 47.0
18. 255 46.0
19. 270 45.3
20. 285 45.5
21. 300 46.2
22. 315 47.3
23. 330 47.8
24. 345 47.6
25. 360 47.1
26. 375 46.2
27. 390 45.5
28. 405 45.6
29. 420 46.3
30. 435 47.4
31. 450 47.8
32. 465 47.7
33. 480 47.0
34. 495 46.2
35. 510 45.5
36. 525 45.6
37. 540 46.5
38. 555 47.6
39. 570 47.9
40. 585 47.7
41. 600 47.1
42. 615 46.3
43. 630 45.6
44. 645 45.7
45. 660 46.5
46. 690 47.5
47. 705 47.9
48. 720 47.7
49. 735 46.2
50. 750 45.6
51. 765 45.7
52. 780 46.1
53. 795 47.6
54. 810 47.9
68
 55. 825 47.7
56. 840 47.0
57. 855 46.2
58. 870 45.6

6) RELAY HYSTERESIS HIGH:-

Room Temperature=25.5ºC

Table 6:-

[Link]. Time in secs Temperature in

ºC
1. 0 25.5
2. 15 25.6
3. 30 26.6
4. 45 28.5
5. 60 30.6
6. 75 32.9
7. 90 35.1
8. 105 37.4
9. 120 39.6
10. 135 41.6
11. 150 43.5
12. 165 45.3
13. 180 46.9
14. 195 48.4
15. 210 49.9
16. 225 51.3

69
17. 240 52.5
18. 255 53.6
19. 270 54.7
20. 285 55.7
21. 300 56.6
22. 315 56.7
23. 330 56.0
24. 345 54.8
25. 360 53.6
26. 375 52.2
27. 390 50.8
28. 405 50.9
29. 420 48.1
30. 435 49.6
31. 450 51.3
32. 465 52.6
33. 480 54.0
34. 495 55.2
35. 510 56.3
36. 525 56.9
37. 540 56.7
38. 555 55.8
39. 570 54.7
40. 585 53.4
41. 600 52.0
42. 615 50.6
43. 630 49.3
44. 645 48.0
45. 660 46.9
46. 690 45.8
47. 705 44.8
48. 720 43.9
49. 735 43.0
50. 750 42.2
51. 765 41.4
52. 780 40.7
53. 795 40.0
54. 810 39.4
55. 825 38.8
70
 56. 840 38.3
57. 855 38.0
58. 870 38.7
59. 885 40.1
60. 900 45.5
61. 915 47.3
62. 930 49.1
63. 945 42.1
64. 960 53.5

Graphical analysis-

71
72
73
CONCLUSION:-
Hence, with the help of this experiment we could study the performance of
various types of controllers used to control the temperature of an oven

74