1.

TRANSFER FUNCTION OF DC GENERATOR

EX.NO : DATE:

AIM:
To determine the transfer function of a given separately excited D.C. generator.

NAME PLATE DETAILS:

HP :
Current :
Speed :
Voltage :
Amps :
Type :
Excitation :

Volts :
Amps :

EQUIPMENT REQUIRED:
S.NO. EQUIPMENT TYPE RANGE QTY
1 DPSTS
2 DPDTS
3 Rheostat
4 Rheostat
5 Ammeter
6 Ammeter
7 Voltmeter
8 Voltmeter

THEORY:
The transfer function of a D.C. generator is the ratio of the Laplace transform of the
output variable of the generator to the Laplace transform of the input variable of the
generator. The input variable is the field voltage and the output variable is the armature
current.
The field winding of the generator is disconnected from the machine and connected to an
external source of direct current. Due to Residual magnetism, in the poles some em.f. is
generated even when field current is zero.
The transfer function of separately excited D.C. Generator is as follows.
For the field current, the loop equation is:
Ef (t) = IfRf +Lf *dIf /dt ----------------------(1)
Taking Laplace transform on both sides, we get
Ef (s) = If(s) (Rf + sLf) ---------------------(2)
Also Eg(s) = Kg If(s) ---------------------(3)
Where Kg is generator constant

1
Department of EEE / Sathyabama University Controls Lab
Department of EEE / Sathyabama University Controls Lab
Substituting (2) and (3) in (1), we get
Ef(s) = [(Rf+sLf)/Kg] * Eg(s)
Therefore Ef (s)/Eg(s) = (Rf+sLf)/kg
Eg(s)/Ef(s) = Kg/{Rf [1+s(Lf/Rf)]}=K/1+s
Where K = Kg/Rfac and = Lf/ Rfac
Hence the Transfer function of Separately Excited D.C. Generator = K/1+s.

PRECAUTIONS:
1. The variac is kept at zero voltage position initially
2. All the meters and fuses are selected with suitable range
3. The initial position of rheostats is checked before giving supply.

1. DETERMINATION OF Kg :
Circuit Diagram: Refer fig. (1-a)
PROCEDURE:
1. The connections are made as shown in fig.(1-a)
2. The DPST switch is closed.
3. The motor is started by moving the starter handle from OFF to ON position smoothly.
4. The motor is brought to the rated speed by adjusting the motor field rheostat R fm. The
motor drives the generator at rated speed.
5. The field current Ifg and the induced emf Eg are noted.
6. By adjusting Rfg, the field current Ifg is increased in convenient step upto the rated field
current.
7. In each step the readings of Eg and Ifg are noted. Throughout the experiment the speed is
maintained constant.
8. A plot of Eg versus Ifg is drawn by taking Ifg on X-axis and Eg on Y-axis
9. A tangent to the linear portion of the curve is drawn through the origin. The slope of this
line, Eg / Ifg gives Kg.
10. The value of Vf / If gives Rf.

2. DETERMINATION OF Rf :

PROCEDURE:
1. The connections are made as shown in fig.(1-a)
2. The rheostat should be kept in maximum resistance position.
3. The DPST switch is closed.
4. The readings of ammeter (If), voltmeter (Vf) are noted.
5. The field resistance (Rf) is calculated as shown in model calculation.

3. DETERMINATION OF Lf :

PROCEDURE:
1. The connections are made as shown in fig.(1-b)
2. The DPST switch is closed.
3. The variac is adjusted upto the rated voltage.
4. The readings of ammeter (If), voltmeter (Vf) are noted.
5. The field impedance (Zf) is calculated as Zf = Vf / If.
Department of EEE / Sathyabama University Controls Lab
Department of EEE / Sathyabama University Controls Lab

TABULATIONS:
(1.a) DETERMINATION OF Kg & Rf :
S.NO Ifg Vf Eg Rf (d.c) = Vf/Ifg Rac=1.6* Rf(dc)
(amps) (Volts) (Volts) (ohms) (ohms)

1.b) DETERMINATION OF If :

S.No. If Vf Zf =Vf/If Lf
(Amps) (Volts) (ohms) (Henry)
Department of EEE / Sathyabama University Controls Lab

MODEL CALCULATION:
A graph of Eg versus Ifg is drawn:

The slope is obtained from the graph by the formula

Kg =Eg/ Ifg
Rf(d.c) =Vf/If
Lf = (Zf2-Rfa.c.2)1/2 / 2 f
Transfer function G(s) = Ia(s) / Vf(s)
G(s) = (K g/L) / {S + (Rf/Lf)

RESULT:
1. Thus the parameters of the self-excited D.C. generator were calculated.

2. The transfer function = --------------

Department of EEE / Sathyabama University Controls Lab

2. TRANSFER FUNCTION OF ARMATURE CONTROLLED D.C. MOTOR

EX.NO : DATE:

AIM:
To determine the transfer function for given d.c. motor when operating under armature
control method.
NAME PLATE DETAILS:
HP :
Current :
Speed :
Voltage :
Amps :
Type :
Excitation :
Volts :
Amps :

EQUIPMENT REQUIRED:
S.NO. EQUIPMENT TYPE RANGE QTY
1 DPSTS
2 DPDTS
3 Rheostat
4 Rheostat
5 Ammeter
6 Ammeter
7 Voltmeter
8 Voltmeter

THEORY:
The transfer function of a D.C. motor is given as

Laplace transform of output variable of the motor

G(s) =--------------------------------------------------------------------
Laplace transform of input variable of the motor

In armature control, the field current is kept constant and the armature voltage is varied
and hence the speed is varied.

The field current If (t) is maintained constant by keeping the voltage Vf (t) to a constant
value Vf and the armature current Ia(t) is varied to change the torque Tm(t) of the load
connected to the motor shaft. Thus the input variable of the motor is the armature voltage
Va(t) and the output variable is the torque T m(t). The speed of a dc motor is directly
proportional to the armature voltage and inversely proportional to the flux in the armature.
In the armature controlled dc motor, the desired speed is obtained by varying the armature
voltage
Department of EEE / Sathyabama University Controls Lab

Transfer Function:

By Kirchoffs voltage Law, Va = Ia*Ra + La* dIa / dt + Eb ----- (1)

Torque is proportional to the product of flux and current. Since flux is constant, Torque is
proportional to Ia alone.

T = Kt * Ia ----- (2)

The differential equation governing the Mechanical system of a motor is

T = J * d2 / dt2 + B * d /dt ----- (3)

Back E.M.F. is proportional to speed of shaft:

Eb = Kb * d / dt ----- (4)

Taking Laplace Transform for the above equations;

Va(s) = Ia(s) * I aRa + La sIa(s) + Eb(s) ----- (5)

T(s) = KtIa(s)- ----- (6)

T(s) = Js2 (s) + Bs (s) ----- (7)

Eb(s) = Kbs (s) ----- (8)

Equating Eqns. (6) & (7);

Ia(s) = [(Js2+Bs) / Kt](s)

Substituting Eb(s) and Ia(s) in (5);

[(Ra +sLa)* (Js2+Bs)/Kt](s) + Kbs(s) = Va(s)

[(Ra +sLa) * (Js2 + Bs) + Kb * Kt * s) (s) = Va(s)

Therefore the required Transfer Function for an armature controlled dc motor:

(s) / Va(s) = Kt / [(Ra + sLa) (Js2 + Bs) + (Kb * Kt * s)]

The Moment of Inertia J and the Viscous Friction Co-efficient B are calculated by using the
following procedure.

PRECAUTIONS:
1. The single phase variac is kept at zero output voltage position initially.
2. Before giving supply the minimum and maximum positions of all the rheostats are
checked in all the circuits.
3. Initially there should not be any load on the motor.
4. All the meters, rheostats and fuses are selected with suitable range.
Department of EEE / Sathyabama University Controls Lab
Department of EEE / Sathyabama University Controls Lab

PROCEDURE:
I.DETERMINATION OF MOMENT OF INERTIA(J) & VISCOUS FRICTION
COEFFICIENT (B)

RETARDATION TEST :
1. WITHOUT BRAKING (without load resistance):
1. The circuit connections are given as shown in fig (2-a)
2. The field rheostat is kept at minimum resistance position and the armature rheostat is kept at
maximum resistance position.
3. DC supply is given by closing the DPST switch S1. The DPDT switch is closed in
position 1-1. The motor starts rotating slowly.
4. Armature rheostat is reduced to minimum resistance position then, the field rheostat is ad
adjusted till the motor rotates at least 150 rpm above its rated value.
5. Now the DPDT switch is opened (with the field remaining energized) using the stop watch
measure the time taken (t1) for the motor speed reduced from its rated value N1 to the speed
500 rpm below its rated value. (N2)

2. WITH BRAKING (with load resistance):

1. Now the initial speed of the motor is brought to a value of 150 rpm above the
rated speed.
2. The DPDT switch is thrown to position 3-3.
3. Now the speed decreases. When the speed reaches N1, the stopwatch is started.
When the speed drops to N2, the stopwatch is stopped and the time taken is
noted(t2).
4. Also the two sets of voltmeter and ammeter readings corresponding to N1 & N2 are
noted. Reading V1 and I1 corresponds to speed N1 while readings V1 & I2
corresponds to speed N2

The average power delivered to the load is

Pelec = 0.5 (V1 I1 + I12Ra + V2I2 + I22 Ra) Watts
The moment of inertia J is given by,

J= Pelec 602 (Kg-m2)

2 (N1 - N 22) (1/t 2 -1/t 1)
2 2

Stray losses at rated speed

Pstray = {2 2(N 12 - N 22) J / t 1 } / 602 watts.
The coefficient of viscous friction B = Pstray * 602 / ( 2 (N1+ N2)2 ) (Nm/rad/sec)

II DETERMINATION OF TORQUE CONSTANT Kta :

1. The connections are made as shown in fig (2-b).
2. The armature rheostat is kept at maximum position and the field rheostat is kept at minimum
position.
3. The supply is given by closing the DPST switch.
4. The field rheostat is adjusted, so that there is some field current If1 in ammeter.
5. The armature rheostat is adjusted to some value of Ia .Now the motor rotates slowly.
6. The loading on the brake drum is increased such that the motor just fails to rotate.
7. The value of the field current is maintained constant. Under this condition the readings of
ammeter Ia and the spring balance readings are noted and the torque developed by the motor
are calculated.
Department of EEE / Sathyabama University Controls Lab

TABULATION: 1. DETERMINATION OF J & B:

A. (WITHOUT BRAKING)

SI.NO Nr N N1 = Nr + N N2 = Nr N t1
(SEC) B.

(WITH BRAKING)

SI.NO Nr N1 N2 V1 V2 I2 I1 t2

(VOLTS) (VOLTS) (AMPS) (AMPS) (SEC)

Department of EEE / Sathyabama University Controls Lab

8. The procedure is repeated for different values of armature current. In each case with the field
current Ia constant, the spring balance readings S1 and S2 are noted and the torque is calculated.
9. A graph of Tm versus Ia is drawn. A straight-line approximation of the graph, passing through
origin is drawn. The slope of this line Tm/Ia gives value of Kta .

III. DETERMINATION OF Kb :

PROCEDURE:
1. The connections are made as shown in fig(2-e)
2. The armature rheostat is kept at maximum position and field rheostat is kept at minimum
resistance position.
3. Supply is given by closing the DPST switch.
4. The field rheostat is adjusted to some value of field current If.
5. The armature rheostat is varied in steps upto the rated value of armature voltage. In each
step, the field current If is maintain constant.
6 .The readings of armature current (Ia), voltage (V) and speed (N) are noted.
7. The back emf across the armature terminals Ea is calculated as shown in model
calculation.
8. A graph of speed (N) versus Eb is drawn. The approximation of this graph passing through
origin is drawn. The slope of this graph gives the value of Kb.

IV. DETERMINATION OF Ra:

PROCEDURE
1. The connections are made as shown in fig. (2- d).The armature rheostat is kept at
maximum resistance position.
2. The supply is given by closing the DPST siwthc
3. The rheostat is adjusted to get the desired armature current
4. The readings of ammeter (Ia) voltmeter (Va) are noted and the armature resistance is
calculated as Ra = Va / Ia

V. DETERMINATION OF Za:

PROCEDURE:
1. The connections are made as shown in fig. (2-e)
2. The supply is given by closing the DPST switch.
3. The variac is adjusted to get the rated voltage Va across the armature terminals.
4. For the value of Va, the corresponding Ia is noted.
5. The armature inductance La is calculated as shown in model calculation.
6. The armature impedance Za is given as Za = Va/ Ia
Department of EEE / Sathyabama University Controls Lab

2. DETERMINATION OF Kta:

SI.NO If (AMPS) S1 (Kg) S2 (Kg) Ia (AMPS) Tm (N-M)

3. DETERMINATION OF Kb :

SI.NO Ia (AMPS) V(VOLTS) Eb (VOLTS) N (R.P.M)

4. DETERMINATION OF Ra:

S.NO. Ia(AMPS) Va(VOLTS) Ra=Va/Ia(OHMS)

5. DETERMINATION OF Za:

S.NO. Ia (AMPS) Va (VOLTS) Za =V a / Ia (OHMS)

Department of EEE / Sathyabama University Controls Lab

MODEL CALCULATIONS:
Spring balance reading Sl = kg;
S2 = kg;

Torque developed by the motor Tm=9.81(S1~S2)R N-m

Where R is the effective radius of the brake drum ( meters.)

R = r + t/2 and r = C/2

Where C = Circumference of brake drum (meters).
A graph of Tm versus Ia is drawn and from the graph, slope Tm/Ia = Kta =
From tabulation (4)
D.C armature resistance Ra =Va / Ia
From tabulation (2)
Back emf Eb = V - IaRa

A graph of N versus Eb is drawn and the slope Eb/N gives the value of Kb

KB = (60/2) * Kb
DC Armature resistance Ra(dc) = Va/Ia = ( OHMS)
AC Armature resistance Ra(ac) =1.6 Ra = (OHMS)
Armature Impedance Za = Va/Ia = (OHMS)

Armature Inductance La = [(Za2-Ra2 )1/2] / (2f)

where f = supply frequency in hertz

Transfer function of the dc motor under armature control is G(s) = (s)/ Va(s)

Kta / (B* Ra)

= -------------------------------------------
s[(1+J/B)s)(1+sLa/Ra) + KbKta]

Kta /(B*Ra)
= -------------------------------------------
s[(1+ ms) (1+as) + KbKta]

where m =Motor time constant = J/B =

a= armature time constant = La/Ra

Department of EEE / Sathyabama University Controls Lab

RESULT:

1. Thus the parameters of DC motor under armature control were evaluated.

2. The Transfer function of the D.C. motor= ----------------------------------------------

Department of EEE / Sathyabama University Controls Lab

3. TRANSFER FUNCTION OF FIELD CONTROLLED D.C MOTOR

EX NO: DATE:

AIM:
To determine the transfer for the given d.c motor when operating under field control
method.

NAME PLATE DETAILS:

HP :
Current :
Speed :
Voltage :
Amps :
Type :
Excitation :
Volts :
Amps :

EQUIPMENT REQUIRED:
S.NO. EQUIPMENT TYPE RANGE QTY
1 DPSTS
2 DPDTS
3 Rheostat
4 Rheostat
5 Ammeter
6 Ammeter
7 Voltmeter
8 Voltmeter

THEORY:
The transfer function is defined as the ratio of Laplace Transform of the output variable
to the laplace transform of input variable.

The D.C motor converts electrical energy into mechanical energy. The electrical energy
supplied at the armature terminals is converted into mechanical energy. The controlling energy is
supplied at the field terminals of the motor. The current I a(t) is maintained to a constant value Ia
while the field voltage Vf(t) is varied to control the speed or torque of the motor. Thus the input
of the motor is field voltage Vf(t) while the output is the motor shaft and load displacement
m(t).

Transfer Function:
By Kirchoffs voltage law Vf = Rf * If + Lf * dIf /dt ----(1)
Department of EEE / Sathyabama University Controls Lab

The torque of dc motor is proportional to the product of flux and armature current. But
armature current is constant in this system, the torque is proportional to flux alone, but flux is
proportional to field current.
Therefore, Torque t = k Tf * If ----- (2)

The differential equation governing the mechanical system of the motor is given by,
J * d2 / dt2 + B * d / dt = T ----- (3)
Taking Laplace Transform of eqns. (1), (2) & (3), we get;
Rf * If(s) + Lf * s * If(s) = Vf(s)
(Rf + Lf s) If (s) = Vf (s) ---- (4)
T(s) = k Tf * If(s) ---- (5)
T(s) = Js2 (s) + Bs (s) ---- (6)

Equating (5) & (6);we get:

If(s) = [s(Js +B) / k Tf] * (s) ---- (7)

Substituting (7) in(4) ; we get:

(Rf +s Lf) [s * (Js +B / k Tf)] (s) = Vf(s)

(s) / Vf(s) = [k Tf / s (Rf + Lf) (B + sJ)] = [k Tf / sRf (1 + s* (Lf / Rf) B (1 + sJ / B)]

Therefore T.F. of Field controlled dc motor=(s) / Vf(s) = Km / [s*(1+sTf)(1+sTm)]

Where Motor gain constant, Km = Ktf / (Rf*B )

Motor Field Time Constant, Tf = Lf / Rf a.c
Motor Mechanical Time Constant, Tm = J/B.
The moment of Inertia(J) and Viscous Friction Co-efficient(B) are calculated as in procedure

PRECAUTIONS:
1. The single phase variac is kept at zero output voltage position initially.
2. Before giving supply, the minimum and maximum positions of all the rheostats are checked in
all the circuits.
3. Initally there should not be any load on the motor.
4. Meters, fuses and rheostats are selected with suitable range.

I. DETERMINATION OF MOMENT OF INERTIA (J) AND VISCOUS

FRICTION COEFFICIENT(B)

PROCEDURE:
1) RETARDATION TEST WITHOUT BRAKING (without load resistance):
1. The circuit connections are given as shown in fig(3-a).
2. The field rheostat is kept at minimum resistance position and the armature rheostat is kept at
maximum resistance position.
Department of EEE / Sathyabama University Controls Lab
Department of EEE / Sathyabama University Controls Lab
3. D.C supply is given by closing the DPST switch S1.The DPDT switch is closed in position
1-1. The motor starts rotating slowly.
4. Armature rheostat is reduced to minimum resistance position then, the field rheostat is ad
adjusted till the motor rotates at least 150 rpm above its rated value.
5. Now the DPDT switch is opened (with the field remaining energized) using the stop watch
measure the time taken (t1) for the motor speed reduced from its rated value N1 to the speed
500 rpm below its rated value. (N2)

2) WITH BRAKING (WITH LOAD RESISTANCE):

1. Now the initial speed of the motor is brought to a value of 150 rpm above the rated speed.
2. The DPDT switch is thrown to position 3-3.
3. Now the speed decreases, when the speed reaches N1, the stopwatch is started. When the
speed drops to N2, the stopwatch is stopped and time taken is noted (t2).
4. Also, the two sets of voltmeter and ammeter readings corresponding to N1& N2 are noted.
readings V1 and I1 corresponds to speed N1 while readings V2 and I 2 correspond to speed N2.

The average power delivered to the load is,

Pelec=0.5 (V1 * I1 + I12 * Ra + V2 * I2 + I22 * Ra) watts

The moment of Inertia

J = Pelec * 3600 / 2 * 2 (N12 - N22 ) * [(1/t2) - (1/t1)] (Kg-m2)

Stray losses at rated speed; Pstray = 2 * 2 (N12 - N22) J / (t1 * 3600) watts
The coefficient of viscous Friction B = Pstray * 3600 / {N1 + N2) * }2 (Nm/rad/sec)

II DETERMINIATION OF TORQUE CONSTANT Ktf

PROCEDURE:

1. The connections are made as shown in fig (3-b).The armature rheostat Ra is kept at
maximum position.
2. Supply is given to the armature terminal by closing the DPST switch.
3. The rheostat Ra is adjusted, so that the ammeter reads some small value Ia1.
4. The rheostat Rf is adjusted to any field current if within the working range. Now motor
rotates slowly.
5. The load on the brake drum is increased so that the motor just fails to rotate.
6. The value of the armature current is maintained constant at Ia1.Under this condition the
readings of field ammeter If, and spring balances are noted and the torque developed by
the motor tm is calculated.
7. The procedure is repeated for different values of field current over the working range, by
maintaining the armature current Ia constant. In each case, the spring balance readings S1
& S2 are noted and the torque developed is calculated.
8. A graph of Tm versus If is drawn. A straight -line approximation of the graph, passing
through the origin is made. The slope of this line (tm/If) gives the value of the torque
constant, Ktf
Department of EEE / Sathyabama University Controls Lab

TABULATIONS:
1. DETERMINATION OF K tf & Rf :

SI..NO. I a (A) If (A) Vf (V) Spring balance Tm (N-M) Rf =Vf/ If

S1 (kg) S2 (kg) (OHMS)

2. DETERMINATION OF R A :
SI..NO Ia (Amps) Va (Volts) Ra= Va / Ia
(OHMS)

3. DETERMINATION OF Zf :

SI..NO If (Amps) Vf (Volts) Zf = Vf / If

(OHMS)
Department of EEE / Sathyabama University Controls Lab

III DETERMINATION OF Ra:

PROCEDURE:
1. The Connections are made as shown in fig (3-c).The armature rheostat is kept at maximum
resistance position.
2. The supply is given by closing the DTST switch.
3. The rheostat is adjusted to get the desired armature current.
4. The value of Ia and the corresponding voltmeter reading Va are noted.
The armature resistance is given as Ra=Va/Ia.

IV. DETERMINATION OF FIELD IMPEDANCE Zf :

PROCEDURE:
1. The connections are made as shown in fig (3-d).the variac is kept at zero output voltage
position initially.
2. The supply is given by closing the DPST switch.
3. The variac is adjusted to get the rated voltage (Vf ) of the motor.
4. For the value of Vf, the corresponding If is noted.
5. The field inductance Lf is calculated as shown in model calculation.
6. The field impedance Zf is given as Vf / If .

MODEL CALCULATIONS:
The spring balance readings S1 = Kg;
S2 = Kg;

The torque developed by the motor Tm = 9.81(S1 ~ S 2)R (N-m)

= 9.81 * * (N-m)

Where R = Effective radius of the brake drum in metre.

R = r + t /2 and r = C/2.
C = Circumference of brake drum in meter.

A graph of a Tm versus If is drawn and from the graph the torque constant under field control is
Ktf = Tm / If =
D.C armature resistance Ra = Va / Ia = (OHMS)
D.C .field resistance Ra = Va / Ia = (OHMS)
A.C field resistance Rfac = 1.3 Rf = (OHMS)
Field impedance Zf = Vf / If = (OHMS)
Field inductance Lf = [ (Zf 2 Rf 2 ) ] /(2 f )
= (HENRY)
Where f is the supply frequency in Hz.
Department of EEE / Sathyabama University Controls Lab

The transfer function of the D.C. motor under field control is

G(S) = m (S) /Vf (S)

= Ktf /B * Rf
------------------------------------------------------
s [(1+ (J/B)s ) (1+Lf/Rf )s)]

= Ktf / B * Rf
----------------------------------------
s (1+ f s ) (1+ m s )

Where f = field time constant = L f / R f =

m = motor time constant = J / B =

RESULT:
The transfer function of the D.C motor = -------------------------------------------
Department of EEE / Sathyabama University Controls Lab

4. SPEED CONTROL OF WARD LEONARD SYSTEM

EX.NO : DATE:

AIM:
To control the speed of the dc motor (either direction) using Ward Leonard system.

NAME PLATE DETAILS:

Motor M1 Generator Motor M2

HP : KW/HP : HP :
Current : Current : Current :
Speed : Speed : Speed :
Voltage : Voltage : Voltage :
Amps : Amps : Amps :
Type : Type : Type :
Excitation : Excitation : Excitation :

Volts : Volts : Volts :

Amps : Amps : Amps :

EQUIPMENT REQUIRED:
S.NO. EQUIPMENT TYPE RANGE QTY
1 DPSTS
2 DPDTS
3 Rheostat
4 Rheostat
5 Ammeter
6 Ammeter
7 Voltmeter
8 Voltmeter

THEORY:
M2 is the main motor whose speed control is required. The field of the motor is
permanently connected across the DC supply lines. By applying variable voltage across its
armature, any; desired speed can be obtained. This variable voltage is supplied by the motor
generator set which consists of a AC or DC motor. M1, and directly coupled with generator G.

The motor M1 runs at approximately constant speed. The output voltage of the generator
G, is directly fed to motor M2. The excited voltage of the generator can be varied from zero to
maximum value by means of field regulators. By reversing the field current of generator G or by
reversing the excited voltage, direction of rotation of motor M2 can be reversed.

This system is used where an unusually wide and sensitive speed control is required as
for electric excavators, elevators and the main drives in steel mills and paper mills.
Department of EEE / Sathyabama University Controls Lab

By taking few assumptions the transfer function of Ward Leonard system is as follows.
Ks = Proportionality constant of the velocity sensor.
KA = Gain constant of the amplifier.
Kg = Constant relating to the field current to the EMF of the generator
Km = Constant relating to the motor torque to the armature current.
Rf = Resistance of the field winding of the generator
Rg = Resistance of the armature winding of the generator
RM = Resistance of the field winding of the generator
Lf = Inductance of the field winding of the generator

Thus e(t) = Ks ( 0)
V(t) = Ka e(t)

df
Lf ----- + Rf if = V(t)
dt

Kfif Km 0
if = --------------------
Rg + R m

d 0
J ----- + F0 = Kt if
dt
KgKAKtKf
T.F. = -----------------------------------------------------------------------
(sLf + Rf) (Js + B) (Rg + Rm) + KTKm(sLf + Rf) + KgKAKtKf

PRECAUTIONS :
1. All the switches must be kept open initially.
2. Motor field rheostat (both M1 and M2) must be kept at minimum resistance position and
the armature rheostat must be kept at maximum resistance position initially.
3. Potential divider (Generator filed side) must be kept at zero output voltage initially.
4. Motor M2 should be at no load condition.
5. DPST switch S3 should not be opened when the motor M2 is in running condition.

PROCEDURE :
1. DC supply is given by closing the DPST switch S1.
2. The motor M1 is started by moving the starter handle from OFF to ON position smoothly.
3. The motor M1 is brought to the rated speed by adjusting the motor field rheostat (the
speed of the motor M1 is maintained constant throughout the experiment) The motor
drives the generator to rated speed.
4. The DPST switch S2 is closed.
5. The DPDT switch is closed to position 1-1.
6. The DPST switch S3 is closed.
7. By adjusting the potential divider Rfg, the field current Ifg is increased in steps up to its
rated field current.
8. In each step the readings of Eg (Armature voltage of Motor M2) and speed of the motor
M2 are noted.
Department of EEE / Sathyabama University Controls Lab

9. The speed of the motor M2 is reduced to zero by adjusting the potential divider to the
zero output voltage position.
10. The DPST switch S3 is opened. Then DPDT switch is closed to position 3-3, again
DPST switch S3 is closed.
11. Then repeat the steps 7 & 8 for the rotation of the motor in the reverse direction.
12. The speed of the motor M2 is reduced to zero by adjusting the potential divider to the
zero output voltage position.
13. DPST switch S2, DPST switch S3 and DPDT switch is opened.
14. Motor (M1) field rheostat is reduced to minimum resistance position then open DPST
switch S1.
Armature voltage Vs speed graph is to be plotted.

S.N FORWARD DIRECTION REVERSE DIRECTION

O Voltage Speed Voltage Speed

RESULT :
Department of EEE / Sathyabama University Controls Lab

5(a). TRANSFER FUNCTION OF LAG NETWORK

EXNO: DATE:

AIM:
To design a lag compensating network and draw its bode plot.

EQUIPMENT REQUIRED:
SI.NO ITEM NAME RANGE
1. Resistors
2. Capacitor
3. Function generator
4. CRO

THEORY:
Bode plots are logarithmic plots. The complete bode plot consists of two curves, plotted
in rectangular co-ordinate. The curves are

(i) Magnitude of gain in db Vs log of frequency.

(ii) Phase angle of gain Vs frequency.

The transfer function is = (1+T2 ) / (1+T 3).

For a lead network <1,
Hence, there are two corner frequencies, the upper and lower corner frequencies.
c3 = lower corner frequency = 1 / T.
c4 = upper corner frequency =1 / T.
The plane angle is given by
LG(j) = tan -1 ( T).
Where
=0 LG(j) = 0 - 0 = 0
When
= 90 LG(j) = 90 - 90 = 0

Main phase angle is

Sin = (1-) / (1+).
Where
= Sin -1 (1-) / (1+).
= (1-sin / 1+ sin)

PROCEDURE:
1. The connections are made as per the circuit diagram.
2. The input signal from the signal generator is given to circuit and to one channel of
CRO. Sinusoidal signal of 4V peak to peak is given. The output of CRO is connected to
the channel of CRO. The various values of input frequency to output voltage V O is
noted down.
3. Press the XY button and the Lissajous figure between the input and output.
4. Note down the various values of output frequency.
5. Calculate the gain from Vo obtained
Gain = 20 log (Vo / Vin ) db.
6. Draw the bode plot with log 10 gain .Also draw the polar plot with magnitude and phase
angle.
Department of EEE / Sathyabama University Controls Lab

TABULATION:
Vin FREQUENCY VOut CRO = Sin -(a/b) G=20log(VO/VIN)
SI.NO (VOLTS) (Hz) (VOLTS) READING (DEGREE) (DECIBEL)

RESULT:
Department of EEE / Sathyabama University Controls Lab

5(b). TRANSFER FUNCTION OF LEAD NETWORK

EXNO: DATE:

AIM:
To determine the frequency response of a lead network..

EQUIPMENT REQUIRED:
SI.NO ITEM NAME RANGE
1. Resistors
2. Capacitor
3. Function generator
4. CRO

THEORY:
The given network is shown in the figure.
The transfer function of the lead network is given as
Vo /Vin = (Z 2 /Z1) = Z2

Hence Z1 = [ R1/C1S] / [R1+1/C1S]

= R1/ [R1C1S +1]
Z 2 = R2 G(S) = Z2 /(Z1+Z2)
The input sine wave gives an output sine voltage but lags the input by an angle, which is a
function of frequency.

E0(S) / Ei(S) = [(S+1/T)] / (S+1/ T)

R1 + R1/R2 =

This lag network has a pole at S = -1/ T and zero at S = - 1/T. The corner frequencies are at
= 1/T.the lag network is eventually a low pass filter.

PROCEDURE:
1. The connections are made as per circuit diagram.
2. The input signal from the signal generator is given to circuit and to one channel of CRO.
Sinusoidal signal of 4V peak to peak is given. The output of CRO is connected to the
channel of CRO. The various values of input frequency to output voltage VO is noted
down.
3. Press the XY button and the Lissajous figure Pi =Sin -1 (Ymin / Ymax )
4. Note down the various values of output frequency.
5. Calculate the gain from Vo obtained
Gain = 20 log (Vo / V in ) db.
6. Draw the bode plot with log 10 gain. Also draw the polar plot with magnitude and
phase angle.
Department of EEE / Sathyabama University Controls Lab

TABULATION:
SI.NO Vin FREQUENCY VOut CRO = Sin -(a/b) G=20log(VO/Vin)
(VOLTS) (HZ) (VOLTS) READING (DEGREE) (DECIBEL)

RESULT:
Department of EEE / Sathyabama University Controls Lab

5(c). TRANSFER FUNCTION OF LEAD LAG NETWORK

________________________________________________________________
EXNO: DATE:

AIM:
To determine the frequency response of a lead lag network.

EQUIPMENT REQUIRED:
SI.NO ITEM NAME RANGE
1. Resistors
2. Capacitor
3. Function generator
4. CRO

THEORY:
Bode plots are logarithmic plots. The complete bode plot consists of two
curves, plotted in rectangular co-ordinate. The curves are
(i) Magnitude of gain in db Vs log of frequency.
(ii) Phase angle of gain Vs frequency.
(iii) The transfer function of the lead lag network
= Sin -1 (a/b)
Gain = 20 log (Vo / V in ) db

PROCEDURE:
1. The connections are made as per circuit diagram.
2. The input signal from the signal generator is given to circuit and to one channel of
CRO. Sinusoidal signal of 4V peak to peak is given. The output of CRO is connected to
the channel of CRO. The various values of input frequency to output voltage VO is
noted down.
3. Press the XY button and the elipse figure is obtained between the input and output.
4. Note down the various values of output frequency.
5. A graph is obtained with the magnitude in db as Y-axis and the frequency as X- axis for
the magnitude plot.
6. From the magnitude plot find out the cross over frequency.
Department of EEE / Sathyabama University Controls Lab

TABULATION:
Vin FREQUENCY Vout CRO = Sin -(a/b) G=20log(VO/Vin)
SI.NO (VOLTS) (HZ) (VOLTS) READING (DEGREE) (DECIBEL)

RESULT:
Department of EEE / Sathyabama University Controls Lab

6. CALIBRATION OF AMMETER, VOLTMETER AND WATTMETER

EXPT NO: DATE:

AIM:
To calibrate the given ammeter Vs standard ammeter.
To calibrate the given voltmeter Vs standard voltmeter.
To calibrate the given wattmeter by direct loading and obtain its percentage error.

APPARATUS REQUIRED:

SI.NO ITEMS TYPE RANGE QUANTITY

1. Standard ammeter
Ammeter to be
2.
calibrated
3. Standard voltmeter
Voltmeter to be
4.
calibrated
5. Wattmeter

6. Lamp load

THEORY:

In electro dynamometer wattmeter there are two coils connected in different circuits to
measure the power.The fixed coils or voltage coils are connected in series to the load and so
carry the current in the circuit.The moving coil is connected across the load and supply and
carries the current proportional to the voltage. A non-inductive resistance is connected in series
with the voltage coils to limit the current.

PROCEDURE:

Calibration of ammeter:

1. Connect the circuit as shown in the circuit diagram.

2. Adjust the current through the circuit. Compare both the values that are shown by
standard ammeter and the meter to be calibrated.
3. Find out the percentage of error by using the formula
(True reading (I1) actual reading (I2))
%error in current = --------------------------------------------------
True reading (I1)

38
Department of EEE / Sathyabama University Controls Lab

Calibration of voltmeter:
1. Connect the circuit as shown in the circuit diagram.
2. Adjust the voltage across the circuit. Compare both the values that are shown by standard
voltmeter and the meter to be calibrated.
3. Find out the percentage of error by using the formula
(True reading (V1) actual reading V2))
%error in voltage = ---------------------------------------------------

True reading (V1)

Calibration of wattmeter:
1. Connections are given as per the circuit diagram and the power supply is switched on.
2. Lamp load is turned on.
3. The value of the load current is adjusted to the desired reading of the voltmeter and
ammeter is noted.
4. The procedure is repeated for different values of load current and for each value all the
meter readings are noted.
5. The percentage error is found using the formula given below.

(True power (w1) actual power (w2))

% error in power = ---------------------------------------------------
True power (w1)

Where true power=V1I1cos1

CIRCUIT DIAGRAM FOR CALIBRATION OF AMMETER, VOLTMETER AND

WATTMETER

39
Department of EEE / Sathyabama University Controls Lab
TABULATION:
Calibration of voltmeter reading:

SI.No True Reading Actual Reading %Error

(V1)Volts (V2)Volts

Calibration of ammeter and wattmeter reading:

SI.No True Actual True Actual True Actual % %

reading reading reading(I1) reading power power error error
(v1) (v2) ampere (I2) (w1) (w2) in in
volts volts ampere watts watts current power

40
Department of EEE / Sathyabama University Controls Lab

MODEL CALCULATION:

RESULT:

41
Department of EEE / Sathyabama University Controls Lab

8. CALIBRATION OF THREE PHASE ENREGY METER

EXPT NO: DATE:

AIM:
To calibrate the given three phase energy meter using wattmeter and hence to obtain the
percentage error.

APPARATUS REQUIRED:

SI.NO ITEMS TYPE RANGE QUANTITY

1. Three phase energy meter

2. Standard wattmeter(3-
phase)
3. 3-phase resistive load

4. Voltmeter

5. Ammeter

6. Lamp load

PRECAUTIONS:
1. Initially all the load switches are kept open.
2. Check whether the fuses of proper rating are connected.
3. The zero error in wattmeter is corrected by making use of the zero adjustment knob.
4. The meters are connected such that they read in the forward direction.

THEORY:
The energy meter is an integrated type instrument where the speed of rotating
aluminium disc is directly proportional to the amount of power consumed by the load and hence
the angular velocity or the no. of revolutions/min is proportional to the amount of energy
consumed by the load. In energy meter the angular displacement offered by the driving system is
connected to the gearing arrangement to provide the rotation of energy meter visually. The
ratings associated with an energy meter are

1.Voltage rating
2.Current rating.
3.Frequency rating.
4.Meter constants.

Based on the amount of energy consumption, the driving system provides rotational
torque for the moving system, which in turn activate the energy registry for reading the real
energy consumption. The energy meter is operated based on induction principle in which the
eddy emf in the portion of the aluminium disc creates the driving torque by the interaction of
two eddy current fluxes.

42
CIRCUIT DIAGRAM:
Department of EEE / Sathyabama University Controls Lab
CALIBRATION OF THREE PHASE ENERGY METER:

GRAPH:
Load current Vs % Error
True Energy Vs Actual Energy
PROCEDURE:
1. The DPST switch is closed to give the supply to the circuit.
2. The rheostat load is switched on.
3. The value of load current is adjusted to the desired value.
4. When the red indication mark on the aluminium disc of the meter passes, start to count
the number of revolutions made by the disc using a stop watch and note it down.
5. Repeat the above procedure for different load currents by varying the load for the fixed
number of revolutions.

43
FORMULA USED:
Department of EEE / Sathyabama University Controls Lab

N/1200 =Kwhr

E = (P/1000) *t / 3600 kwhr

Actual indication = no. of revolutions/energy meter constant

True consumption = W* t Kwhr

Where W-wattmeter reading
t- time taken for N revolution

TABULATION:
For Three Phase Energy Meter:
S. Voltmeter Ammeter Wattmete Wattmeter Time No.of Actual True %
No (volts) Reading r reading reading period revolutions energy energy error
(ampere) W1 W2 (Sec) (Wh) (Kwh)
(Watts) (watt)

44
MODEL CALCULATION:
Department of EEE / Sathyabama University Controls Lab

RESULT: