JawaharlalNehruEngineeringCollege

LaboratoryManual

FEEDBACKCONTROLSYSTEM

For

T.E(ECT/IE) Students

Author JNEC, Aurangabad

PREFACE
Itismygreatpleasuretopresentthislaboratorymanualforthirdyearengineering studentsforthesubjectof feedbackControlSystemstounderstandandvisualizethe basicconceptsofcontrolsystems.Thestudyofcontrolsystemsengineeringisessential forstudentspursuingdegreesinelectricalmechanical,aerospaceorchemical engineering. Good Luck for your Enjoyable Laboratory Sessions.

Prof. V.B.MALODE Prof. A.P.RATHOD Author

SUBJECTINDEX

1.Program to build transfer function objects in polynomials, zpk and plot there responses. 1.1 createaTFobjectforthetransferfunctionin
polynomialformG(s)=4s^2+36s+32/s3+10s2+30s2+40s+24

1.2 . Giventhezero(s),pole(s),andgainKofB(s)/A(s),Obtainthe
functionB(s)/A(s)usingMATLAB,forthefollowingcase Thereisnozero.Polesareat1+2jand12j.K=10

1.3. Giventhezero(s),pole(s),andgainKofB(s)/A(s),Obtainthe
functionB(s)/A(s)usingMATLAB,forthefollowingcase Azeroisat1.polesareat2,4and8.K=12

2. Building and analyzing multiblock systems. 2.1 Series connection of two blocks. 2.2 Parallel connection of two blocks. 2.3 Feedback connection of two blocks. 3. To plot root locus for a system with real poles. 4. To plot BODE & NYQUIST plot. 5. Programs to build MATLAB state space models and plot their responses. 5.1 Program to enter a state space model. 5.2 Program to interconnect in state space form. 5.3 Program to plot impulse, step responses. 6. To study a.c. position control system 7. To study d.c. position control system 8. Study of synchro characteristics.
a) Study of synchro transmitter characteristics. b) Study of synchro transmitter / receiver characteristics.

DOs and DONT DOs in Laboratory: 1. Do not handle any equipment before reading the instructions/Instruction manuals 2. Read carefully the power ratings of the equipment before it is switched on whether ratings 230 V/50 Hz or 115V/60 Hz. For Indian equipments, the power ratings are normally 230V/50Hz. If you have equipment with 115/60 Hz ratings, do not insert power plug, as our normal supply is 230V/50 Hz, which will damage the equipment. 3. Observe type of sockets of equipment power to avoid mechanical damage 4. Do not forcefully place connectors to avoid the damage 5. Strictly observe the instructions given by the teacher/Lab Instructor Instruction for Laboratory Teachers:: 1. Submission related to whatever lab work has been completed should be done during the next lab session. 2. Students should be instructed to switch on the power supply after getting the connections checked by the lab assistant/teacher. After the experiment is over the students must hand over the circuit board, wires ,CRO probe to the lab assistant/teacher . 3. The promptness of submission should be encouraged by way of marking and evaluation patterns that will benefit the sincere students.

1.LABEXERCISE: Exercisedno1(2hours)1practical 1.programtobuildtransferfunctionobjectinpolynomial zpkandplottheirresponses.

EXERCISENO1.1: AIM:createaTFobjectforthetransferfunctionin polynomialformG(s)=4s^2+36s+32/s3+10s2+30s2+40s+24 PROGREAM: CreateG(s)asaTFobject numG=[43632]%specifythenumeratorcoe. DenG=[110304024]%specifythedenomeratorcoe. G=tf(numG,denG)%createG(s)asaTFobject. get(G) [nn,dd]=tfdata(G,'V')

pzmap(G)%extractpoles&zeroanddisplayit

1.2Giventhezero(s),pole(s),andgainKofB(s)/A(s),Obtainthe functionB(s)/A(s)usingMATLAB,forthefollowingcase Thereisnozero.Polesareat1+2jand12j. K=10

Program:

z=[] p=[1+2*j12*j] k=10 [num,den]=zp2tf(z,p,k) printsys(num,den)

Programoutput:

10 num/den= s^2+2s+5

1.3Giventhezero(s),pole(s),andgainKofB(s)/A(s),Obtainthe functionB(s)/A(s)usingMATLAB,forthefollowingcase Azeroisat1.polesareat2,4and8.K=12

Program:

z=[1] p=[248] k=12 [num,den]=zp2tf(z,p,k) printsys(num,den) Programoutput:

num/den=

12s+12 s^3+14s^2+56s+64

2.LABEXERCISES: ExerciseNo.1:(2Hours)1Practical Studyoftransientsresponseofsecondordersystem ExerciseNo.2.1: AIM:CREATETHESERIESCONNECTIONDENOTEDBYTHETFT(s)OFTHETWO SYSTEMSWHOSETFAREG1(s)&G2(s)WHEREG1(s)=(2*s+3)/5*s^2+2*s+2AND G2(s)HASAZEROATs=2ANDPOLESATs=0.5&8ANDAGAINOF5.GIVE BOTHTHETF&ZPKFORMSOFTHESERIESCONNECTIONANDPLOTTHEUNITSTEP RESPONSE.DETERMINETHESTABILITYOFTHESERIESCONNECTION. PROGRAM: %SERIESCONNECTIONOFTWOBLOCKS G1=tf([23],[522])%G1(S)inTfform G2=zpk(2,[0.58],5)%G2(s)inZPKform Tzpk=G2*G1%seriescombinationinZPKform Tft=tf(Tzpk)%seriescombinationofTFform step(Tzpk),holdon%stepresponceofT(s)fromZPKform [zT,pT,kT],zpkdata(Tzpk,'v')%Zeros,poles&gainfromZPKform

Programoutput:

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ExerciseNo.2.2 AIM:FORMTHEPARALLELCONNECTIONSOFTHETWOTFH1(S)=(2*S+6)/S^2+S+8 ANDH2(S)=(S+4)/(S+1)(S^2+4*S+1).DETERMINETHEZEROS,POLESANDGAIN OFT(S)ANDCOMPARETHEMWITHTHECORRESPONDINGPARAMETEROFH1(S)AND H2(S).ALSODETERMINESTABILITYOFT(S)ANDPLOTTHESTEPRESPONSE. PROGRAM: %PARALLELCONNECTIONOFBLOCKS H1=tf([26],[118])%H1(S). denH2=conv([11],[141])%DenominatorofH2(s). H2=tf([14],denH2)%H2inTFform. T=H1+H2%T(s)inTFform. [zT,pT,kT]=zpkdata(T,'v')%Zeros,poles,&gainofT(s). PH1=pole(H1)%PolesofH1(s). PH2=pole(H2)%PolesofH2(s). step(T)%StepresponseofT(s).

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OUTPUT:

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ExerciseNo.2.3 AIM:CREATTHENEGATIVESYSTEMWHERE G(S)=(4*S+1)/(5*S^2+3*S+2)ANDH(S)=(S+6)/(S^2+4*S+11).GIVETHECLOSED LOOPTFASARATIOOFPOLINOMIALSANDDETERMINEITSZEROS,POLESAND GAIN

G=tf([41],[532])%G(S)INTFFORM pG=pole(G)%POLESOFG(S) H=tf([16],[1411])%H(S)INTFFORM pH=pole(H)%POLESOFH(S) T=feedback(G,H)%FEEDBACKCONNECTIONINTFFORM [zT,pT,kT]=zpkdata(T,'v')%ZEROS,POLES&GAINOFT(S) step(T)%STEPRESPONSEOFCLOSEDLOOPSYSTEM

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ExerciseNo.3 AIM:Usematlabtodrawtherootlocusforthefeedbacksystemwhose openloopTFisGH(S)=K(S+5)/(S+3)(S+5).FindthevalueofKforwhich thetobrancheslivetherealaxisanddeterminealltheclosedloop polesforthisvalueofK. PROGRAM %Rootlocusforasystemwithrealpoles zol=5 pol=[1312] G=zpk(zol,pol,1) rlocus(G) axisequal axis(20,10,15,15) [kk.clroots]=rlocfind(G)

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OUTPUT

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ExerciseNo.4 BODEANDNYQUISTPLOT AIM:DrawthebodeandnyquistplotfortheTFandfindthegain,phase marginandcrossoverfrequencies G(S)=(1280*S+640)/(S^4+24.2*S^3+1604.81*S^2+320.24*S+16)H(S)=1 PROGRAM numG=[1280640] denG=[124.21604.81320.2416] G=tf(numG,denG) w=logspace(2,3,100) bode(G,w) axis([27004040]) grid nyquist(G) axisequal H=1 GH=G*H margin(GH) T=feedback(G,H) poles_T=pole(T)

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OUTPUT

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STATESPACEMODEL ExerciseNo.5.1 AIM:ENTERINMATLABTHEMATRICES A=[0104110020],B=[0020],C=[100],D=[0]ANDCREATETHE MODELASANSTATESPACE(SS)OBJECT.THENCONVERTTHEMODELTOTFFORMAND THENBACKTOSSFORMUSINGADIFFERENTNAME.THENCONVERTTHEORIGINAL SSFORMTOZPKFORMANDBACKTOSSFORM. PROGRAM ENTERINGASTATESPACEMODEL. A=[0104110020]%entermodddata. B=[0020],C=[100],D=0 gss=ss(A,B,C,D)%setupmodelinssform. gtf=tf(gss)%converttoTFform. gss1=ss(gtf)%converttoSSform. gzpk=zpk(gss)%converttoZPKform. gss2=ss(gzpk)%convertbacktoSSform.

PROGRAMOUTPUT.

B= 0 0 20

C= 100

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ExerciseNo.5.2
Aim:FORHESYSTEMSWIHTFSG1(S)ANDG2(S)GIVENBYTHESTATESPACE MODELSA1=[0135],B1=[01],C1=[12],D1=[0] A2=[3104],B2=[04],C2=[30],D2=[2]FINDTHESTATESPACEMODELSFOR THEFOLLOWINGINTERCONNECTIONS. A)SERIESTs(S)=G1(S)*G2(S) B)PARALLELTp(S)=G1(S)+G2(S) C)FEEDBACKIf(S)=G1(S)/(1+G1(S)*G2(S)) PROGRAM INTERCONNECTIONSINSATESPACEFORM a1=[0135],b1=[01],c1=[12],d1=[0]%enterg1statespacematrices g1=ss(a1,b1,c1,d1)%builtg1(s)asssobject a2=[3104],b2=[04],c2=[30],d2=[2]%enterg2statespace matrices g2=ss(a2,b2,c2,d2)%builtg2(s)asssobject %ts=g1*g2%seriesconnectionts(s) tp=g1+g2%parallelconnectiontp(s) %tf=feedback(g1,g2)%feedbackconnectiontf(s)

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PROGRAMOUTPUT a1= 01 3 5

b1= 0 1

c1= 12

d1= 0

a= x1x2 x101 x2 3 5 b= u1 x10 x21 c= x1x2 y112 d= u1 y1 0 Continuoustimemodel. a2= 31

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0 4

b2= 0 4

c2= 30

d2= 2

a= x1x2 x1 31 x20 4 b= u1 x10 x24 c= x1x2 y130 d= u1 y12 Continuoustimemodel. a= x1x2x3x4 x10100 x2 3 500 x300 31 x4000 4

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b= u1 x10 x21 x30 x44 c= x1x2x3x4 y112 30 d= u1 y12

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Exerciseno:5.3 AIM:Usematlabtocomplete&plottheimpulse&stepresponsesofthe statespacemodel A=[22.50.5100010] B=[100] C=[01.51] D=[0] PROGRAM: A=[22.50.5100010]%ENTERSS B=[100]%MATRICES C=[01.51] D=[0] G=ss(A,B,C,D)%BUILDSYSTEMASSSOBJECT T=[0:1.1:20]%LINEASCOLUMNVECTOR IMPULSE(G,T)GENERATESIMPULSERESPONSE PAUSE STEP(G,T)%GENERATESSTEPRESPONSE

PROGRAMOUTPUT: A= 2.0000 2.5000 0.5000 1.000000 01.00000

B= 1 0 0

C= 01.50001.0000

D= 0

a= x1x2x3 x1 2 2.5 0.5 x2100

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x301 b= u1 x11 x20 x30 c=

x1x2x3 y101.51 d= u1 y10 Continuoustimemodel. T= Columns1through9 01.10002.20003.30004.40005.50006.6000 7.70008.8000 Columns10through18 9.900011.000012.100013.200014.300015.400016.500017.600018.7000 Column19

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19.8000

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ExerciseNo.6 Aim: To study A.C. position control system.

Apparatus : 1) A.C. position control system set up, 2) D.C. position control system set up Operating instructions : 1) Switch on the a.c. mains supply. 2) sw1,sw2 & sw3 should be in the position . 3) Observe that the input & output pots come in alignment. 4) Keep the gain pot almost in max. gain position (almost fully clockwise position ). 5) Take the input pot to the starting position i.e. very near to the zero position, the output pot will also follow the input pot till the null indicator indicates null position. 6) Enter the observations in the tabular column given below.

Sr.No. 01. 02. 03.

In/put angular Position 10 Degrees 30 Degrees 50 Degrees

Out/put angular Position

Remarks

10.

350 Degrees

You may repeat observations with lower amplifier gain to observe that there is greater error with higher gain (i.e. max. gain) you may note that output pot indicates sustained oscillations. 7. You may use the test point black TP1, TP2 & TP3 a) TP1 Black Excitation voltage for potentiometer system.

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b) TP2 Black - Variable point potential for I/P pot. c) TP3 Black Variable point potential for O/P pot. Note that excitation point (TP1-Black) for O/P pot all flouting with repeat to the main ground. 8. Green terminal on the left hand side indicates main ground of the system. You may connect CRO across the TP4 & ground (Green terminal) TP5 & ground to observe the a.c. preampere out/put & servo ampere out put respectively.

9. Please note that the switches sw2 , sw1 & sw3 are in series with a.c. preampere servo motor reference & control winding. 10. See the front panel of D.C. position control. 11. Vary the Input position pot and obscure the out put pot till meter shoes null deflection. 12. See the figure.3

Preamplifier & power amplifier _

A.C. AMPLIFIER

TWO PHASE A.C. MOTOR

LOAD

REFERENCE INPUT

FIG-1 A.C. POSITION CONTROL SYSTEM CONCLUSION: -

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ExerciseNo.7 Aim: To study D.C. Position control system.

Apparatus : 1) A.C. position control system set up, 2) D.C. position control system set up Operating instructions : 7) Switch on the a.c. mains supply. 8) sw1,sw2 & sw3 should be in the position . 9) Observe that the input & output pots come in alignment. 10) Keep the gain pot almost in max. gain position (almost fully clockwise position ). 11) Take the input pot to the starting position i.e. very near to the zero position, the output pot will also follow the input pot till the null indicator indicates null position. 12) Enter the observations in the tabular column given below.

Sr.No. 01. 02. 03.

In/put angular Position 10 Degrees 30 Degrees 50 Degrees

Out/put angular Position

Remarks

10.

350 Degrees

You may repeat observations with lower amplifier gain to observe that there is greater error with higher gain (i.e. max. gain) you may note that output pot indicates sustained oscillations. 13. You may use the test point black TP1, TP2 & TP3

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a) TP1 Black Excitation voltage for potentiometer system. b) TP2 Black - Variable point potential for I/P pot. c) TP3 Black Variable point potential for O/P pot. Note that excitation point (TP1-Black) for O/P pot all flouting with repeat to the main ground. 14. Green terminal on the left hand side indicates main ground of the system. You may connect CRO across the TP4 & ground (Green terminal) TP5 & ground to observe the a.c. preampere out/put & servo ampere out put respectively.

15. Please note that the switches sw2 , sw1 & sw3 are in series with a.c. preampere servo motor reference & control winding. 16. See the front panel of D.C. position control. 17. Vary the Input position pot and obscure the out put pot till meter shoes null deflection. 18. See the figure.3

Preamplifier & poweramplifier _

A.C. AMPLIFIER

TWO PHASE A.C. MOTOR

LOAD

REFERENCE INPUT

FIG-1 A.C. POSITION CONTROL SYSTEM CONCLUSION: -

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ExerciseNo.8 AIM: Study of synchro characteristics. c) Study of synchro transmitter characteristics. d) Study of synchro transmitter / receiver characteristics.

APPARATUS: Synchro transmitter / receiver set-up, multimeter connecting wires etc.

THEORY: Principals: A synchro is an electromagnetic transducer commonly used to convert an angular position of a shaft into an electric signal.

The basic synchro unit is usually called a synchro transmitter. Its construction is similar to that of a three- phase alternator. The stator is of laminated silicon steel and is slotted to accommodate a balanced three phase winding which is usually of concentric coil type and is Y-connected. The rotor is of dumb-bell construction and is wound with a concentric coil. An a.c. voltage is applied to the rotor winding through slip rings.

Constructional features of synchro transmitter:

fig.-a

Stator

Rotor Coil

Stator
Stator Winding

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Operation : Let an a.c. voltage Vr (t) = Vr sin wct fig-b

Be applied to the rotor coil which produces a sinusoidally time varying flux directed along its axis and distributed nearly sinusoidally in the air gap along the stator periphery. As the air gap flux is sinusoidally distributed, the flux linking any stator coil is proportional to the cosine of the angle between the rotor and stator coil axes and so is the voltage induced in each stator coil. Let Vs1n, Vs2n and Vs3n. Be the voltage induced in the stator coil S1,S2 and S3 with respect to the neutral. Vs1n = KVr sin wct cos ( 0-120) Vs2n = = KVr sin wct cos 0 Vs3n = KVr sin wct cos / ( 0+240) The three terminal voltages of the stator are. Vs1s2 = Vs1n Vs2n = / 3KVr sin ( 0+ 240) sin wct. Vs2s3 = Vs2n Vs3n = / 3KVr sin ( 0+120 ) sin wct. Vs3s1 = Vs3n Vs1n = / 3KVr sin 0 sin wct.

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Procedure: (I) 1. Connect the system in main supply.

2. Starting from zero position note down the voltage between stator terminal i.e. Vs2s1,Vs1s3 and Vs2s3 in a sequential position. 3. Plot the graph of angular position Vs voltage of three winging i.e. terminal voltage.

(II) 1. Connect the system to the main supply .

2. Make connections between corresponding terminals of transmitter and receiver i.e. connect S1 S1, S2 S2 and S3 S3 of transmitter and receiver. 3. Switch on SW1 and SW2. 4. Move the graph of angular displacement of transmitter to angular displacement in receiver.

Nature of charactiristcs : a) Vs1s2 Vs3s1 Vs2s3

RMS Voltage 0 Angular Displacement (in degrees)

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partbDiagram.

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Observation tables: -

Conclusion: -

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