Jawaharlal Nehru Engineering College

N-6, CIDCO, Aurangabad-431003

Laboratory Student Journal

CONTROL SYSTEM ENGINEERING

For
Third Year (ECT) Students

NAME: - Akash Ajaykumar Bhale

Roll No.: - 304111

CLASS: - TY ECT I

SUBJECT: - Control System Engg.

YEAR: - 2020-21 Part I

Jawaharlal Nehru Engineering College
N-6, CIDCO, Aurangabad-431003
 INDEX OF EXPERIMENTS IN Control System Engg
Sr. TITLE OF EXPERIMENT PAGE DATE REMARK
No. No.
1 Pre requisite I - Introduction to Scilab with basic 4
arithmetic operations.

2 Pre requisite II- Introduction to Xcos simulation tool in 7

Scilab.

3 Mathematical modelling of second order system 9

4 Building a transfer function and block diagram reduction 13

5 Study of Root locus 18

6 Study of Bode plot 20

7 Study of Polar plot 24

8 Study of Nyquist plot 27

9 Study of PLC 30
10 Study of synchro machines 43

11 AC/DC position control system. 45

12 Post requisite- To build mini project using Scilab. 49

This is to certify that Mr. Sanket Umakant Majge of Class:- TY-ECT (1)
Roll No. 304154 has performed the experiments mentioned above by the
institution

Vijayshree More Dr. S N Pawar H H Shinde

Date: Lecture-in-Charge Head of Dept. Principal

EXPERIMENT NO.1
 (Prerequisite No: 1)

Aim: - Introduction to Scilab with basic arithmetic operations.

Apparatus: - PC, Laptop, Mobile equipped with Scilab

Theory: -
What is Scilab?

Scilab is the contraction of Scientific

Laboratory. Scilab is:
a numerical computing software,
an interpreted programming environment,
used for any scientific and engineering applications,
multi-platform: Windows, MacOS et Linux,
Scilab includes hundreds of functions for various applications

Mathematics and simulation 2D

and 3D visualization Optimization
Statistics
Control system design and analysis Signal
processing
Application development

A first simple example :

 Line 1: assign the value 2 to the variable A.
Line 2: define a vector t that goes from 0 to 10 with a step of 0.01. Line
3: compute a vector y from some mathematical operations.
Line 4: plot y with respect to t on a 2D graphic.

Note that “;” prevents from printing the result of an instruction

Scilab provides a graphical environment with

several windows.
the console
command history
file browser
variable browser
and others: editor, graphics, help, ...

Defining and handling vectors

A vector is defined by a list of numbers between brackets :

Automatic creation

Syntax:start: step: end

 Mathematical functions are applied element-wise

column vectors can also be defined with semi colon separator “ ; ”

Matrices are defined row by row with the separator “;”

1. 2. 3.
4. 5. 6.
7. 8. 9.

Program: Write here coding done in practical session

A=2;
t= [0:0.01:10];
y=A*sin(3*t);
plot (t, y);
xlabel ('time');
ylabel ('amplitude');
title ('Sine wave generated by Parth Kulkarni');
Output: Paste here Screenshot of output

Conclusion: - Thus we have studied basic arithmetic operations in Scilab.

 EXPERIMENT NO.2
(Prerequisite No: 2)

Aim: - Introduction to Xcos simulation tool in Scilab.

Apparatus: - PC, Laptop, Mobile equipped with Scilab

Theory: Xcos is a graphical environment to simulate dynamic systems. It is the

Simulink§R counterpart of Scilab.

It is launched in Application/Xcos or by
typing xcos

A simple example
block sub-palette
sinus Sources/GENSIN f
gain Math.
Operations/GAINBLK f
scope Sinks/CSCOPE
clock Sources/CLOCK c

drag and drop blocks from the palette browser to the editing window k
is variable from the workspace (or from Simulation/Set context) black
lines are data flows and red lines are event flows
 Settings: frequency = 2π/3, k = 2, final integral time = 12, Ymin= −3,
Ymax= 3, Refresh period = 12

Run simulation from Simulation/Start

Program: Write here coding done in practical session

Output: Paste here Screenshot of output

Conclusion: Thus, we have studied XCOS simulation tool in Scilab.
 EXPERIMENT NO.3

Aim: - Mathematical modelling of second order system.

Apparatus: - PC, Laptop, Mobile

equipped with Scilab

Theory: -

Objective - Construct a Simulink diagram

to calculate the response of the

Mass-Spring system.

The system can be described by the equation of motion

mx¨(t) + f x˙(t) + kx(t) = 0 with the

initial conditions : x(0) = 5 and x˙(0) = 0

The acceleration of the mass is then given by x

parameter values : m = 1; , k = 2; and f = 0.2

BLOCK DIAGRAM: Modeling and simulation with Xcos

 block sub-palette
sum Math. Operations/BIGSOM f
gain Math. Operations/GAINBLK f
integral Cont. time systems/INTEGRAL m
scope Sinks/CSCOPE
x-y scope Sinks/CSCOPXY
clock Sources/CLOCK c
Steps:
Draw the free body diagram.

Write the modeling equation from the free

body diagram Solve the equations for the highest

derivative of the output. Draw a block diagram to

represent this equation.

Draw the corresponding

Simulink diagram. Use Step block

to provide the input fa(t).

In the Step block, set the initial and final values and the time at
which the step occurs.

Select the duration of the simulation to be 10 seconds from the

Simulation > Parameters entry on the toolbar
Given below is a file that will set up the workspace by establishing the values
of the parameters needed for the Simulink simulation of the given model.

Output:

Output:
Program: - Write here coding done in practical session
Output: - Paste here Screenshot of output
Conclusion: -
In this experiment we have studied that mass-spring-damper
system models provides insight into a wide range of practical
engineering problems. Also, we can understand the underlying design
of many types of sensors by understanding 2nd order system dynamics.

EEPERIMENT NO. 4

Aim - Building a transfer function and block

diagram reduction.
Apparatus: - PC, Laptop, Mobile equipped with Scilab

Theory: -
Control System Toolbox™ provides a number of functions to help you build
networks of LTI models. These include functions to perform

• Series and parallel connections (series and parallel)

• Feedback connections (feedback)

• General block-diagram building (connect).

These functions can handle any combination of model representations.

For illustration purposes, create the following two SISO transfer function models:
The mathematical operators can handle syslin type
Example

tt 1 and tt (s) = 4
(s) =

1 s+2 2 s

Building of a transfer function

The argument c stands for continuous-time system (d for discrete)

The instruction roots is useful to calculate the poles of a transfer
function
The instruction plzr plots the pole-zero map in the complex plane
Computation of the time response

The string argument step is the control, it can be impuls, a vector or a

function.

To define the time vector, you may also

Program: Write here coding done in practical session

S=%s
G1=syslin (‘c’,1, s+2)

G2=syslin (‘c’,4, s+2)

H1=G1+G2

H2=G1*G2

H3=G1/G2

Output: Paste here Screenshot of output

Conclusion:

• At the end of lab we conclude that whole transfer function of two or

more series systems is product of the transfer function of these
systems.
• We can calculate that whole transfer function of two or more parallel
systems by adding the transfer function these systems.
• We can calculate that whole transfer function of such systems in
which feedback is involves by dividing foreword path whole transfer
function by 1+whole transfer function (for negative feedback) And 1-
whole transfer function (for positive feedback)

EXPERIMENT NO. 5
Aim: - Study of Root locus
Apparatus: - PC, Laptop, Mobile equipped with Scilab

Theory: - The root locus of a feedback system is the graphical representation

in the
complex s-plane of the possible locations of its closed-loop poles for varying
values of a certain system parameter.

Rules for Construction of Root Locus

Follow these rules for constructing a root locus.
Rule 1 − Locate the open loop poles and zeros in the ‘s’ plane.
Rule 2 − Find the number of root locus branches.
Rule 3 − Identify and draw the real axis root locus branches.
Rule 4 − Find the centroid and the angle of asymptotes.
• If P=ZP=Z, then all the root locus branches start at finite open loop poles
and end at finite open loop zeros.
• If P>ZP>Z , then ZZ number of root locus branches start at finite open
loop poles and end at finite open loop zeros and P−ZP−Z number of
root locus branches start at finite open loop poles and end at infinite open
loop zeros.
• If P<ZP<Z , then P number of root locus branches start at finite open
loop poles and end at finite open loop zeros and Z−PZ−P number of
root locus branches start at infinite open loop poles and end at finite open
loop zeros.

Rule 5 − Find the intersection points of root locus branches with an imaginary
axis.

Rule 6 − Find Break-away and Break-in points.

Rule 7 − Find the angle of departure and the angle of arrival.
Program: Write here coding done in practical session

s=%s;
num=s+4;
den=(s+1)*(s+2)*(s+6);
t=syslin('c',num/den);
clf;
evans(t);
mtlb_axis ([-5 5 -5 5])

Output: Paste here Screenshot of output

Conclusion: - Hence we have plotted the root locus of a

system and have observed the results.
 EXPERIMENT NO. 6

Aim: - Study of Bode plot.

Apparatus: - PC, Laptop, Mobile equipped with Scilab.

Theory: - The Bode plot or the Bode diagram consists of two plots −
• Magnitude plot
• Phase plot
In both the plots, x-axis represents angular frequency (logarithmic scale).
Whereas, yaxis represents the magnitude (linear scale) of open loop transfer
function in the magnitude plot and the phase angle (linear scale) of the open
loop transfer function in the phase plot.
The magnitude of the open loop transfer function in dB is -
M=20log|G(jω) H(jω) |M=20log⁡|G(jω) H(jω) |
The phase angle of the open loop transfer function in degrees is -
ϕ=∠G(jω) H(jω)

Consider the open loop transfer function G(s)H(s)=KG(s)H(s)=K.

Magnitude M=20logKM=20log⁡K dB
Phase angle ϕ=0ϕ=0 degrees
If K=1K=1, then magnitude is 0 dB.
If K>1K>1, then magnitude will be positive.
If K<1K<1, then magnitude will be negative.
The following figure shows the corresponding Bode plot.
The magnitude plot is a horizontal line, which is independent of frequency. The
0 dB line itself is the magnitude plot when the value of K is one. For the positive
values of K, the horizontal line will shift 20logK20log⁡K dB above the 0 dB line.
For the negative values of K, the horizontal line will shift 20logK20log⁡K dB
below the 0 dB line. The Zero degrees line itself is the phase plot for all the
positive values of K.
Consider the open loop transfer function G(s)H(s)=sG(s)H(s)=s.
Magnitude M=20logωM=20log⁡ω dB
Phase angle ϕ=900ϕ=900
At ω=0.1ω=0.1 rad/sec, the magnitude is -20 dB.
At ω=1ω=1 rad/sec, the magnitude is 0 dB.
At ω=10ω=10 rad/sec, the magnitude is 20 dB.
The following figure shows the corresponding Bode plot.
The magnitude plot is a line, which is having a slope of 20 dB/dec. This line
started at ω=0.1ω=0.1 rad/sec having a magnitude of -20 dB and it continues
on the same slope. It is touching 0 dB line at ω=1ω=1 rad/sec. In this case, the
phase plot is 900 line.

Program: Write here coding done in practical session

s=poly(0,"s");
tfnum=10*s+50;
tfden=s^2+3*s+1;
tf=tfnum/tfden;
sys1=syslin('c',tfnum,tfden);
bode(sys1);
Output: Paste here Screenshot of output

Conclusion: - Hence we have plotted the bode plot of given system

and have observed the result.
 EXPERIMENT NO. 7

Aim: - Study of Polar Plot.

Apparatus: - PC, Laptop, Mobile equipped with Scilab.

Theory: -

There, we have two separate plots for both magnitude and phase as the
function of frequency. Let us now discuss about polar plots. Polar plot is a plot
which can be drawn between magnitude and phase. Here, the magnitudes are
represented by normal values only.
The polar form of G(jω)H(jω)G(jω)H(jω) is
G(jω)H(jω)=|G(jω)H(jω)|∠G(jω)H(jω)G(jω)H(jω)=|G(jω)H(jω)|
∠G(jω)H(jω)

The Polar plot is a plot, which can be drawn between the magnitude and the
phase angle of G(jω)H(jω)G(jω)H(jω) by varying ωω from zero to ∞. The
polar graph sheet is shown in the following figure
 .

This graph sheet consists of concentric circles and radial lines. The concentric
circles and the radial lines represent the magnitudes and phase angles
respectively. These angles are represented by positive values in anti-clock wise
direction. Similarly, we can represent angles with negative values in clockwise
direction. For example, the angle 2700 in anti-clock wise direction is equal to the
angle −900 in clockwise direction.

Rules for Drawing Polar Plots

Follow these rules for plotting the polar plots.
• Substitute, s=jωs=jω in the open loop transfer function.
• Write the expressions for magnitude and the phase
of G(jω)H(jω)G(jω)H(jω).
• Find the starting magnitude and the phase of G(jω)H(jω)G(jω)H(jω) by
substituting ω=0ω=0. So, the polar plot starts with this magnitude and
the phase angle.
• Find the ending magnitude and the phase of G(jω)H(jω)G(jω)H(jω) by
substituting ω=∞ω=∞. So, the polar plot ends with this magnitude and
the phase angle.
• Check whether the polar plot intersects the real axis, by making the
imaginary term of G(jω)H(jω)G(jω)H(jω) equal to zero and find the
value(s) of ωω.
 • Check whether the polar plot intersects the imaginary axis, by making real
term of G(jω)H(jω)G(jω)H(jω) equal to zero and find the value(s)
of ωω.
• For drawing polar plot more clearly, find the magnitude and phase
of G(jω)H(jω)G(jω)H(jω) by considering the other value(s) of ωω.

Program: Write here coding done in practical session

t=-%pi:0.1:%pi;
r=sin(t)
//style=5 or [5] for red colour]//
polarplot(t,r,style=5);
title('Polar');

Output: Paste here Screenshot of output

Conclusion: Hence we have plotted the Polar plot of given

system and have observed the results.
 EXPERIMENT NO. 8

Aim: - Study of Nyquist Plot.

Apparatus: - PC, Laptop, Mobile equipped with Scilab.

Theory: -

Nyquist Stability Criterion

The Nyquist stability criterion works on the principle of argument. It states that
if there are P poles and Z zeros are enclosed by the ‘s’ plane closed path, then
the corresponding G(s)H(s)G(s)H(s) plane must encircle the
origin P−ZP−Z times. So, we can write the number of encirclements N as,
N=P−ZN=P−Z
 • If the enclosed ‘s’ plane closed path contains only poles, then the
direction of the encirclement in the G(s)H(s)G(s)H(s) plane will be
opposite to the direction of the enclosed closed path in the ‘s’ plane.
• If the enclosed ‘s’ plane closed path contains only zeros, then the
direction of the encirclement in the G(s)H(s)G(s)H(s) plane will be in the
same direction as that of the enclosed closed path in the ‘s’ plane.
Let us now apply the principle of argument to the entire right half of the ‘s’ plane
by selecting it as a closed path. This selected path is called
the Nyquist contour.
We know that the closed loop control system is stable if all the poles of the
closed loop transfer function are in the left half of the ‘s’ plane. So, the poles of
the closed loop transfer function are nothing but the roots of the characteristic
equation. As the order of the characteristic equation increases, it is difficult to
find the roots. So, let us correlate these roots of the characteristic equation as
follows.
• The Poles of the characteristic equation are same as that of the poles of
the open loop transfer function.
• The zeros of the characteristic equation are same as that of the poles of
the closed loop transfer function.
We know that the open loop control system is stable if there is no open loop
pole in the the right half of the ‘s’ plane.
i.e.,P=0⇒N=−ZP=0⇒N=−Z
We know that the closed loop control system is stable if there is no closed loop
pole in the right half of the ‘s’ plane.
i.e.,Z=0⇒N=PZ=0⇒N=P
Nyquist stability criterion states the number of encirclements about the critical
point (1+j0) must be equal to the poles of characteristic equation, which is
nothing but the poles of the open loop transfer function in the right half of the ‘s’
plane. The shift in origin to (1+j0) gives the characteristic equation plane.

Rules for Drawing Nyquist Plots

Follow these rules for plotting the Nyquist plots.
• Locate the poles and zeros of open loop transfer
function G(s)H(s)G(s)H(s) in ‘s’ plane.
• Draw the polar plot by varying ωω from zero to infinity. If pole or zero
present at s = 0, then varying ωω from 0+ to infinity for drawing polar
plot.
• Draw the mirror image of above polar plot for values of ωω ranging from
−∞ to zero (0− if any pole or zero present at s=0).
 • The number of infinite radius half circles will be equal to the number of
poles or zeros at origin. The infinite radius half circle will start at the point
where the mirror image of the polar plot ends. And this infinite radius half
circle will end at the point where the polar plot starts.
After drawing the Nyquist plot, we can find the stability of the closed loop control
system using the Nyquist stability criterion. If the critical point (-1+j0) lies outside
the encirclement, then the closed loop control system is absolutely stable.

Program: Write here coding done in practical session

s=poly(0,"s");
tfnum=10*s+50;
tfden=s^2+3*s+1;
tf=tfnum/tfden;
sys1=syslin('c',tfnum,tfden);
nyquist(sys1)

Output: Paste here Screenshot of output

Conclusion: Hence we have plotted the Nyquist plot and have observed
the result.

EXPERIMENT NO. 9
Aim: - Study of PLC.
Apparatus: - PC, Laptop, Mobile equipped with Scilab.

Theory: -

Evolution of PLC: -

When the first electronic machine control was designed, relays were to
control the machine logic.

Relay logic has its own limitations.

• Less reliability

• The delay involved in switching of contacts

• Less flexibility and difficult troubleshooting due to hard

wired connection What is PLC?

A Programmable Logic Controller, PLC, or Programmable

Controller is an electronic device used for Automation of industrial
processes, such as control of machinery on factory assembly lines. A
programmable controller is a digitally operating electronic apparatus
which uses a programmable memory for the internal storage of
instructions for implementing specific functions, such as logic,

sequencing, timing, counting and arithmetic, to control various machines

or processes through digital or analog input/output devices.
Unlike general purpose computers, the PLC is designed for
multiple inputs and output arrangements, extended temperature
ranges, immunity to electrical noise, and resistance to vibrations and
impacts. Programs to control machine operation are typically stored in
battery-backed or non-volatile memory. A PLC is an example of a real
time system since output results are produced in response to input
conditions within a bounded time, otherwise unintended operation
results.

Basic Components of PLC: -

• CPU and Memory module

• Power supply

• Input and output module

• Programming device

CPU and Memory Module: -

This is the device where PLC program is stored and processed.

The size and type of CPU determines the programming functions
available, size of the application logic available, amount of memory
supported, and processing speed.
Power Supply: -
The power supply provides power for the PLC system. It
provides internal DC current to operate the processor logic circuitry
and input/output assemblies. This can be built into the PLC or an
external unit. Common voltage levels required by the PLC are 24Vdc,
120Vac, 220Vac.
Input and Output Module: -
Inputs carry signals from the field (process) to the controller.
Various types of inputs can be switches, pressure sensors,
transmitters etc. The field devices to whom PLC sends the results of
logical operations are the output devices. These are the actuators that
adjusts or control the process, motors, lights, relays, pumps, etc. Many
types of inputs and outputs can be connected to a PLC and they can be
categorized mainly as analog and digital. Digital inputs and
outputs operate on discrete or binary change i.e. on/off, open/close.
Analog inputs and outputs change continuously with reference to time.

Programming Device: -
 The PLC is programmed using a special software using
computer or hand Held Terminal (HHT) that can load and change the
logic inside.
Operation of a PLC system: -
The operation of the PLC is determined by 3 steps
• Reading the field status form input devices
• Execution or solving the logic, and
• Updating the output devices status.

PLC Program: -
PLC Program is a Logic that is executed by the CPU. This logic
can be written in the form of Ladder diagram, Instruction List,
Sequential Function Charts, Structured text or Functional block
diagram. These are the languages used for writing logic as per IEC
standard. The program is then downloaded to the PLC. This is usually
done by temporarily connecting the PC or HHT to the PLC. Once the
program is downloaded to the CPU, it is usually not necessary for the
PC to remain connected.
PLC Scan: -
Once the program is downloaded in the CPU, the PLC is switched
to "run" mode and the PLC executes the application program. The CPU
regularly reads the status of the input devices, and sends data to the
output devices as per the logical results after execution of the
program.
 The process of Initialization when power is turned on,
reading inputs, executing logic, and modifying outputs is called as PLC
Scan cycle.

Memory
The logic or application program is stored in memory. As the PLC
executes logic, it may also read and store values to memory. The values
may be referenced by the application program.
PLC Input and Output Devices: -
Two major types of Input/output modules are
• Digital - binary devices which must be in one of the two states: on or
off.
• Analog - continuous devices - sense and respond to a range of values.

Digital I/O
Common digital field input devices include pushbuttons, limit
switches, photo sensor etc. Common digital output devices include
relays, motor starters, and solenoid valves.

Analog I/O
Common analog input devices are transmitters used for sensing
various parameters. Common output signals include motor speed, valve
position, air pressure, etc.
I/O modules connect "real world" field devices to the controller. They
convert the electrical signals used in the field devices into electronic
signals that can be used by the control system, and translate real
world values to IO table values.
LogixPro Relay Logic Lab

LogixPro Relay Logic Introductory Lab

From the Simulations Menu at the top of the screen,

Select the I/O Simulation and ensure that the User
Instruction Bar shown above is visible.

The program editing window should contain a single rung.

This is the End of Program rung and is always the last rung
in any program. If this is the only rung visible then your
program is currently empty.

If your program is not empty, then click on the File menu

entry at the top of the screen and select "New" from the
dropdown list. A dialog box will appear asking for you to
select a Processor Type. Just click on "OK" to accept the
default TLP LogixPro selection.

Now maximize the ProSim•II Simulation Window

The I/O Simulator

The simulator screen shown above, should now be in view.

For this exercise we will be using the I/O simulator section,
which consists of 32 switches and lights. Two groups of 16
toggle switches are shown connected to 2 Input cards of our
simulated PLC. Likewise two groups of 16 Lights are
connected to two output cards of our PLC. The two input
cards are addressed as "I:1" and "I:3" while the output cards
are addressed "O:2" and "O:4".

Use your mouse to click on the various switches and note

the change in the status color of the terminal that the
switch is connected to. Move your mouse slowly over a
switch, and the mouse cursor should change to a hand
symbol, indicating that the state of switch can be altered by
 clicking at this location. When you pass the mouse over a
switch, a "tool•tip" text box also appears and informs you to
"Right Click to Toggle Switch Type". Click your right mouse
button on a switch, and note how the switch type may be
readily changed.
RX logic creation
Collapse the I/O simulation screen back to its normal size by
clicking on the same (center) button you used to maximize
the simulation's window. You should now be able to see both
the simulation and program windows again. If you wish, you
can adjust the relative size of these windows by dragging the
bar that divides them with your mouse.

I want you to now enter the following single run program

which consists of a single Input instruction (XIC • Examine
If Closed) and a single Output instruction (OTE • Output
Energize). There's more than one way to accomplish this
task, but for now I will outline what I consider to be the
most commonly used approach.

First click on the "New Rung" button in the User

Instruction Bar. It's the first button on the very left end of
the Bar. If you hold the mouse pointer over any of these
buttons for a second or two, you should see a short "ToolTip"
which describes the function or name of the instruction that
the button represents.

You should now see a new Rung added to your program as

shown above, and the Rung number at the left side of the new
rung should be highlighted. Note that the new Rung was inserted
above the existing (END) End of Program Rung. Alternatively, you
could have dragged (left mouse button held down) the Rung button
into the program window and dropped it onto one of the locating
boxes that would have appeared.

Now click on the XIC instruction with your left mouse

button (Left Click) and it will be added to the right of your
highlighted selection.

Note that the new XIC instruction is now selected

(highlighted). Once again, you could have alternatively
dragged and dropped the instruction into the program
window.

If you accidentally add an instruction which you wish

to remove, just Left Click on the instruction to select it,
and then press the "Del" key on your keyboard.
Alternatively, you may right click on the instruction and
then select "Cut" from the dropdown menu that appears.

Left Click on the OTE output instruction and it will

be. added to the right of your current selection.

Double Click (2 quick left mouse button clicks) on the XIC

instruction and a textbox should appear which will allow you
to enter the address (I:1/0) of the switch we wish to
monitor. Use the Backspace key to get rid of the "?"
currently in the textbox. Once you type in the address, click
anywhere else on the instruction (other than the textbox)
and the box should close.

Right Click on the XIC instruction and select "Edit

Symbol" from the drop•down menu that appears. Another
textbox will appear where you can type in a name
(Switch•0) to associate with this address. As before, a
click anywhere else will close the box.

Enter the address and symbol for the OTE instruction

and your first RSLogix program will now be complete. Before
continuing however, Double check that the addresses of
your instructions are correct.

Testing your Program

It's now time to "Download" your program to the PLC. First click
on the

"Toggle" button at the top right corner of the Edit Panel

which will bring the PLC Panel into view.

Click on the "Downloads" button to initiate the

downloading of your program to the PLC. Once complete,
click inside the "RUN" option selection circle to start
the PLC scanning. Enlarge the Simulation window so that
you can see both the Switches and Lamps, by dragging
the bar that separates the Simulation and Program
windows to the right with your mouse. Now click on
Switch I:1/00 in the simulator and if all is well, Lamp
O:2/00 should illuminate.

Toggle the Switch on and Off a number of times and

note the change in value indicated in the PLC Panel's status
boxes which are being updated constantly as the PLC Scans.
Try placing the PLC back into the "PGM" mode and then
toggle the simulator's Switch a few times and note the
result. Place the PLC back into the "Run" mode and the Scan
should resume.

We are usually told to think of the XIC instruction as an

electrical contact that allows electrical flow to pass when
an external switch is closed. We are then told that the OTE
will energize if the flow is allowed to get through to it. In
actual fact the XIC is a conditional instruction which tests
any bit that we address for Truth or a 1.

Editing your Program

Click on the "Toggle" button of the PLC Panel which will

put the PLC into the PGM mode and bring the Edit Panel back
into view.

Now add a second rung to your program as shown

below. This time instead of entering the addresses as you
did before, try dragging the appropriate address which is
displayed in the I/O simulation and dropping it onto the
instruction.

Note that the XIO instruction which Tests for Zero or

False has it's address highlighted in yellow. This indicates
that the instruction is True, which in the case of an XIO,
means that the bit addressed is currently a Zero or False.

This is probably a good time to practice your dragNdrop

skills. Try moving instructions from rung to rung by holding
the left mouse button down while over an instruction, and
then while keeping the mouse button down, move the mouse
(and instruction) to a new location. Try doing the same with
complete rungs by dragging the box at the left end of the
rung and dropping it in a new location.

Once you feel comfortable with dragNdrop, ensure that

your program once again looks like the one pictured above,
Now download your program to the PLC and place the PLC into
the Run Mode. Toggle both Switch•0 and Switch•1 on and off
a number of times and observe the effects this has on the
lamps. Ensure that you are satisfied with the operation of
your program before proceeding further.

Stop/Start utilizing OTL and OTU

For this exercise we need two Normally Open momentary

switches. Using your right mouse button, click on switch
"I:1/2" and "I:1/3", changing them to N.O. pushbuttons. Now
add the following two rungs to your program. Once you have
the rungs entered correctly, download and run your modified
program. Activate the Start and Stop switches and ensure
that the OTL and OTU output instructions are responding as
outlined in your text. Once you have the lamp ON, could you
turn it off if power was lost in the Stop Switch circuit?

Now modify your program so that it operates correctly

when you substitute the N.O. Stop switch (I:1/03) with a
Normally Closed Switch. If we now lost power on the N.C.
Stop switch circuit, what would happen

to the state of Lamp (O:2/02)?

Emulating Standard Stop/Start Control

Erase your program by selecting "New" from the "File" menu
selection at the top of the screen. When the dialog box
appears just click on "OK" to select the default PLC type.
Now enter the following program. To enter a branch, just
drag the branch (button) onto the rung and then insert or
drag instructions into the branch.

Before you download and run this program, take a careful

look at our use of a XIC instruction to test the state of the
N.C. Stop Switch. When someone presses the Stop Switch,
will bit I:1/04 go True or False? Will the XIC instruction go
True or False when the Switch is pressed? Is this the logic
we are seeking in this case? .... Run the program and see if
you're right! .... If we lose power in the Stop Switch circuit,
what state will the lamp go to? .... Why do you think that
most prefer this method rather than the OTL/OTU method
of implementing Stop/Start Control?
 Output Branching with RSLogix

Modify your program so that it matches the following.

Download and Run the program. Operate the Stop and

Start switches several times with Switch•0 open, and again
with Switch•0 closed. Remove the XIC instruction from the
Output branch and note what happens to Lamp•3 when you
Start and Stop the circuit. Try moving the Lamp•3 OTE
instruction so that it is in series with the Lamp•2 OTE
instruction. Download, Run and observe how both lamps still
light even with the empty branch (short?) in place. It may
look like an electrical circuit but in fact we know that it isn't
and therefore obeys a somewhat different set of rules.
Remove the empty branch, Download, Run and see if this has
any effect on the logic or operation of the rung.

Controlling One Light from two Locations

Create, enter and test a program which will perform the

common electrical function of controlling a light from two
different locations. Clear your program and utilize toggle
switch (I:1/00) and switch (I:1/01) to control Lamp
(O:2/00)... (Hint: If both switches are On or if both
switches are Off, then the Lamp should be On! This of
course is just one approach to solving this problem)

Conclusion: -
In this experiment we have studied hardware components, configuration,
building blocks of PLC. Also, we have studied LogixPro Relay Logic Lab
and perform some applications on the LogixPro Relay Logic

EXPERIMENT NO. 10

Aim: - Study of synchro machines

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
 Rotor Coil

~ Stator
Stator Winding

Operation: Let an a.c. voltage, Vr (t) = Vr sin wct, 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.

Procedure: I &II
 • Connect the system in main supply.
• Starting from zero position note down the voltage between
stator terminal i.e. Vs2s1, Vs1s3 and Vs2s3 in a sequential
position.

• Plot the graph of angular position Vs voltage of three winging i.e.

terminal voltage.
• Connect the system to the main supply.
• Make connections between corresponding terminals of
transmitter and receiver i.e. connect S1 – S1, S2 – S2 and S3 –
S3 of transmitter and receiver. Switch on SW1 and SW2.
• Move the graph of angular displacement of transmitter to

angular displacement in receiver.

Conclusion: -
• If angular displacement is changed depending on rotor
position the voltages are induced in stator coils.
• If transmitter position is changed then receiver position changed
accordingly.

EXPERIMENT NO. 11

AIM: - AC/DC Position Control System

APPARATUS: - 1) A.C. position control system set up

2) D.C. position control system set up
Theory: -
Part - I

Operating Instructions:

• Switch on the a.c. mains supply.

• sw1, sw2 & sw3 should be in the position.
• Observe that the input & output pots come in alignment.
• Keep the gain pot almost in max. gain position (almost fully clockwise
position ).
• 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.

• Enter the observations in the tabular column given below.

Sr Input Angular Output Remark

No Position Angular s
Position
1 10 degrees
2 30 degrees
3 50 degrees
.
.
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.

• You may use the test point black TP1, TP2 & TP3
• TP1 – Black – Excitation voltage for potentiometer system.
• TP2 – Black - Variable point potential for I/P pot.
• 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.
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 output respectively.

• Please note that the switches sw2, sw1 & sw3 are in series with a.c.

preampere servo motor reference & control winding.

• See the front panel of D.C. position control.

• Vary the Input position pot and obscure the output pot till meter

shoes null deflection

Part - II
Operating Instructions:

• Switch on the a.c. mains supply.

• sw1, sw2 & sw3 should be in the position.
• Observe that the input & output pots come in alignment.
• Keep the gain pot almost in max. gain position (almost fully clockwise
position).
• 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.
• Enter the observations in the tabular column given below.
.

Sr Input Output Remarks

No Angular Angular
Position Position
1 10 degrees
2 30 degrees
3 50 degrees
.
.
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.
• You may use the test point black TP1, TP2 & TP3
• TP1 – Black – Excitation voltage for potentiometer system.
• TP2 – Black - Variable point potential for I/P pot.
• 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.
• 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 output respectively.
• Please note that the switches sw2 , sw1 & sw3 are in series with

a.c. preampere servo motor reference & control winding.See the

front panel of D.C. position control.

• Vary the Input position pot and obscure the output pot till meter

shoes null deflection.

CONCLUSION: It is observed that the output potentiometer shaft

position (Ø O) follows the reference Potentiometer shaft position (Ø R)
almost faithfully, though a small amount of hysteresis is present in the
system

EXPERIMENT NO. 12
(POST-REQUISITE-1)

Aim: -Post requisite- To build mini project using Scilab.

Apparatus: - PC, Laptop, Mobile equipped with Scilab.

Theory: - Relational (comparison) operators in Scilab
In order to compare two or more variables between them, Scilab uses the
relational operators. With these operators you can make the following
comparisons: smaller, greater, smaller or equal, greater or equal, equal, not
equal.

Operator Description
< Smaller than
> Greater than
<= Smaller or equal than
>= Greater or equal than
== Equal with
~= Not equal with

Program: Write here coding done in practical session

3<>2
3==3
(2>1) & (3>1)
(2>1) & (3>5)
Output: Paste here Screenshot of output

CONCLUSION: - Hence performed Basic relational operators in Scilab.