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UNIVERS`ITY OF
SCIENCE AND
TECHNOLOGY
BANNU

DEPARTMENT OF ELECTRICAL ENGINEERING UST BANNU

CONTROL SYSTEM LAB MANUAL

GROUP MEMBERS
NAME EXAM NO ROLL NO

AKMAL KHAN 4911O 17E-EE-036

HASEEN ULLAH 49134 17F-EE-032
MEHATB ULLAH 49137 17F-EE-034
SHAHRUKH KHAN 49109 17F-EE-033
WISAL AHMAD 49119 17F-EE-031
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Experiment no.01

Objective:
MY first experiment is to find the characteristics of PWM drive and motor dead zone

Equipment’s / Requirements:
1. IT-4406 Trainer Board

2. 2mm patch Cords

3. Oscilloscope

4. Digital Voltmeter Connection Diagram:

Procedure
First of all convert the oscilloscope to dc .adjust the knob to 50 microseconds. Set the voltage in
oscilloscope 5volt.after set the oscilloscope after use IT-4406 Trainer Board set up. Connect the
channel on oscilloscope to PWM drive and check the nature of wave which shows a triangular
wave. After the triangular wave form change the oscilloscope to 10 volt and check the wave
form. Connect the channel 1 and check width of PWM drive. Connect the dc supply tp54 to input
of PWM drive and increase the voltage and observer the nature of wave form which converts to a
square wave. Now gradually increase the input dc voltage from 0 to 10 and observer the nature
of wave in oscilloscope. Show the figure 1.1, 1.2, 1.3 these figure show when we increase the
voltage the wave form change
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Triangular wave form

Triangular wave form at zero volts. (FIG 1.1)

Fig no 1.0

When the input voltage of duty cycle is 0 the output voltage is 1.89v (FIG1.2)

When the input voltage of duty cycle is 9 the output voltage is 10.12v (FIG1.3)
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When the input voltage of duty cycle is 7V the output voltage is 8.4 (FIG1.4)

At maximum voltage 10V the output voltage is 11.1volt. (FIG1.5)The third

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Observer figure (1.3) when the input voltage 9V then the duty cycle is 10.12V. This experiment
show When we increase the input voltage the output voltage directly increase and the wave form
change if we increase the input supply voltage directly variation occur in the PWM driver.

MOTOR DEAD ZONEAS

TO find the motor dead zone first connect the voltmeter to set point one and gradually increase
a point reach which the motor start slowly .the point where the motor start is 1.35v, 1.42v,
1.10v in this point the motor start rotation and decrease the dead zone from this three point.
This point also called motor dead zone point. Repeat this process again and again.

Table 1.1

s.no Input voltage Output voltage Figure

1 O volt 1.89volt 1.2
2 7volt 8.4 volt 1.3

3 9olt 10.12volt 1.4

4 10volt 11.1volt 1.5

The table 1.1 shows have we increased the input voltage the output voltage directly increase and
the wave of duty cycle change. And the motor dead zones decrease a point reach where the
motor dead zone becomes zero.
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Experiment No. 02

Objective:

To find the characteristics of PWM driver and Motor Dead Band using Open loop

Control of Motor

Requirements:

1. IT-4406 Trainer Board

2. 2mm patch Cords

3. CRO

Experimental Setup

Refer to the following diagram to configure setup for the present experiment.

Equipment’s / Requirements:
1. IT-4406 Trainer Board

2. 2mm patch Cords

3. Oscilloscope

4. Digital Voltmeter Connection Diagram

5. Rotational sensor

Procedure
First switch off IT-4406 Trainer Board and start the connection connect TP27 TO TP22 AND
TP23 TO TP28.connect the output of rotational sensor to PWM input and the output of PWM
drive connect to motor check all the connection and switch on the trainer now connect the both
volt meter on TP36 and TP34.after the connection connect the oscilloscope channel 2 on output
of PWM drive and check the result when we increase the input voltage from knob tp22 the
variation start on oscilloscope and test the frequency. Now connect output of Test block TP25
and TP26 to the input of F/V converter at. Connect the output VOUT3 TP30 to the voltmeter and
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the reading is 11.82 V. It should be approximately 10V .TP27 and TP28.after Remove the
connections and again and the reading then at VOUT3 voltage = 0V. It should be approximately
0V. If not so, adjust the Offset pot to obtain the required reading. Connect the IR and verify the
frequency. The table 1.2 show has we increase the voltage the frequency increase and the output
voltage in meter 2 also increase and the motor increase the rotation but reach a maximum pint
where the speed and frequency not increase but we increase the voltage 10 volt the frequency
reach on millimeter is 510 Hz this is the last point where the frequency become a constant value.

Input voltage frequency Output voltage

4v 507Hz 6.3v
6v 507Hz 9.7v
8v 500Hz 13.40v
9v 507Hz 14.3v
10v 510Hz 15.61v

Table 1.2
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Experiment No. 03

Objective:
Close Loop Proportional Control of the Motor

Requirements:
1. IT-4406 Trainer Board

2. 2mm patch Cords

3. CRO

Experimental Setup

Refer to the following diagram to configure setup for the present experiment.

Procedure
First connect the oscilloscope probe to the output of PID block TP52 now set the input voltage is 3v.at 3v
the motor start slow rotation when the motor not rotate then increase the knob and a point the motor start
rotation connect the probe on TP52 and observer the wave form.

When the input voltage is 4 volt then wave show small ripple.
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At This point there is no ripple and this point is called balance point. When the system is
balanced it will give you straight line.at next step we disturb the system which show a different
behavior.
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When we destabilized the system the PID controller stabilized the unstable system and recover
to their stable form. This figure show at first rectangle the system destabilized and after the PID
controller stabilized system and show straight line.

Experiment No. 04

Objective:
Closed Loop Proportional-Integral-Derivative Control of the Motor

Requirements:

1. IT-4406 Trainer Board

2. 2mm patch Cords

3. CRO

Experimental Setup
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Refer to the following diagram to configure setup for the present experiment.

Procedure
In this experiment we use closed loop control system. For this experiment the rotational sensor
stabilized the rotation of motor and rotates motor in smooth speed. First connect sensor
connection connect the TP26 to TP24 and TP23 toTP27.the output of rotstion sensor connect pid
controller TP42.

For further connection connections connect the knob T54 to input of PID controller TP44 and the
output of pid TP52 input of drive TP36.in last connect the pwm drive TP39 and TP40 motor.
After the connection now connect the probe to TP52 in PID block. Increase the voltage
gradually the motor start.

If the motor not start press the reset button and again increase the voltage. Observer the wave in
oscilloscope.

Figure 2.1
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The straight wave show there is no disturbance in the system if we disturb the system then the
rotational sensor again stabilized the all system figure 2.1

Figure 2.2

In figure 2.1 the system is full stable if we disturb the system there nature of wave will suddenly
change for small time and again come to their ordinal form because the this system closed loop
system. Figure 2.2 and 2.3 show the system is unstable.
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Figure2.3

Experiment No.05

Objective:

Open Loop Control of Light

Requirements:

1. IT-4406 Trainer Board

2. 2mm patch Cords

3. CRO

Experimental Setup

Refer to the following diagram to configure setup for the present experiment
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Procedure
In this lab we perform Open Loop Control of Light first we connect photo sensor interference
connection connect TP6 to TP3 after connect TP5 to Tp7 in this sensor convert the voltage to
light the output of this sensor is connect pwm drive this connection is complete .connect the
voltmeter to the photo sensor TP10.now note the voltage of photo sensor in voltmeter it must be
zero volt. further working attach input TP6 to the Full Light Test circuit TP4. Connect the Photo
Sensor output TP1 and TP2 to the input of Lx V converterTP6 and TP7 respectively. Connect the
Set point 1 output TP54 to the input of PWM driver TP36. 9. Connect the output of PWM Driver
with the Lamp 1.after the connection of lamp increase the voltage of potentiometer slowly and
observer the light the must be glow. Connect the volt meter in TP30 and write different reading
in voltmeter. Turn the Set point 1 pot fully counter clockwise and note the reading at VOUTI
TP10.

Now increase the voltage tuning by potentiometer and note readings.

Input voltage LX output voltage

2.4 volt 2.9 volt
3.3volt 4.00volt
4.5volt 4.9volt

2nd observation

Input voltage LX output voltage

5.3volt 6 volt
6 volt 7.40 volt
8volt 9.7volt

This observation show has we increase the input voltage the LX v directly increase output voltage.
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Experiment No. 06

Objective:

Closed Loop Proportional Control of the Light

Requirements:

1. IT-4406 Trainer Board

2. 2mm patch Cords

3. CRO

Experimental Setup

Refer to the following diagram to configure setup for the present experiment.

Procedure

Connection closed loop sensor. First connect PID controller. Connect TP54 t0 TP41 and connect
the output of photo sensor to the input of PID controller. After the connection of PID connect the
PWM output TP52 to the input of PWM. Now finally connect the output of PWM drive to the
input of photo sensor.at last connect the oscilloscope probe PID block TP52 and observer there
wave form .below different observations show when we disturb closed loop system give
different waves in oscilloscope and give different information but this closed remove all
disturbance and come to their stable system the main working is which the system stable is PID
controller. A stable system is that where no disturbance in wave form. This mean there is no
steady state error and the system is stable.
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Figure (2.4)

Figure (2.3) show the system is balanced when the system is balanced there is no ripple and
shows a straight line. And there is no steady state error in this system.

Figure 2.4
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Figure 2.5

An unstable system is that when there is disturbance start in oscilloscope this type of system is
call unstable system these error suddenly remove PID controller and make the system a stable
System.

Figure 2.4, 2.5 show this system is unstable in a specific duration but after the system move a
stable form.
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Experiment NO .07
Objective:

Closed Loop Proportional-Integral-Derivative Control of the Motor

Requirements:

1. IT-4406 Trainer Board

2. 2mm patch Cords
3. CRO

Experimental Setup

Refer to the following diagram to configure setup for the present experiment.

Procedure:

First connect the oscilloscope probe to the output of pid block TP52.set voltage
3V set point 1TP54.in this voltage the lamp will start illuminate if the lamp not
illuminate please rotate the proportional pot gradually. Now observer the wave
on PID block on oscilloscope.in the wave there are some ripple remove these
ripple by proportional pot. When the ripple remove the system show in
oscilloscope on a straight line and the system is full stable figure 2.5 show this
system is stable. When we interrupting the light the wave change their position
and all the system is unbalanced but the PID controllers remove the error and
move the system to a stable form. Figure 2.6 show that after the disturbance the
move a straight line and recover to their original stable form.
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Figure (2.6) Stable system three is no steady state error.

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Figure 2.7

Unstable stable system PID control with disturbance Note: transient

Response time = 3000ms

Figure 2.8
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This is graph show marginally stable system. A marginally stable system is one that, if given an
impulse of finite magnitude as input, will not “blow up” and gives an unbounded output,.

Experiment no.08

Objective:

Closed Loop Proportional-Integral-Derivative Control of the Temperature

Requirements

1. IT-4406trainer Board
2. 2mm patch codes
3. CRO

Procedure
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First connect the channel to v6 TP34.set the voltage in 3 volt on TP51.in this voltage the lamp
will start illuminate if the lamp not illuminate then turn the proportional. If the waves in
oscilloscope not change their shape press the reset button and also press the oscilloscope auto
button. After this working observer the wave forms in oscilloscope. The volt meter which
connect the output of PID controller show there output voltage. When we increase the input
voltage from zero to 5 volt the fan is start has we increase the input voltage from 5.57 volt the

fan stop .the voltage which the fan is stop from 5.57 to 8 volt in this voltage the fan stop.

(REF) Input voltage Fan

1 0 to 5 volt Fan start
Sensor Output Voltage
2 7.7volt Fan start

S.NO (REF) Input voltage

1 5.57 volt
Fan stop
Sensor Output Voltage

2 8.00volt
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