ADVANCED CONTROL SYSTEMS

EEE 416 ADVANCED CONTROL SYSTEMS

INSTRUCTION : 4 Periods per Week
UNIVERSITY EXAMINATION : 3 Hours
UNIVERSITY EXAMINATION MARKS : 70
SESSIONAL MARKS : 30
CREDITS : 4
CONTROL SYSTEMS COMPONENTS:
D.C. & A.C. TACHOMETERS-SYNCHROS, A.C. AND D.C. SERVO
MOTORS-STEPPER MOTORS AND ITS USE IN CONTROL SYSTEMS,
AMPLIDYNEMETADYNE-MAGNETIC
AMPLIFIER
PRINCIPLE,
OPERATION AND CHARACTERISTICS WARD- LEONARD SYSTEMS.
STATE VARIABLE ANALYSIS: CONCEPT OF STATE VARIABLES &
STATE MODELS, STATE MODEL FOR LINEAR CONTINUOUS TIME
SYSTEMS, SOLUTION OF STATE EQUATION, STATE TRANSITION
MATRIX, CONCEPT OF CONTROLLABILITY & OBSERVABILITY
(SIMPLE PROBLEMS TO UNDERSTAND THEORY)
INTRODUCTION TO DESIGN: INTRODUCTION-PRELIMINARY
CONSIDERATIONS OF CLASSICAL DESIGN-LEAD COMPENSATIONLAG
COMPENSATION-REALIZATION
OF
COMPENSATING
NETWORKS-CASCADE COMPENSATION IN TIME DOMAIN AND
FREQUENCY DOMAIN (ROOT LOCUS AND BODE PLOT
TECHNIQUES)- POLE PLACEMENT BY STATE FEED-BACK, STATE
VARIABLES AND LINEAR DISCRETE-TIME SYSTEMS.
TEXT BOOKS:
1. CONTROL SYSTEMS COMPONENTS BY G.J. GIBSON & TUETOR
2. CONTROL SYSTEMS BY R.C. SUKLA, DHANPATHRAI
PUBLICATIONS
3. AUTOMATIC CONTROL SYSTEMS BY B.C. KUO, PRENTICE HALL
PUBLICATION
REFERENCE BOOK:
1. CONTROL SYSTEM PRINCIPLES & DESIGN BY M. GOPAL, TMH,
1998.

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SERVOMOTORS
1. what is servomotor?
Servo motor is defined as an automatic device that uses an error correction
routine to correct its motion.
2Differentiate between ac and dc servo motor.
The ac servomotor has low power output, efficiency is less, there are no
brushes and slip rings hence it is maintenance free, no radio frequency noise
and smooth operation.
For dc servomotor, it has high power output, high efficiency, frequent
maintenance required, brushes produce radio frequency noise, noisy operation.
3 For the feedback control system what properties servomotor should
have?
The properties are
1. Response should be fast.
2. Relationship between the electrical control system and rotor speed should be
linear.
3. It should have linear torque speed characteristics.
4 Define holding torque of the stepper motor.
It is defined as the maximum static torque that can be applied to the shaft of an
excited motor without causing a continuous rotation.
5 What is the usage of stepper motor?
A stepper motors are used in computer peripheral system such as printer, tape
drive, process control system, robotics control system, watches etc.

SYNCHROS
1.Define the term "synchro."
The term "synchro" is an abbreviation of the word "synchronous." It
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sensing devices. A synchro resembles a small electrical motor in

size and appearance and operates like a variable transformer. The
synchro, like the transformer, uses the principle of electromagnetic
induction.
2.State the primary purpose of a synchro.
Synchros are used primarily for the rapid and accurate transmission
of information between equipment and stations. Examples of such
information are changes in course, speed, and range of targets or
missiles; angular displacement (position) of the ship's rudder; and
changes in the speed and depth of torpedoes. This information must
be transmitted quickly and accurately. Synchros can provide this
speed and accuracy.
1. Name the two general classifications of synchros.
Synchros work in teams. Two or more synchros interconnected
electrically form a synchro system.
There are two general classifications of synchro systems TORQUE
SYSTEMS AND CONTROL SYSTEMS.

Torque-synchro systems use torque synchros and control-synchro

systems use control synchros. The load dictates the type of synchro
system, and thus the type of synchro.
2. Explain the differences between torque and control synchros.
Torque-synchro systems are classified "torque" because they are
mainly concerned with the torque or turning force required to move
light loads such as dials, pointers, or similar indicators. The
positioning of these devices requires a relatively low amount of
torque.
Control synchros are used in systems that are designed to move
heavy loads such as gun directors, radar antennas, and missile
launchers.
3. Name the seven functional classes of synchros and list all inputs
and outputs.
The two general classifications, synchros are grouped into seven
basic functional Classes as shown in table

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4. Draw the five standard schematic symbols for synchros and identify all
connections.

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5. Name the two common types of synchro rotors, giving an application

of each.
There are two common types of synchro rotors in use-the SALIENTPOLE ROTOR and the DRUM or WOUND ROTOR. The salient-pole
rotor has a single coil wound on a laminated core. The core is shaped
like a "dumb-bell" or the letter "H." This type of winding is frequently
used in both transmitters and receivers.
The drum or wound rotor has coils wound in slots in a laminated core
as shown in figure 1-6. This type of rotor is used in most synchro
control transformers and differential units, and occasionally in torque
transmitters. It may be wound continuously with a single length of
wire or may have a group of coils connected in series.
8.On the synchro schematic symbol, what indicates the angular
displacement
of the rotor?
The small arrow on the rotor symbol indicates the angular displacement
of
the
rotor;
thedisplacement
is
zero
degrees.

9.What major factors determine the load capacity of a torque-synchro

transmitter?
In general, the load capacity of a synchro system is limited by the number
and types of receiver units loading the transmitter, the loads on these
receiver units, and the
operating temperature.
The strength of the magnetic field produced by the stator determines the
torque. The field strength depends on the current through the stator coils.
As the current through the stator is increased, the field strength increases
and more torque is developed.
10.What unit of measurement refers to the torque of a synchro
transmitter?
The measure of torque is the product of the applied force and the
distance between the point of application and the center of rotation. For
instance, if a 3 ounce weight is suspended from a synchro pulley having a
radius of 2 inches, the torque required to move the weight is 6 ounceinches. In heavy machinery, torque may be expressed in pound-feet, but
torque synchro measurements are in ounce-inches.
11. How do synchros differ from conventional transformers?
Synchros, as stated earlier, are simply variable transformers. They
differ from conventional transformers by having one primary winding (the
rotor), which may be rotated through 360 and three stationary secondary
windings (the stator) spaced 120 apart. It follows that the magnetic field
within the synchro may also be rotated through 360.
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15. State the difference between a synchro transmitter and a synchro

receiver.
12. Describe the zero-position of a synchro transmitter.
A resultant magnetic field is developed by the combined effects of
the three stator fields. Coil S2 has the strongest field, and thus, the greatest
effect on the resultant field, causing the field to align in the direction shown
by the vector in view B of the figure. The iron-bar rotor aligns itself within
the resultant field at the point of greatest flux density. By convention, this
position is known as the zero-degree position.

13.When is the maximum voltage induced into a stator coil?

The maximum induced voltage occurs each time there is maximum
magnetic coupling between the rotor and the stator coil
The effective voltage induced in the secondary winding is approximately
equal to the product of the effective voltage on the primary, the secondaryto-primary turns ratio, and the magnetic coupling between primary and
secondary. Therefore, because the primary voltage and the turns ratio are
constant, it is commonly said that the secondary voltage varies with the
angle between the rotor and the stator.
14. What three factors determine the amplitude of the voltage induced
into a stator winding?
The effective voltage induced in any stator coil depends upon the angular
position of
that coil's axis with respect to the rotor axis.The magnetic coupling
between primary and
secondary. stator voltages are measured, reference is always made to
terminal-to-terminal voltages (voltage induced between two stator
terminals) instead of to a single coil's voltage
15. What is the physical difference between a synchro transmitter and
a synchro receiver?
Synchro torque receivers, commonly called synchro receivers, are
electrically identical to torque transmitters of the same size except for the
addition of some form of damping. the transmitter, the receiver has an
electrical input to its stator and a mechanical output from
its rotor. The synchro receiver's function is to convert the electrical data
supplied to its stator from the transmitter, back to a mechanical angular
position through the movement of its rotor. This function is accomplished
when the rotor is connected to the same ac source as the transmitter and

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assumes a position determined by the interaction of its magnetic field with

the magnetic field of the stator.
16. What is the most likely problem if the transmitter shaft reads 0
when the receiver shaft indicates180?
17. What is the purpose of using differential synchros instead of
regular synchros?
18.What are the three types of control synchros?
There are three types of control synchros: the CONTROL TRANSMITTER
(CX), the CONTROL TRANSFORMER (CT), and the CONTROL
DIFFERENTIAL TRANSMITTER (CDX). The control transmitter (CX)
and the control differential transmitter (CDX) are identical to the TX and
the TDX
19. What type of synchro is used in systems requiring large amounts of
power and a high degree of accuracy?
The CT compares two signals, the electrical signal applied to its stator and
the mechanical signal applied to its rotor. Its output is a difference signal
that controls a power amplifying device and thus the movement of heavy
equipment.
20.What is electrical zero of a Synchro?
The electrical zero of a synchro transmitter is a position of rotor at
which one of the coil to coil voltage is zero. Any angular motion of the
rotor is measured with respect to the electrical zero position of the rotor
The ZERO-DEGREE POSITION of a synchro, transmitter is the
position where the rotor and the S2 stator winding are parallel

1. What is a servo?

A servo system uses a weak control signal to move large loads to a

desired position with great accuracy.
Servos may be found in such varied applications as moving the rudder
and elevators of a model airplane in radio-controlled flight, to
controlling the diving planes and rudders of nuclear submarines. Servos
are powerful. They can move heavy loads and be remotely controlled
with great precision by synchro devices.
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2. What are the three relatively common classifications of servo

systems by function?
Servo systems are also classified according to their functions:
POSITION, VELOCITY, and ACCELERATION.

STEPPER MOTOR
1.What is stepper motor?
A stepper motor is a digital actuator whose input is in the form of
programmed energization of the stator windings and whose output is in the
form of discrete angular rotation.
2. Define the term step angle.
Step angle is defined as the angle through which the stepper motor shaft
rotates for each command pulse. It is denoted as .
3. Define slewing.
The stepper motor may be operate at very high stepping rates i.e., 25000
steps per second. A stepper motor operates at high speeds is called slewing.
4.Write down the formula for motor speed of stepper motor.

5. Define resolution.
It is defined as the number of steps needed to complete one revolution of
the rotor shaft.
6. State some applications of stepper motor.
1. Floppy disk drives
2. Quartz watches
3. Camera shutter
operation
4, Dot matrix and line printers 5. Machine tool
applications
6. Robotics
7.What are the advantages and disadvantages of stepper motor?
Advantages
1.

It can driven open loop without feedback.

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2.

Responds directly to digital control signals, so stepper motors are

natural choice for digital computer controls.

3.

It is mechanically simple.

4.

It requires little or no maintenance.

Disadvantages

1.Low efficiency with ordinary controller.

2. Fixed step angle.

3. Limited ability to handle large inertia load 4. Limited power output and
sizes available
8. What are the different types of stepper motor?
1. Variable reluctance stepper motor 2. Permanent magnet stepper motor
3. Hybrid stepper motor
9. What are the different modes of excitation in a stepper motor?
1. 1 - Phase on or full - step operation
2. 2-phaseonmode
3. Half- step operation (Alternate 1-phase on and 2-phase on mode
4. Micro stepping operation
10. What is meant by full-step operation?
It is the one-phase on mode operation. It means, at that time only one
winding is energized. By energizing one stator winding, the rotor rotates
some angle. It is the full-step operation.
11. What is meant by half- step operation?
It is the alternate one-phase on and 2-phase on mode operation. Here, the
rotor rotate an each step angle is half of the full-step angle.
12. Sketch the diagram of a VR stepper motor

13. What is meant by micro stepping in stepper motor?

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Micro stepping means, the step angle of the VR stepper motor is very
small. It is also called mini - stepping. It can be achieved by two phases
simultaneously as in 2-phase on mode but with the two currents
deliberately made unequal
14. What is the main application of micro stepping VR stepper motor?
Micro stepping is mainly used where very fine resolution is required. The
applications are printing and photo type setting. AVR stepper motor with
micro stepping provides very smooth low - speed operation and high
resolution
15. What is a multi - stack VR stepper motor?
Micro stepping of VR stepper motor can be achieved by using multi stack
VR stepper motion. It has three separate magnetically isolated sections or
stacks. Here the rotor an stator teeths are equal.
16.What are the advantages and disadvantages of VR stepper motor?
Advantages
1. Low rotor inertia 2. High torque to inertia ratio 3. Lightweight
4.Capable of high stepping rate.
5. Ability to freewheel
Disadvantages
1. Normally available in 3.6 to 30 step angles.
2. No detente torque available with windings de energized
17.What are the advantages & disadvantages of permanent magnet
stepper motor?
Advantages
1. Low power requirement
2. High detente torque as compared to
VR motor
3. Rotor do not require external exciting current
4. It produces more torque per ampere stator current
Disadvantages
1.Motor has higher inertia
2. Slower acceleration
18.What is hybrid stepper motor?
Hybrid stepper motor combines the features of both PM and VR stepping
motors
19. What are the advantages and disadvantages of hybrid stepper
motor?
Advantages.
1.Less tendency to resonate 2. Provide deterte torque with windings deenergized
3. Higher holding torque capability4. High stepping rate capability
Disadvantages
1. Higher inertia and weight due to presence of rotor magnet.
2. Performance affected by change in magnetic strength
20. Draw the typical static characteristics of a stepper motor

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21. Differential between VR, PM and hybrid stepper motor

22. Define holding torque

Holding torque is the maximum load torque which the energized stepper
motor can withstand without slipping from equilibrium position
23. Define detente torque.
Detente torque is the maximum load torque which is un energized stepper
motor can withstand without slipping. It is also known as cogging torque
24. Define torque constant.
Torque constant of the stepper motor is defined as the initial slope of the
torque current curve of the stepper motor. It is also called as torque
sensitivity.
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25. Draw the typical dynamic characteristics of a stepper motor.

26. Define pull-in torque.

It is the maximum torque the stepper motor can develop in start - stop
mode at a given stepping rate F (steps/sec), without losing synchronism,
27. Define pull-out torque.
It is the maximum torque the stepper motor can develop at a given stepping
rate F (steps/sec),without losing synchronism.
28. Define pull-in rate.
It is the maximum stepping rate at which the stepper motor will start or
stop, without losing synchronism, against a given load torque.
29. Define pull-out rate.
It is the maximum stepping rate at which the stepper motor will slow,
without losing
synchronism against a given load torque
30. What is a response range?
It is the range of stepping rates at which the stepper motor can start or stop
with losing synchronism, at a given load torque. Response range spans
stepping rates
the pull in rate.
31. What is a slewing range?
It is the range of stepping rates at which the stepper motor can run in the
slow mode, with losing synchronism, at a given load torque. The slewing
range spans stepping rates
32. What is synchronism in stepper motor?
It is the one-to-one correspondence between the number of pulses applied
to stepper motor controller and the number of steps through which the
motor has actually moved
33. What is mid - frequency resonance in stepper motor?
in the pull in curve of a stepper motor, suddenly dips very low in particular
range of stepping rates. This phenomenon is known as mid-frequency
resonance. I This phenomenon is a manifestation of instability of motor
operation
34. Draw the block diagram of the drive system of a stepping motor

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35. What is logic sequencer?

Logic sequence generator generates programmed logic sequences require
for operation of a stepper motor.
36. What is meant by power drive circuit in stepper motor?
The output from the logic sequence generator signals are low level signals
which are too weak to energize stepper motor windings. To increase the
voltage, current and power levels of the logic sequence output by using
power semiconductor switching circuit. This circuit is called power drive
circuit
37.How is the step of permanent magnet stepper motor controlled?
The step of the permanent magnet stepper motor is controlled by
energization of phase winding with positive or negative current.
What is variable reluctance stepper motor?
The stepper motor in which the reluctance of the magnetic circuit formed
by the rotor and stator teeth varies with the angular position of the rotor is
known as variable reluctance (VR) stepper motor The direction of rotation
of the VR stepper motor. is independent of the polarity of the stator current.
Name the different types of stepper motor.
1.Variablereluctancesteppermotor
2.Permanentmagnetsteppermotor
3. Hybrid stepper motor.
What is Permanent Magnet Stepper Motor?
The stepper motor in which the rotor poles are permanently magnetized is
known as Permanent magnet Stepper Motor.
What is synchronism in stepper motor
It is the one- to-one correspondence between the numbers of pulses applied
to the stepper motor controller and the number of steps through which the
motor has actually moved. i.e., The output shaft rotates such that one step
being taken each time a command pulse is received.
1. What are the different types of reluctance machines? Compare them.
Reluctance machines are synchronous machines with certain
unique features pertaining primarily to their doubly salient stator
and rotor pole design. The machines are robust, use simple

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construction, and are suitable for high speeds. They include two types,
switched and synchronous.The synchronous
reluctance motor is used in industry, where motors are required to operate
in synchronism or where highly regulated speed control is
r e q u i r e d u s i n g a v a r i a b l e - frequency drive. The motors provide
constant, unvarying (or highly controlled) speed from no load to full load
with no slip. The switched reluctance motor (SRM) is excited by current
pulses applied to each phase. The c u r r e n t p u l s e s a r e a p p l i e d b a s e d
on precise rotor position. The inductance profile is
triangular, with maximum inductance when it is in an aligned
position. When voltage is applied to the stator phase, the motor creates
torque in the direction of increasing inductance .Both synchronous and
SRMs require a position sensor unless new, sensor less technology is
employed. Position sensors are a source of increased cost and reduced
reliability.
2. What is the principle of operation of reluctance machine?
In reluctance machines, torque is produced by the tendency of the rotor to
move to a position where the inductance of the excited stator winding is
maximized (i.e., rotor tooth aligns with a c t i v e s t a t o r p h a s e t o
minimize reluctance).
3. What are the properties of Reluctance motor?
a .Combined reluctance and magnet alignment torque
b. Field weakening capability
c. Under excited operation for most loaded condition
d.High inductance
e. High speed capability
f. High temperature capability
4.What are the various stator current modes used in
synchronous reluctance motor?
a. Unipolar current modes
b. Bipolar current modes
5. W h a t i s S y n c h r o n o u s r e l u c t a n c e m o t o r ?
Synchronous reluctance motor is similar to three phase
Synchronousmotor except the rotor are demagnetized and made with
saliency to increase the reluctance power. It is a motor which develops
torque due to the difference in reluctance of the two axis,namely quadrature
and direct axis.
6.What is meant by reluctance torque?
The torque which is exhibited on the rotor due to the difference
inReluctance in the air gap (or) a function of angular position of rotor with
respectto the stator coil is known as reluctance torque.
7.What are the advantages of Synchronous reluctance motor?
i. Rotor is simple in construction i.e. very low inertia
ii. Robust
iii. Low torque, ripple
iv. Can be operated from standard PWM AC Inverters.
v. It can be also built with a standard induction motor, stator and windings.
8.What are the disadvantages of Synchronous reluctance motor?
i. It has poor power factor performance and therefore the
efficiency is not as high as permanent magnet motor.
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ii. The converter kVA requirement is high.

iii. The pull in and pull out torque of the motor are weak.
9.What are the characteristics of Synchronous reluctance motor?
i. It has combined reluctance and magnetic alignment torque.
ii. It has field weakening capability ( to get higher synchronous speed)
iii. Under excited operation for most load conditions.
iv. High inductance
v. High speed capability
vi. High temperature capability
10.State the applications of Synchronous reluctance motor?
i. It is used for constant speed applications i.e. timing
d e v i c e s , s i g n a l i n g devices, Recording instruments and phonograph.
ii. It is used in automatic processors such as in food processing and
packaging industries.
iii. Used in high speed applications.
iv. Synthetic fiber manufacturing equipment
v. Wrapping and folding machines.
vi. Synchronized conveyors.
11.What are the types of Synchronous reluctance motor?
Synchronous reluctance motor is classified into three types depending upon
the construction of rotor. They are Salient type or Radial type rotor.
Flat type or Axial type rotor.
Flux Barrier type or Laminated type rotor.

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