ME2142-1 FREQUENCY RESPONSE

SEMESTER 5
2014/2015
Department of Mechanical Engineering
National University of Singapore
CONTENTS
Table of Contents (i)
List of Illstrations (i)
Intro!ction "
E#ipment "
Theory of $peration "
%roce!re &
'eference (
)ppen!i* ) +
)ppen!i* , -
LIST OF ILLUSTRATIONS
.igre " Strctre of the electro/hy!ralic actator 0
.igre 0 Electro/hy!ralic actator amplifier nit 1
.igre 1 System bloc2 !iagram &
.igre & Derivation of gain an! phase angle +
.igre 3 Derivation of open loop gain an! open loop phase angle -
i
INTRODUCTION
4ith this lab yo 5ill learn ho5 to se the fre#ency response metho! to i!entify the (linear)
!ynamics of a plant6 i7e7 yo 5ill be able to fin! the plant !ynamics 8st by inptting a sinsoi!al
signal an! comparing it 5ith the sinsoi!al otpt7
%rposes
To perform a fre#ency response test on an aircraft electro/hy!ralic servo/actator an! to
!etermine the phase an! gain margins of the servo7
To verify that increasing the gain cases instability7
Scope
The manal provi!es a list of the e#ipment for the e*periment an! a !escription of the theory of
operation of the electro/hy!ralic actator7 It also !eals 5ith the proce!re a!opte! to st!y the
fre#ency response of the system7
E#ipment
"7 Electro/hy!ralic servo/actator
07 )mplifier nit
17 $scilloscope (C'$)
&7 .nction generator (.9)
37 :y!ralic po5er spply (otsi!e laboratory)
THEORY OF OPERATION
The servo system comprises a servo/actator an! an amplifier nit7 ) similar system is se! in
aircrafts to a!! atopilot otpts (electrical) as mechanical movement into the control ro!s6 5hich
connects the pilot;s stic2 to the aircraft control srfaces (elevators6 fins etc7)7 The nit receives a
voltage inpt an! is re#ire! to reali<e a mechanical movement proportional to that inpt voltage7
Since a consi!erable force is re#ire! a hy!ralic servo is se!7 9enerally the time !elay to change
the otpt position shol! be minimal bt the response shol! not oscillate7 These specifications
sally !etermine the gain (or attenation) an! phase angle at some fre#ency7 The servo/actator is
sho5n in .ig7 " an! the amplifier nit is sho5n in .ig7 07 To permit the loop gain to be varie!6 the
fee!bac2 resistor of the amplifier is connecte! e*ternally7
Note that the motor is !riven in a psh/pll manner7 The motor has a continos crrent flo5ing
throgh it 5ith a L=DT 5ith it7 4hen an error signal is !etecte!6 the crrent increases in one coil
an! !ecreases in the other> The net !ifferential crrent cases the motor to move7
The servo/actator consists of for parts>
(i) a servo motor )
(ii) a valve spool ) all 5ithin the main bo!y
(iii) an actator )
(iv) a linear potentiometer 5hich is attache! alongsi!e the main bo!y7
"
LVDT MOTOR
Pressure
Pressure
Exhaust
INPUT SIGNAL
Potentiometer
Main Actuator
Figure 1: Structure of the Electrohydraulic Actuator
0
K
Function
Generator
Oscilloscope
Summing
Amp
Servo
Amp
Servo
alve
Main
Actuator
+15V -15V
!"#
Potentiometer
Fig $: Electrohydraulic Actuator Amplirier unit
1
)s the motor is move! by the inpt signal it ten!s to bloc2 one no<<le an! nbloc2 the other7 :ence
there is an increase in oil pressre behin! the former an! a !ecrease behin! the other7 This !ifferential
is applie! at the en!s of the main valve spool that conse#ently moves7
)s the spool moves6 pressri<e! oil is spplie! to one chamber of the main actator6 5hile oil in the
other chamber flo5s bac2 to the retrn7 The piston ro! of the actator moves an! this movement is
converte! to a voltage by the potentiometer7
The smming amplifier receives the error bet5een inpt an! otpt an! the error voltage is applie!
to the po5er amplifier7 The bloc2 !iagram belo5 sho5s the (close!) control loop7
Function
Generator
K Plant
1
Potentiometer
Oscilloscope
%nput Error Output
Fig &:System 'loc( "iagram
PROCEDURE
"7 The e#ipment is alrea!y connecte! for the e*periment7 =erify that the e#ipment is complete
an! familiari<e yorself 5ith the connections an! the layot7
07 4ith the sine 5ave fre#ency set at ?73 :<6 a!8st the amplit!e of the fnction generator
otpt to 3= pea2/to/pea27 Leave the amplit!e setting nchange! throghot the e*periment7
17 $pen the hy!ralic spply valve an! note the spply pressre7 The actator shol! no5 be
moving in an! ot7
&7 Measre the fre#ency 6 voltage inpt V
i
6 voltage otpt V
o
an! change in time tim an!
tablate them on Table "7 Derive the gain an! phase angle 5ith the formla on this table7 .or
frther !etail6 refer to )ppen!i* )7 (Note that at lo5 fre#encies6 ?73 :< in this case6 the phase
angle shol! be appro*imately <ero)7
37 'epeat step & at increasing fre#encies of ":<7 Tablate the reslts in Table " an! ma2e a plot
on the Nichols chart at each fre#ency7
Ta2e the rea!ing of ! V
i
6 V
o
an! tim
"H#$ (ra!@s)
A0
V
i
"V$ V
o
"V$ 9ain (!,)
A0? log
i
o
V
V
tim "%$
%hase (!eg)
Atim**1(?
o
?73
"7
07
17
&7
37
(7
+7
-7
B7
"?7
""7
"07
"17
"&7
"37
Table "7
Ta2e the rea!ings of the O&' Loo& ()i' an! O&' Loo& P*)% from the Nichols Chart an! then
plot on the ,o!e plot7 ,o!e %lot consists of 0 graphsC 9ain against an! %hase against 7
(ra!@s)
O&' Loo& ()i' "+,$ O&' Loo& P*)% "D-$
Table 07
3
(7 :aving complete! the plot on the Nichols chart rea! off the gain an! phase margins7 ('efer to
)ppen!i* 0 for the gi!e on Nichols Chart)
+7 'eset the fnction generator for 3= pea2/to/pea2 square wave at abot ?73 :<7 9ra!ally
increase the loop gain by increasing the smming amplifier fee!bac2 resistor7 )t each increase
observe the system;s response to a step inpt7
-7 Increase the gain . ntil the system has reache! instability7 Convert the gain . to "+,$ sing
()i' / 20 0o-
10
.7 Compare this vale of gain margin 5ith that obtaine! from the Nichols
chart7 (Note> The point of instability may not be clearly !efine!7 Do 5ill have to se yor o5n
8!gment)7
B7 .rom the Nichols chart6 5rite !o5n the vales of the open loop transfer fnction in Table 07
Dra5 the ,o!e gain plot an! ,o!e phase plot on the same graph7 Estimate the or!er of the
system an! its time constants7
"?7 Discss yor reslts incl!ing the response obtaine! 5ith the increase! gain7
REFERENCES
"7 $gata6 E76 FMo!ern Control EngineeringG6 %rentice/:all6 "B+?7
(
+
)ppen!i* ,
The e*ample above sho5s ho5 yo can !erive the open loop gain an! open loop phase from the
Nichols Chart7
-