Control Systems

Lecture 7 - Open Loop Frequency Response Testing

Signal Generator

Lecture 7 Open Loop Frequency

Response Testing

Introduction to equipment
Measuring Gain and Phase data
Nyquist and Bode Plots
Transfer Function Identification

Frequency Response Analyser

Setting up the FR Analyser

Run

Frequency

Offset

Amplitude

scale

Signal Generator

jb (rms)

FR Analyser

Set the generator to give a 1Hz sine wave.

Note the signal generator is set in peak to peak voltage while the analyser measures in
rms (root mean square)! To set the input to give a 1v rms sinewave connect the
generator directly to the frequency response analyser as shown above.
Adjust the signal amplitude of the sine wave until the analyser reads 1 v (rms) (NB
FS on the analyser scale means Full Scale. i.e. When set to 2V FS the reading is
2V when the needle is pointing fully over to the right.)

Open Loop Frequency Response Test of the

SJ Servo System
Aim: To identify the time constant of the motor in the SJ
Servo System using Frequency Response methods.
Objectives:
To determine Tm from the Open Loop Nyquist plot.
To determine Tm from the Open Loop Gain vs Frequency Bode
plot.
To determine Tm from the Open Loop Phase versus Frequency plot.

Initial Settings for the SJ Servo System

error
potentiometer

error
detector

K ep

K ed
2

feedback
switch

controller

Kc

motor
switch

K vp
6

motor +
gears

K mg
1 + sT m
8

velocity
potentiometer

Kv

integrator

1
s

velocity
transducer

To perform an open loop frequency response test move

the switch in the outer feedback path to open.
To remove the effect of the inner loop turn the velocity
potentiometer to 0.
Turn the error potentiometer to 100% (i.e. Kep = 1)

D.A.Germany - Aerospace, Automotive & Design Engineering

Control Systems
Lecture 7 - Open Loop Frequency Response Testing

Frequency Response Testing

Initial Settings for the SJ Servo System

error
potentiometer

error
detector

controller

K ep

K ed

Kc

feedback
switch

motor
switch

K vp
6

motor +
gears

integrator

K mg
1 + sT m
8

velocity
potentiometer

1
s

Kv

Run

Frequency

Signal Generator

scale

jb (rms)

b
= tan 1
a

Choose a suitable scale for the Nyquist Plot and plot R and on polar
paper. Write the frequency next to each point on the plot.
In theory the open loop transfer function should be first order since the
integrator has not been included. Hence the Nyquist Plot should be a
semi-circle. Try to fit a semi-cycle to the plot.
The frequency (rad/s) that gives = -45 is 1/Tm. Estimate Tm.

Open Loop Gain Bode Plot

Convert the R data to decibels (i.e. find g(dB))
Plot the gain data on log-lin graph paper.
At high frequencies the gain should be dropping at 20dB/dec and at low
frequencies the gain should be horizontal. Fit appropriate straight lines to the gain
plot.
The frequency (in rad/s) where the two straight lines intercept should be 1/Tm.
Estimate Tm.
For a pure first order system the gain for = 1/Tm rad/s should be 3dB.
However there is a gain term that has not been measured that will shift the gain
data up or down. So at = 1/Tm rad/s the gain should be 3 dB down from the low
frequency gain. Estimate Tm.

Open Loop Phase Bode Plot

Plot the phase data on log-lin graph paper.
In theory when = 1/Tm rad/s, the phase shift should be 45. Estimate Tm.
At low frequencies the phase shift should be 0. At high frequencies the phase
should be 90. (But you may not have taken frequencies high enough!) In
between it should drop at 45/dec with = -45 when = 1/Tm rad/s. Fit
appropriate straight lines to the phase plot.
Where the 0 and 45/dec straight lines intersect, the frequency (in rad/s) should
be 0.1/Tm. Hence estimate Tm.
When = -6 the frequency (in rad/s) should be 0.1/Tm. Hence estimate Tm.
Where the -90 and 45/dec straight lines intersect, the frequency (in rad/s)
should be 10/Tm. Hence estimate Tm.
When = -84 the frequency (in rad/s) should be 10/Tm. Hence estimate Tm.

FR Analyser

Record the real and imaginary parts (a and jb) of the response
to frequencies from 1Hz to 20Hz.

Open Loop Nyquist Plot

Note there is a ve sign on the input at point 1 on the SJ Servo. (i.e. the
sinewave is inverted before it gets into the SJ Servo!). To overcome
this simply change all the signs on the a and jb readings.
Calculate R and for each frequency using:

a 2 + b2

Amplitude

velocity
transducer

The open loop frequency response would normally take the

output from point 9. However the integrator means that at
high frequencies the gain drops away at 40dB/dec so the
range of frequencies that give reasonable signals is small.
To overcome this take the output as point 8. (The effect of
the integrator can always be added in later!)

R =

Offset

Summary of Lecture 7
Frequency Response Tests are normally done on open
loop systems so that controllers may be designed.
Closed loop frequency response Tests may be
performed to prove a controller design works (This
will be necessary in the main assignment!)
Remember to calibrate equipment and watch out for
conversion factors.
Note many sources of error so do not expect perfect
results

D.A.Germany - Aerospace, Automotive & Design Engineering

Frequency Response Results

f

a
b
R
g

Hz
rad/s
v(rms)
v(rms)
dB
deg

Nyquist Diagram

-180

-10
-20
-30

-150
-120

-90 -80 -70 -60 -50

-40

gain (dB)
20

10

-10

-20

-30
-40

-50

-60
1

10

100

freq (rad/s)

1000

10

100

freq (rad/s)

1000

phase (deg)

0
-10
-20
-30
-40
-50
-60
-70
-80
-90