Servomechanism and System Identification

School of Electrical and Electronic Engineering

Coursework (EEE8074)

Name: Sohail Ahmed

Student no 140645978
Submitted to Prof. Kabita Adhikari
Date of Submission: 10/June/2015

Table of contents
Abstract ................................................................................................................................................... 4
Introduction ............................................................................................................................................ 5
Chapter 1 ................................................................................................................................................ 6
Servomechanisms ............................................................................................................................... 6
Aims and objectives: ....................................................................................................................... 6
1.1 Background ............................................................................................................................... 6
1.2 Milestone 1- Servo Gain Constant Km Determination ........................................................... 6
Discussion and analysis ........................................................................................................... 7
1.3 Milestone 2: Basic closed speed control ............................................................................... 8
Discussion and Analysis........................................................................................................... 8
1.4 Milestone 3: Basic closed loop position control ................................................................... 9
Discussion and Analysis........................................................................................................... 9
1.5 Milestone 4: Closed loop with position and velocity feedback .......................................... 10
Discussion and analysis ......................................................................................................... 10
Chapter 2 .............................................................................................................................................. 11
System Identification ........................................................................................................................ 11
Aims and Objectives:..................................................................................................................... 11
2.1 Background ............................................................................................................................. 11
2.2 Milestone 1: Position control system analysis .................................................................... 12
Discussion and analysis ......................................................................................................... 12
2.3 Milestone2: Close loop speed control System identification ............................................. 12
Milestone (2.1): Close loop speed control system identification at attenuator (0.3) .......... 12
Milestone (2.2) Close loop speed control system identification at attenuator (1) .............. 13
Discussion and analysis ......................................................................................................... 14
2.4 Milestone3: System identification for Close loop position control .................................... 14
Millstone (3.1) Close loop position control system identification at attenuator (0.3) ......... 14
Millstone (3.2) Close loop position transfer function attenuator at (1) ............................... 15
Discussion and analysis ......................................................................................................... 16
2.5 Milestone 4 Simulation ....................................................................................................... 17
Discussion and Analysis......................................................................................................... 17
Discussion and Results .......................................................................................................... 17
Conclusion............................................................................................................................................. 18

References ............................................................................................................................................ 19
Appendix ............................................................................................................................................... 20
Experiment 1: Milestone 1 ................................................................................................................ 20
Milestone 3 ....................................................................................................................................... 21
Milestone 4 ....................................................................................................................................... 22
Experiment 2: .................................................................................................................................... 23
Milestone 2(1) ................................................................................................................................... 23

Abstract
This report deals with basics of servomechanism and System identifications application to servo
system. System identification is a process carried out to identify the parameters and transfer functions
of different unknown systems. The methods used are divided into two main types, offline and online.
Two methods of offline system identification to identify the parameter and transfer function of servo
system are applied. The step response and bode plot method, step response method have some
limitation in case of systems is first order ore those without overshoot, so this method applied for just
sake of understanding. To identify the parameter and transfer function of such system bode plots are
used and results verified through Matlab.

Introduction
DC servo motors are simple Dc motors which are developed with servomechanism for different
applications, these motors are very common in electrical vehicles and robotics. These are mostly used
in high precision applications. Servomechanism is basically a control mechanism which consist of at
least one mechanical component, in which feedback is provided to vary the input. In the practical
world sometimes system parameters and transfer function of system are not available. In order to
analyse the characteristics of such systems we need to identify the parameters and find the transfer
function of system.
System identification is a field which deals with identification of unknown parameters and transfer
function of such systems. System identification is broadly categorised into two main parts - online
system identification which involve more sophisticated algorithms requiring computers and offline
system identification which basically rely on conventional techniques of step response and bode plots.
First of all the parameter of servomotor are identified such as time and electro-mechanical time
constant. Actually we are going to use bode plot to identify the system transfer function due to some
limitation of step response, before that in order to understand why step response cannot be used in
some exceptional cases experimental results are obtain to prove it. In second part we are going to use
bode that overcome the disadvantage of step response to identify the system transfer function and
prove these with simulation results from Matlab[1, 2].

Chapter 1
Servomechanisms
Aims and objectives:

Identification of servomotor parameters

Importance of tachometer and Basic speed loop control system setup
Construction of basic position control system
Construction of position control system with velocity feedback[1]

1.1 Background
Servomechanism is control mechanism which is used to control
the device on the basis of an error signal obtained by the taking
difference of feedback signal and reference in put signal. DC
motor controlled by servo is called DC servo motor. Two types
of servomechanism are we going to study speed and position
control
The transfer function of DC servomotor (DC motor and servo
amplifier) is given below equation 1.2.
Figure 1.SA150+DCM150F Block Diagram[1]
Vt

() = V m =

KmKt
1+Sm

(1.2)

In equation (1) m represent the angular velocity of DC motor, Vm is the servomotor input voltage Km
is gain of servo amplifier, m is the electro- mechanical time constant. Where Kt=Vt/ m tachometer
sensitivity and Vt is tachometer final voltage. The servo gain constant can be obtained by using equation
1.2 and 1.4[1].
Equation(1.2) Equation(1.3)

Km =
Vm

Vt Km Kt
=
Vm 1 + Sm

Equation(1.4) t ;s=0

Km =

Vt
Vm V t

This experiment have four milestones

1
2
3
4

Servo Gain Constant Km Determination

Basic closed loop speed control
Basic closed loop position control system set up
Closed loop position control with velocity feedback

1.2 Milestone 1- Servo Gain Constant Km Determination

By setting up servo equipment according to according to fig (1.1) and measuring input voltage(V m) at
different voltage levels ranging from 0 to +3 and measuring the tachometer output voltage (Vt) by the
help of oscilloscope and angular speed ( m) and then changing the polarity of input voltage and again
measuring the both input, output voltages and angular speed. By the help of measured values and using
the equation (1.2) and (1.4) we can determine the Km by including the effect of tachometer and without
tachometer different ways. The voltage level after which motor start running at constant speed
called dead band voltage of motor and for this motor it is measured around

1.289V[1]. All the results are given in table 1.

SA150D
T#1
T#1
T#1
T#1
T#2
T#2
T#2
T#2

Vm
(Ch1)
1.2
1.5
2
2.5
-1.2
-1.5
-2
-2.5

(n)
RPM
2890
2900
2900
2900
2960
2960
2950
2940

()
Rad/Sec
302.68
303.73
303.73
303.73
-310.01
-310.01
-308.96
-307.92

Vt
(Ch2)
8
8.1
8.1
8.1
-8.1
-8.1
-8.1
-8.1

Kt = Vt/

= (/)

Km = vt/Vm Kt

0.0264
0.0267
0.0267
0.0267
0.0261
0.0261
0.0262
0.0263

252.23
202.48
151.86
121.49
258.34
206.67
154.48
123.17

252.23
202.48
151.86
121.49
258.34
206.67
154.48
123.17

Table 1. Servomotor Parameter

The graphical relation between input voltage and speed are shown in
fig (2) and (3)
Servomotor Time Constant m Determination
Time constant of servo motor can be calculated by changing the input
to square wave of 0.25Hz and by the help of oscilloscope we calculated
time constant at point where angular speed() is 63.2% of final value.
We repeat this process for two positive values of square wave
amplitude and vice versa. All the results of reading and calculation are
given in table 1.2 and scoops of all the results are given in appendix
Experiment 1 milestone 1[1].

Forward

Reverse

Square
Wave
Amplit
ude
(Vm)

Square
Wave
Frequenc
y (F) Hz

Tachomet
er (Vt)

Time
Constant
(Tm)
mSec

1.5

0.25

7.85

126

303.73

202.49

0.25

7.8

126

303.73

151.87

-1.5

0.25

-7.75

126

-310.01

206.67

-2

0.25

-7.75

128

-308.96

154.48

Km=
(/V
m)

Figure 2.speed vs voltage (+iv)

Table 2.Time constant determination

The average value of time constant calculated from above readings is
127msec.
Figure 3.speed vs voltage (-iv)
Discussion and analysis
This main purpose of this experiment is to check the effect of tachometer on system parameter.
Tachometer is basically output sensor which measure the speed and provide the feedback to control for
feedback control system. The parameter of tachometer that can affect the system parameter is sensitivity
of tachometer and it has small value which remain constant and is ignorable.in this experiment we
calculated system parameter without taking in consideration the effect of tachometer and with
tachometer .we find out that our parameter remained same in both cases. This proves that in feedback
control tachometer act like unity feedback and does not affect system parameter.
7

1.3 Milestone 2: Basic closed speed control

To construct closed loop speed control the feedback signal proportional to speed is provided as
feedback from tachometer (GT150X) to the comparator (OA150A) and the feedback selector is set to
100Kohm resistor comparator. Comparator compares the reference Vref to the feedback and
Speed
Rev/min
200
400
600
800
1000
1200
1400
1600
1800
2000

Resistor
(Feedback)
100K
100K
100K
100K
100K
100K
100K
100K
100K
100K

Vref
(Ch1)
0.48
1.05
1.58
2.09
2.58
3.01
3.90
4.17
5.10
5.49

Verror
(Ch2)
0.094
0.112
0.131
0.148
0.167
0.171
0.189
0.198
0.228
0.24

Table 3.Speed, Resistance, V (ref),V (error)

Figure 4.Basic closed loop speed control

Provide Verror as input to servomotor (SA150D+DCM150). The whole setup is completed as according
to fig 4.The positive side of tachometer is connected to OA150A as input and other side is grounded.
Those are determined by increasing the reference voltage without feedback and by the help of voltmeter
measuring the voltage across tachometer.
Motor speed range is determine by tachometer which is 200rev/min to 2000rev/min. Several reading
of motor speed at 200 to 2000rev/min are taken from tachometer and reference voltage(V ref) and Error
voltage (Verror) is determined by the help of oscilloscope ch1 and ch2 at these specific speed values. All
the measured values are given in table 1.3.The graphical relation speed against reference voltage and
speed against error voltage are shown in fig 5 and 6[1].

Vref Vs Speed (m)

3000
2000
1000
0
0.09

0.14

0.19
0.24
Verror (V)

Figure 5.Verror (v) vs speed (rev/min)[1]

0.29

Speed (m) Rev/min

Speed (m) Rev/min

Verror Vs Speed (m)

3000
2000
1000
0

0.48

2.48

4.48

6.48

Vref (V)

Figure 6.Vref (v) vs speed (rev/min)[1]

Discussion and Analysis

In this experiment basic speed feedback control is implemented by providing the simply feedback from
tachometer which measure the output speed. The difference between feedback and reference value is
error value which is used as in put for servomotor to control the speed. It is clear from the graph given
in fig 1.6 and 1.7 that speed increased linearly with both reference and error inputs. In order to control
8

the output speed according to reference value this error signal should be zero ideally. But practically
its not possible. So by using different controllers we try to reduce the error value to match the reference
value to the desired output.
1.4 Milestone 3: Basic closed loop position control
Closed loop position control is implemented as shown in fig 1.8.The input (150H) and output
potentiometer (150X) at their midpoint indicates zero voltage. The input potentiometer is offset by 30
degree and as soon it happen output potentiometer start is following the input this proves our connection
are correct. Closed loop transfer function is

(n2 )

() = s2 +2nsn
2 +n2

Figure 7.Position control with velocity feedback[1]

Square wave of amplitude 2V (p-p) and frequency of 0.5Hz is provided as input from function
generator. The ch1 and ch2 of oscilloscope are connected the input and output terminal to observe the
response by changing the value of forward path gain (K1) and velocity feedback gain (K2).By setting
the K2=0 and changing the value of K1=1,2,4,8 and 10 the value of peak time(Tp) ,time period(T) and
percentage overshoot(P.O) are measured by using oscilloscope at given values of K1.the value of
damping ratio () is calculated by using equation (1.5)[1] .

P.O=100

Forward Tachometer
Path
Feedback
Gain
Gain (K2)
(K1)

Peak
Time
(tP)

12

Time
period
(T)

. (1.5)

Percentage Settling
Natural
*Damping
Overshoot time(tS) frequency(n)
Ratio
P.O (%)
s
rad/s

1
0
0
0.00
0
2
0
214
0.00
7.5
4
0
160
0.00
27.2
8
0
160
0.00
20.6
10
0
152
206.00
28
* Damping Ratio has been calculated using equation 1.5
Table 4.values of K1, K2, (), T (), P.O (%)

0
0.33
0.49
0.405
0.478

0
19.01
21.24
21.97
22.29

0
0.636108
0.382807
0.449232
0.375703

Scopes are given in appendix experiment1, milestone3 and measurements in are given in table 4.

Discussion and Analysis

in order to implement basic closed loop potion control in this part of experiment we remove speed
feedback which was represented by K2 and we investigated the effect of forward path gainK1 on the
system stability by determine the value of damping ratio at different values of K1.As it is clearly seen
in the table 4 that increasing the value of K1 causes the decrees in damping ratio which in term causes
9

more overshoot in output and lead system to instability. This happen because of increase in natural
frequency of system which make system faster but cause more overshoot and oscillation and make
system to unstable if damping ratio decreased to very low value. That is undesirable in position control
to have oscillation and overshoot because when you are going to align our system to certain position
these oscillation make it difficult achieve the desired results. Normally damping ratio should be between
0.4 and 0.8 to achieve good results. The overshoot 2 to 6% is acceptable because practically its very
hard to get zero overshoot.in this arrangement we only have one parameter K1 which effect both
damping ration and natural frequency simultaneously so it is very difficult achieve desire results.in
order to overcome this problem in next experiment we are going to use speed feedback to control natural
frequency and damping ratio independently. System transfer function can be identified by this method
but due to limitation in case of no overshoot and first order system bode plot are preferred.
1.5 Milestone 4: Closed loop with position and velocity feedback
The closed loop with position and velocity feedback is implemented as shown in fig 1.8 in previous
milestone.
This time we set the forward gain K1=10 and change the value of velocity feedback gain K2 in order
to analyze the effect of K2 on system output response. For different values of K2=1, 2, 4, 8 and 10
output is analyzed on oscilloscope and peak time (Tp), time period (T) and percentage overshoot(P.O)
are obtained from oscilloscope all scopes are given in appendix experiment 1, milestone4.
All the measurements and calculation are given in table 5[1].
Forward Path
Gain (K1)

Tachometer
Peak Time (Tp)
Feedback Gain
mSec
(K2)
10
1
0
10
2
0
10
4
0
10
8
0
10
10
0
Table 5.values of K2, K1, Tp, T, P.O and

Period Time (T)

mSec
0
0
0
0
0

Percentage
Overshoot P.O
(%)
0
0
0
0
0

Discussion and analysis

In closed loop position control with velocity feedback the results shown in table 1.5 clearly indicates
that in this case there is no overshoot recorded because of velocity feedback gain which provide
independent control of damping ratio without affecting natural frequency. To apply step response
method for system transfer function identification we require the some sort of overshoot to get value of
damping ratio these results shows the limitation of step response in system identification.in order to
identify the such type of systems we use bode plots.in next experiment system identification done with
help of bode plots.

10

Chapter 2
System Identification
Aims and Objectives:

Identification of unknown transfer function by bode plot

Transfer function parameterising by using bode plot[1]
2.1 Background
System identification is the process of determining the equations which govern a systems dynamic
response. Depending upon our analysis, we may wish to find the differential equations which
characterize the system, the state space model, or the transfer function model of the system. Broadly
speaking, there are two categories of system identification; online and offline.
In this experiment offline system identification is used for parameter identification of servomotor in
which a series of measurements are taken and through calculation and approximated mathematical
model is developed. This typically leads us to identifying an approximate system transfer function.
Frequency domain (bode plot) approach is used for identification. Two types of models are common
in the field of system identification.
Grey box model: The model of system about which we already have some information about the
underlying dynamics or some physical parameters is called grey box model.
Black box model: The model of system about which we dont have any information about the
dynamics of system is called black box model.
There two types of servomechanism one to produce the controlled speed as output and other
controlled position. We are going to identify the parameter of servomotor which falls under the
category of black box model. The general open loop transfer function of first order system in
frequency domain is
G(s) =KLF/1+Sm
(2.1)
m=1/c
(2.2)
In this experiment we are using the same servomotor that we used in previous experiment the open loop
transfer function of servomotor will be
same as given in equation 2.1.
Generally the values of KLF and m can
be calculated
From the bode plot of magnitude plot.
KLF is the value of magnitude at lowest
frequency also known as low
Figure 8.bode plot first order
frequency gain. The value of c is
determined from graph as shown in
fig 2.1.m can be calculated by using the equation 2.2.
The open loop transfer function of position control is given by the product of speed controller transfer
function G(s) and the speed/position conversion P(s).
P(s) =66.5/s (2.2)
This experiment have four millstones
Position control system analysis.
Analysis of closed loop speed control transfer function at different attenuator values by bode
plot.
Analysis of position control transfer function at different attenuator values by bode pot.
Matlab simulation of obtained transfer function[1].

11

2.2 Milestone 1: Position control system analysis

Position control system is constructed as show in figure 2.2 by closing the feedback switch on the
control unit. The low frequency square wave (+/-5volts) is provided as input from function generator.
The value of velocity feedback attenuator (0.2, 0.4, 0.6) the steady state error and maximum
overshoots are measured by using oscilloscope. All the measured values are given in table 6[1].

Figure 9.Closed loop position control[1]

Tachometer Frequency Steady

Over
Feedback
(F) Hz
State
shoo
Gain
Error
t (%)
0.2
0.5
0
5
0.3
0.5
0
1
0.4
0.5
-0.2
1
0.6
0.5
-0.3
0
Table 6.Vlaues of K2, SSE and overshoot (%)[1]

Discussion and analysis

We already discussed in experiment 1 that the velocity feedback gain in position control
increase the damping without effecting the natural frequency. Similarly in this case it clearly
seen the result obtained that increasing the gain the overshoot decreases. Steady state error
remain zero, because it doesnt affect steady state value. The small negative values mention in
table are due to oscilloscope limitation which are small enough to be ignored.so it is proved
again that velocity feedback for position control improve the response by adding additional
damping.
The application where high precision is required we use position control with velocity feedback in order
to avoid oscillation.
2.3 Milestone2: Close loop speed control System identification
In this milestone we are going to analyses the closed loop speed transfer function for identification of
system by the help of bode plot at two different values of velocity feedback attenuator. In order
determine the effect of attenuator values on system transfer function.
Milestone (2.1): Close loop speed control system identification at attenuator (0.3)
In this milestone we are going to use same system model that was constructed in previous milestone.
Closed loop speed control is
established by removing position
Tachometer Function
Sine
Vin Vout Gain Phase
feedback from comparator. The
Feedback
Generator
Wave
Shift
value of attenuator used for
Gain (K2)
Amplitude Frequency
velocity back is fixed as 0.3 and
(F) Hz
sine wave of frequency 0.1Hz and
0.3
1.0V
0.1
1.09 3.5 3.2
0
amplitude of 1.0V is provided as
0.3
1.0V
0.3
1.09 3.5 3.2
-0.5
reference input from function
0.3
1.0V
1
1.09 3.5 3.2
-2
generator. The output response is
0.3
1.0V
3
1.13 3.5 3.1 -10.8
observed
on
oscilloscope.
0.3
1.0V
10
1.13 1.9 1.7
-42
Magnitude and phase angle are
0.3
1.0V
30
1.13 1.9 1.7
-112
measured by oscilloscope.
Table7.Value of K2, Amplitude, F, , , , ,Gain and Phase shift
Same process is repeated for frequency values of 0.3, 1.0, 3.0, 10.0, 30.0Hz. All the results obtained are
given shown in table 6 and bode plot of frequency against magnitude and phase angle are given in fig
10 and 11.

12

Magnitude

Bode Plot
4.0
2.0
0.0
0

10

20

30

40

Frequency

Figure 10.Magnitude vs Frequency

Figure 11.Phase vs Frequency

We can determine the system transfer function of by using the general equation (2.1) of first
order system. From bode plot of magnitude vs frequency the value of KLF=3.2 and c=6.284
rad/s and from equation (2.2) m=1/c = 0.16.Putting these value in (2.1) system transfer function[1].
G(s)=19.38/ 6.25+S.(2.3)
Milestone (2.2) Close loop speed control system identification at attenuator (1)
In this experiment we are going to use same procedure that we used in previous milestone for
identification of system transfer function by using speed feedback but this time attenuator value is set
to 0.1.All the measurement and the calculation regarding natural frequency and damping ratio are given

Tachometer
Feedback Gain
(K2)

Function
Generator
Amplitude

Sine Wave
Frequency (F)
Hz

Vin

Vout

Gain

Phase
Shift

Oversho
ot

1
1.0V
0.1
1.0
0.99
0.99
1
1.0V
0.3
1.0
0.99
0.99
1
1.0V
1
1.0
0.98
0.98
1
1.0V
3
1.0
1
1.00
1
1.0V
10
1.0
1
1.00
1
1.0V
30
1.0
0.59
0.59
1
1.0V
40
1.0
0.42
0.42
Table 8.Value of K2, Amplitude, F, , ,Gain and Phase shift, P.O

0
0
-4
-6
-8
-74.9
-110

0
0
0.3
0
0
0
0

in table 8 and the bode plot of the magnitude and phase against frequency are given in fig 2.6 and 2.7

We can determine the systems transfer function by using the general equation (2.1) of first
order system. From bode plot of magnitude vs frequency the value of KLF=1 and c=75.4 rad/s
and from equation (2.2) m=1/c = 0.01333.
And putting these value in (2.1) system transfer function[1]
G(s)1 =75.2/ 75.2+S. (2.4)

13

Figure 12.Magnitude vs Frequency

Figure 13.Phase vs Frequency

Discussion and analysis

By looking at the results obtained from the experiment for closed loop speed control at different
frequency values and attenuator value at (0.3) and (1) it is obvious that increase in the value of attenuator
is directly affecting the magnitude and natural frequency of system. At low value of 0.3 the value of
magnitude is high and natural frequency is small as compared to 1 because the attenuator is connected
with feedback which is acting as derivative which tend to damp the amplitude of output, in other word
output magnitude is decreased as compared to value at 0.3.due to which system reaches its steady state
faster, which mean high natural frequency. Because the time constant of system is inversely
proportional to natural frequency. System become faster rise time is decreased due to high value of
natural frequency. In Matlab section we are going to prove these results by plotting step response.
2.4 Milestone3: System identification for Close loop position control
In this millstone we are going to identify the close loop position control system with velocity feedback
at two different at two different values of attenuator.in order to determine the impact of attenuator
on system.
Millstone (3.1) Close loop position control system identification at attenuator (0.3)
We use the same system that was used in millstone (2.1.)In order to obtain the closed loop position
transfer function we turn the feedback switch on to establish the closed loop position control.by
keeping the value of attenuator at 0.3 parameter for closed loop transfer are calculated by using
oscilloscope and given in table 9.
Tachometer
Feedback Gain
(K2)

Function
Generator
Amplitude

Square
Vin
Vout
Gain
Phase
Wave
Shift
Frequency
(F) Hz
0.3
3.0V
0.1
1.05
1.06
1.0
0
0.3
3.0V
0.3
1.05
1.06
1.0
-0.5
0.3
3.0V
1
1.05
1.05
1.0
-2.7
0.3
3.0V
3
1.05
1.03
1.0
-24
0.3
3.0V
8
1.05
0.88
0.8
-162
0.3
3.0V
10
1.05
0.55
0.5
-206
Table 9.Value of K2 (0.3), Amplitude, F,, , Gain and Phase shift, P.O

Overshoot

0
0
0.1
3.3
2.4
0

14

The bode plot of magnitude against frequency and phase against frequency are given in fig 14 and
15[1].

Figure 14.Magnitude vs Frequency

Figure 15.Phase vs Frequency

Now with position feedback our System become 2nd order and we know the general equation for 2nd
order system is
G(s)=Kn2/S2+2nS+n2(2.6)
In order to obtained closed loop position transfer function we find the value of K DC gain damping
ratio () and natural frequency (n) using equation 2.5, 2.6 and 2.7[2].

DC gain=
=

()

()

... (2.5) M (0) =magnitude at =0

(2.6)

M (-90) =magnitude when phase -90

n= -90 (2.7)

-90=frequency at which phase plot is at -90

From bode plot the values of above parameters are

M (0) =1.0

M (-90) =0.95

DC gain=1.122

-90=25rad/sec

=0.50

The closed transfer function by using equation 2.6 and putting values is
G(s) =701.3/S2+25S+625
Millstone (3.2) Close loop position transfer function attenuator at (1)
In this experiment we are going to use the same procedure as we did in milestone (2.2) for closed loop
position control but this time we are going to change the attenuator gain from 0.3 to 0.1 in order
Tachometer
Function
Square Wave

Feedback Gain
Generator
Frequency (F)
(K2)
Amplitude
Hz
1
1.0V
0.1
1.01
0.95
1
1.0V
0.3
1.01
0.92
1
1.0V
0.5
1.01
0.64
1
1.0V
1
1.01
0.62
1
1.0V
1.5
1.01
0.6
1
1.0V
2
1.01
0.4
Table 10 Value of K2 (1), Amplitude, F,, , Gain and Phase shift, P.O

Gain

Phase
Shift

0.94
0.91
0.63
0.61
0.59
0.40

0
-8
-21
-70
-85
-102

15

check the effect on transfer function all the measurement and calculation are given in table 2.5 and bode
plot magnitude and phase against frequency are given in fig 16 and 17[1].

Figure17.Phase vs Magnitude

Figure 16.Magnitude vs Frequency

In order to obtained closed loop position transfer function we find the value of K DC gain damping
ratio () and natural frequency () using equation 2.11, 2.12 and 2.13[2].

DC gain=
=

()

()

... (2.11) M (0) =magnitude at j=0

(2.12)

M (-90) =magnitude when phase -90

n= -90 (2.13)

-90=frequency at which phase plot is at -90

From bode plot the values of above parameters are

M (0) =0.99
DC gain=1.120

M (-90) =0.64

-90=9.43rad/sec

=0.520

The closed transfer function by using equation 2.6 and putting values is
G(s)1 =100/S2+10S+89
Discussion and analysis
In these two experiments closed position control with velocity feedback is implemented at two different
value of attenuator in order to account for effect of attenuator on system performance.
At low value of attenuator at 0.3 the value of damping ratio is smaller than at attenuator value of
1.Because this attenuator is used in speed feedback so it work as derivative gain. This value directly
influence the performance of system increase in attenuator value decrease natural frequency due to
increase in damping ratio mean system become slower due to increase in rise time of system. Increase
in damping ratio cause decrease in percentage overshoot of system but settling time of system will be
increased. These results will be validated in Matlab section.

16

2.5 Milestone 4 Simulation

Figure 17.Close loop speed Control

Discussion and Analysis
These results basically validate the results obtained theoretically. That increase in feedback gain for
speed causes decrease in amplitude due to decrease in amplitude make system faster because the
required value is smaller. Thus system natural frequency also increased.

Figure 18.Closed loops position step response

Discussion and Results
These results prove our theoretical results that increasing the value of feedback gain increases the
value of damping ratio, make system slower and increase the settling time. Both the system reach the
steady state value of 1.12.

17

Conclusion
It is concluded that, first half deal with understanding of servomechanism, servomotor parameter
identification, construction of basic close loop speed and position feedback systems and application of
step response technique of system identification to get the transfer function of servo system. But due to
limitation of step response in case of first order and system with no overshoot (position control with
velocity feedback), this technique is not used for system transfer function identification, all the
procedure implemented for understanding. In second half bode plots are used for system identification
for both close loop speed and position. Same procedure is repeated for construction of close loop speed
and position loops. By applying different frequency signal and at different values of velocity feedback
attenuator transfer functions are calculated. These values shows the effect of change in attenuator on
system transfer function. These changes in transfer function also effect system performance which are
measured in term of settling time, rise time, percentage overshoot and steady state value. These transfer
function plotted in Matlab and theoretical results are verified.

18

References
[1]
[2]

K. Adhakari, Servomechnisms and System Identification(SSI)( course notes). Newcastle:

Newcaslte University, 2015.
M. Armstrong, Digital Control System(course notes). Newcastle: Newcastle University, 2015.

19

Appendix
Experiment 1: Milestone 1

Figure19.Deadband Voltage

Figure 20.Time Constant at1.5 Volts

nt at 1.5 Volts

Figure21.Time Constant at 2 Volts

Figure22.Time constant at -1.5 Volts

Figure22.Time constant at -2.0 Volts

20

Milestone 3

Figure23.System Response at K=1

Figure24.System Response at K=2

Figure 24.System Response at K=4

Figure25.System Response at K=8

Figure26.System Response at K=10

21

Milestone 4

Figure 27.System Response at K1=10 and K=1

Figure 28.System Response at K1=10 and K2=2

Figure 29.System Response at K1=10 and

K=4

Figure 30.System Response at K1=10 and K=8

Figure 31.System Response at K1=10 and K=10

22

Experiment 2:
Milestone 2(1)

Figure 32.System Response Gain=0.3, F=0.1 Hz

Figure 32.System Response Gain=0.3, F=3 Hz

Figure 32.System Response Gain=0.3, F=1 Hz

Figure 32.System Response Gain=0.3, F=10 Hz

Figure 32.System Response Gain=0.3, F=30 Hz

23