ME2142-1: FREQUENCY RESPONSE

Semester 5

2018/2019

Department of Mechanical Engineering

National University of Singapore
Contents

1 Introduction 3

1.1 Purposes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2 Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.3 Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Theory of Operation 4

3 Procedure 5

4 References 5

List of Figures

1 Structure of Electrohydraulic Actuator . . . . . . . . . . . . . 6

2 Electrohydraulic Actuator Amplifier Unit . . . . . . . . . . . . 7

3 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . 8

List of Tables

1 Experimental Data . . . . . . . . . . . . . . . . . . . . . . . . 9

2
1 Introduction

With this lab you will learn how to use the frequency response method to
identify the (linear) dynamics of a plant, i.e. you will be able to find the
plant dynamics just by inputting a sinusoidal signal and comparing it with
the sinusoidal output.

1.1 Purposes
• To perform a frequency response test on an aircraft electro-hydraulic
servo-actuator.

• To identify the dynamics of the system in the experiment. This is

equivalent to determining the transfer function of the system.

1.2 Scope

The manual provides a list of the equipment for the experiment and a de-
scription of the theory of operation of the electro-hydraulic actuator. It also
deals with the procedure adopted to study the frequency response of the
system.

1.3 Equipment
1 Electro-hydraulic servo-actuator.

2 Amplifier unit.

3 Oscilloscope.

4 Function generator.

5 Hydraulic power supply (located outside the laboratory).

3
2 Theory of Operation

The servo system, as described in Figure 1, comprises a servo-actuator and an

amplifier unit. A similar system is used in aircrafts to add autopilot outputs
(electrical) as mechanical movement into the control rods, which connects
the pilots stick to the aircraft control surfaces (elevators, fins etc.). The unit
receives a voltage input and is required to realize a mechanical movement
proportional to that input voltage. Since a considerable force is required
a hydraulic servo is used. Generally the time delay to change the output
position should be minimal but the response should not oscillate. These
specifications usually determine the gain (or attenuation) and phase angle at
some frequency. The servo-actuator is shown in Figure 1 and the amplifier
unit is shown in Figure 2. To permit the loop gain to be varied, the feedback
resistor of the amplifier is connected externally.

Note that the motor is driven in a push-pull manner. The motor has a
continuous current flowing through it and is connected to a LVDT. When an
error signal is detected, the current increases in one coil and decreases in the
other: The net differential current causes the motor to move.

The servo-actuator consists of four parts:

i a servo motor which is within the main body.

ii a valve spool which is within the main body.

iii an actuator which is within the main body.

iv a linear potentiometer which is attached alongside the main body.

As the motor is moved by the input signal it tends to block one nozzle
and unblock the other. Hence there is an increase in oil pressure behind the
former and a decrease behind the other. This differential is applied at the
ends of the main valve spool that consequently moves.

As the spool moves, pressurized oil is supplied to one chamber of the main
actuator, while oil in the other chamber flows back to the return. The piston
rod of the actuator moves and this movement is converted to a voltage by
the potentiometer.

4
 The summing amplifier receives the error between input and output and
the error voltage is applied to the power amplifier. The block diagram in
Figure 3 shows the (closed) control loop.

3 Procedure
1 The equipment is already connected for the experiment. Verify that the
equipment is complete and familiarize yourself with the connections and
the layout.

2 With the sine wave frequency set at 0.5 Hz, adjust the amplitude of
the function generator output to 5V peak-to-peak. Leave the amplitude
setting unchanged throughout the experiment.

3 Open the hydraulic supply valve and note the supply pressure. The
actuator should now be moving in and out.

4 Measure the frequency, f , voltage input Vi , voltage output Vo and

change in time ∆time and tabulate them on Table 1. Derive the gain
and phase angle with the formula on this table. For further detail, refer
to Appendix A. (Note that at low frequencies, 0.5 Hz in this case, the
phase angle should be approximately zero).

5 Repeat step 4 at increasing frequencies of 1Hz. Tabulate the results in

Table 1.

6 Draw the Bode gain and phase plots on the same graph paper. Estimate
the transfer function of the system.

4 References
1 Ogata, K., ”Modern Control Engineering”, Prentice Hall, Fourth Edi-
tion, 2002.

5
 INPUT SIGNAL

LVDT MOTOR

Exhaust
Pressure Pressure

Main Actuator

Potentiometer

Figure 1: Structure of Electrohydraulic Actuator

6
 Function
LVDT
Generator

K Servo Servo
Amp Valve
Summing
Amp
Main
Actuator
7

Oscilloscope

+15V -15V
Potentiometer

Figure 2: Electrohydraulic Actuator Amplifier Unit

 Function
Generator
K Plant
Input Error Output
8

1
Oscilloscope
Potentiometer
Figure 3: System Block Diagram
 Table 1: Experimental Data

ω (rad/s) = Gain (dB) = Phase (deg) =

S/No. f (Hz) Vi (V) Vo (V) ∆time
2πf 20 log VVoi ∆time × f × 360o
1 0.5

2 1.0

3 2.0

4 3.0

5 4.0
9

6 5.0

7 6.0

8 7.0

9 8.0

10 9.0

11 10.0

12 11.0

13 12.0

14 13.0

15 14.0

16 15.0
 Appendix A

• Measure Vo and Vi . Then the gain in dB is

Vo
GaindB = 20log10
Vi

• Measure a and b. Then the phase angle is given as

a
phase = × 360o
b

10