DEPARTMENT OF MECHANICAL ENGINEERING

NATIONAL UNIVERSITY OF SINGAPORE

Frequency Response
ME 2142 - 1

Gao Yifan
A0091597N
Group 3B1

Objectives

To perform a frequency response test on an aircraft electro-hydraulic servo-actuator and to

determine the phase and gain margins of the servo.
To verify that increasing the gain causes instability.

Results and Sample Calculations

f (Hz)
0.5
1
2
3
4

(rad/s
)
3.142
6.283
12.56
6
18.85
0
25.13
3

Vi (V)

Vo (V)

Gain
(dB)

4.96
4.96

4.8
4.6

-0.285
-0.654

144
128

25.92
46.08

7.2
2.1

Open
Loop
Phas
e
98
107

4.96

3.0

-4.367

104

74.88

-4.4

109

4.96

2.24

-6.905

94

-6.1

121

4.96

1.68

-9.403

72.8

-10.0

119

31.41
6

4.96

1.32

37.69
9

4.96

0.984

43.98
2

4.92

0.816

50.26
5

4.96

0.680

56.54
9

4.96

0.552

10

62.83
2

4.96

0.468

11

69.11
5

4.96

0.376

12

75.39
8

4.96

0.316

13

81.68
1

4.96

0.268

14

87.96
5

4.96

0.224

15

94.24
8

4.96

0.174

Open Loop Gain vs.

11.49
8
14.05
0
15.60
5
17.25
9
19.07
1
20.50
5
22.40
6
23.91
6
25.34
7
26.90
5
29.09
9

time
(ms)

Phas
e
(deg)

Open
Loop
Gain

101.5
2
104.8
3

70.4

126.7
2

-12.6

136

63.2

136.5
1

-15.0

141

59.2

149.1
8

-16.5

152

52.8

152.0
6

-18.0

153

49.6

160.7
0

46.4

167.0
4

43.6

172.6
6

41.6

179.7
1

39.6

185.3
3

38.0

191.5
2

35.6

192.2
4

10.0
5.0
0.0
-5.0
-10.0
-15.0
-20.0
1.000

10.000

100.000

10.000

100.000

Open Loop Phase vs.

-80
-90
-100
-110
-120
-130
-140
-150
-160
1.000
Open Loop Gain vs. Open Loop Phase
10.0
5.0
0.0
-5.0
-10.0
-15.0
-20.0
-180

-170

-160

-150

-140

-130

-120

-110

-100

-90

Unstable gain K = 70 = 36.90 dB

For f = 0.5 Hz,

=2 f =3.142

rad
s

Vo
=0.285 dB
Vi
Phase= time f 360 =25.92

Closeloop gain=20 log

From Nichols Chart,

Openloop gain margin=25 dB

Openloop phase margin=74

From Bode Diagram,

Pole at s=1=18.850 rad /s

1
= =0.053 s
1
Gain K =15 dB=5.623
5.623
G ( s )=
s (0.053 s+ 1)

where the system is of second order and type 1.

Discussions
When K is increased, the slope of response to square waves is increased. The time taken to reach peak
of voltage output is shorter. Slope keeps increasing with gain and the output overshoots. Then
increasing of K results in oscillations and it takes longer time to reach stable voltage. Further increasing
of gain results in system of oscillatory motion and unstable.
Sources of errors
Values from Nichols chart are approximated values.
Response with a close loop gain less than -18 dB cannot be easily plotted from Nichols chart.
Readings on the control knob are based very rough estimations.
Different interpretation on instability leads to different readings of K value while turning the
knob.

Conclusion:
Through this experiment, open loop transfer function of the system is determined by obtaining the open
loop gain and phase from Nichols Chart and then plotting Bode Diagram. Also, the open loop gain and
phase margin of the electro-hydraulic servo-actuator are determined and therefore the point of
instability of the system can be estimated.