Signal Generators for Frequency Response Experiments

Introduction

The process identification delivers valuable information, necessary for control system design or
for a deep knowledge of the process under control. The basic frames are [Ljung]: the time domain and
the frequency domain identification methods. In the second case, of the experimental identification, a
sinusoidal signal of various frequencies is usually applied to the process imput and than, the output
signal evolution is analised.
A particular case of identification is related to the relay method [Astrom], where a rectangular
wave is applied to the process imput. The contents in high-order harmonics is a drawback of the
method. Integration of the relay output signal generates a triangular wave, with smaller harmonics
contents but the application area is limited [RdK].

2
Sinusoidal wave broad-band generators

A great number of sinusoidal generator schemes are known [ ], devided in

- analog circuits generators and
- digital circuits generators

The most common and frequent broad-band analog sinusoidal generators are based on the Wein
1
bridge figure (3.1) []. The output frequency is: 0 = but ussualy = , = .
2
If the resistors (, ) are replaced by potentiometers (usually double version []), it is possible the
fine change of the output frequency. The coarse frequency adjustment is possible by the simultaneous
replacement of the capacitors (, ), in decade mode (0,01F; 0,1F; 1F etc). The additional
potentiometer of (10 K) ensures the stable mode of operation through the proper amplifier gain.
Because the output voltage magnitude changes in normal operation another circuits is necessary to
stabilize this important parameter. In the figure 3.2 a nonlinear resistance of an incandescent lamp
solves this problem with some approximation.
A better stabilisation of the output voltage magnitude is achieved by using a J-FET transistor
operated as controlled resistance, figure. 3.3[ ]. A more sophisticated scheme from figure 3.4[ ] Ensures
a constant voltage magnitude on broad-range of frequency. The application of this sinus signal
generator in process identification is limited due to the difficulty to change continuously, in a self-
controlled mode, the frequency.
The digital sinusoidal generators are based on memories for the sin function: sin(2) in small
steps: ( = 0; 0,01; 0,02 ). Those values are read successively with various sampling periods (t) in
order to obtain different output frequencies. The sampled values sin() are filtered in order to close
this signal to the continuous signal [sin()]. Additional power adapters are necessary in the
identification process.

3
Quasi-sinusoidal broad-band generators

The authors present a simple, cheap and robust signal generator with an output signal close to
the mathematical sinusoidal signal. The generator consists of three components:
- a broad-band triangle signal generator
- a triangle sine converter
- a power output adapter

The broad-band triangle signal generator uses an ideal hysteresis relay and an integrator [ ] which
operates in stable limit cycle [Dobra], figure 6.1

During the half-period (2), the signal (U2) evolves from (- VM) to (+ VM):

2 2
2 () = 1 () = 2 = 1 = = 2
0 0 2
so that (T = 4VM) and the output frequency is :
1
0 =
4

The converter triangle sine approximates the sinusoidal (mathematical) function through three
lines: D1, D2, D3, figure 7.1 where (D3) is a horizontal (saturation) line. The line (D2) is tangent to the sine-
curve in the point P. In [ ] it is proved that the area between line (D2) and sine function has a
minimum if tp = 7

The power output adapter is a current (transistor) amplifier [ ] with minimum wave distorsions.

4
Simulation schemes for the quasi-sinusoidal broad-band generators

The scheme given in figure 8.1 implements in Simulink the structure from the figure 6.1a. The
hysteresis zone is (+/- VM), the relay amplitude is (+/- 1) and the gain of the integrator is (ki=1). The
amplitude of the triangle wave is (VM). The output frequency is a function of the relay amplitude, the
additional gain and the gain of the integrator. Usually the parameters of the relay and of the integrator
are imposed, so that the output frequency is given by the Gain value.
 In the scheme from the figure 8.1.b the frequency of the triangle wave may be set by the
external signal, in our case, by the step amplitude.

From the triangle wave, in the figure 8.1c is used a dead-zone relay with the domain (+/- d) and
with negative slope (Gain 5) so that, from this time moment, the slope of the tiangle wave is
diminished. Finaly, the Saturation relay limits the wave amplitude to 10(V).
In the figure 9.1 are presented some simulation schemes in order to analyse the frequency
response of a first order system:
1
() =
2,5 + 1
if the imput is a quasi-sine signal, fig 9.1.a, and than, the response for a pure sinusoidal signal fig. 9.1.b
The angular frequency was selected to 0 1 (rad/sec). The simulation results are presented in
the figure 9.2.a,b,c. Although the imput signals have the same amplitude (A=10), the magnitude of the
frequency response by quasi-sine signal is smaller:

Mquasi-sin = Msin =

the small difference may be considered insignificant.

5
Analog electronic quasi-sine generator:

The generators simulated in the figure 8.1 may be implemented in many versions, one of them
is presented in the figure 10.1 based on a relay with hysteresis(A1) , an integrator (A2) and a triangle-
sine converter (A3).
1
If 1 + 2
0, the amplitude of triangle signal U02(t) is given by the Zener diodes parameters.
The dead-zone of the relay figure 8.1.4 is given by the Zener diodes (Dz3, Dz4) and the amplitude of the
quasi-sine signal U03 is determined by the Zener diodes (Dz5, Dz6).