3.

METHODOLOGY
The experiment consisted of two stages
In the first part, it is connected to the DC voltage source 30 to the servo amplifiers. The input
from the DC voltage source is suppressed by turning off the switch on the cable. Reference
input, respectively, the second DC voltage source V, 4 V, 6 V, and is set to 8 V is applied to the
input into the system by opening the inlet. For each entry, the system response is investigated
in the oscilloscope and recorded.

The second part is connected to the function generator 30A to the servo amplifiers. sinusoidal
inputs are applied at various frequencies between 0.1 Hz and 30 Hz. (0.1, 0.2, 0.4, 0.6, 0.8, 1,
2, 4, 6, 8, 10, 15, 20, 25, 30 Hz.) For each input, input and output amplitudes are not the
voltage type from the oscilloscope

4.DATA and CALCULATIONS

Figure 1: Step input of 4V

 Figure 2: Step input of 6V

Figure 3 Step input of 10V

Figure 4 Sinusodial input of 0.1Hz

Figure 5 Sinusodial input of 2 Hz

Figure 6 Sinusodial input of 30 Hz

 Table 1: Time constants for the step inputs

Voltage Time Constant

2V 0.45
4V 0.44
6V 0.39
8V 0.29
10V 0.22

Table 2 : Frequency – I/O Voltage

Frequency(Hz) Input (V) Output(V) Vo/Vi Normalized Ratios
0.1 7 6.6 0.94
0.057
0.2 7.2 6.4 0.88
0.11
0.4 7.2 5.6 0.77
0.833333
0.6 7.2 4.4 0.61
0.666667
0.8 7.2 3.6 0.5
0.541667
1 7.2 3.2 0.44
0.458333
2 6.8 2 0.29
0.25
4 7 3.4 0.48
0.145833
6 7 2.2 0.31
0.104167
8 7.2 1.6 0.22
0.083333
15 7.2 2.2 0.3 0.041667
20 13.6 1.6 0.11 0.03125
25 13.6 1.2 0.088 0.026042
30 14 1.2 0.085
0.020833