Experiment No 5

Name: Muhammad Usama Roll No: 20013122-032
Experiment No. 5
Title:
Conduct the Frequency response of Control System and execute the Bode Plot Analysis
Objectives:
i. Perform the parameters of a plant using frequency tests
ii. Detect the frequency characteristics of a first order lag
iii. Demonstrate why Bode Plots are used in preference to other frequency plots
Apparatus Required:
 MS-15 DC Motor Module
 AS-3 Command Potentiometer
 CLIO Interface Module with PC connection leads
 System Power supply
 4mm Connection Leads
 PC running VCL (Visual Control Laboratory) Software
Procedure:
File Controller Plant Display Graph

CA06PE04 Open-loop MS15 Analog
Signal Generator Graph
Signal Sine 1 Input ON
Level 60% 2 Position OFF
Offset 0%
Freq 100mHz 4 Velocity ON
Reference Internal
DC Motor Output Potentiometer Disengage
Brake 0 Command Potentiometer 180o
 Locate VLC software and Start VCL. Load file CA06PE04 from file.
 Then, set the setting as: Disengaged the output potentiometer then switched the power
ON and enabled the motor.
 To observe Response of the system. Click on the purple scale on the screen.
 Expand the scale by decreasing the rate to 10m sec and click the X2 time multiplier.Click
freeze and took fallowing measurements
Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

 When the Frozen message appears, click Frequency ON. Measurement boxes appear
in the scale area.
 Then measure the peak-peak voltage by placing lines A and B on the maximum
and minimum velocity values.
 The input peak-peak can be found by measuring the input/dark blue trace.
 Now, select Phase D by clicking in the D box. Move the vertical line until
it intersects with the peak value.
Input Amplitude = 6.0 Volts peak-to-peak
(dB) = 20log10
Observation & Calculations
Frequency Output Phase Lag Amplitude Ratio A Amplitude Ratio

(Vp-p) (Degree) 20log10 A (dB)
10mHz 5.5 -2 0.92 -0.76
20 mHz 5.4 -3 0.9 -0.92
50 mHz 5.4 -6 0.9 -0.92
100 mHz 5.3 -12 0.88 -1.07
200 mHz 5.2 -19 0.87 -1.24
500 mHz 4.4 -33 0.73 -2.69
1Hz 3.05 -58 0.5 -5.88
2Hz 1.95 -69 0.325 -9.76
5Hz 0.8 -80 0.133 -17.5
10Hz 0.405 -90 0.0675 -23.4
Amplitude Ratio
 At low frequency, the Amplitude Ratio is the Gain (Kp) of the plant.
 At high frequency, the Amplitude Ratio drops linearly on the graph.
 The straight line actually drops at a rate of -20 dB/decade, such that every
time the frequency increases by a factor of 10, the amplitude drops by 20 dB.
 Draw a straight line with this slope as a best fit to the high frequency section
of the measured curve.
 A first order lag is characterized, in frequency, by its low frequency gain and its

cut-off frequency.
Phase Response:
 At low frequency, there is no phase shift. At high frequency, the Phase φ tends towards -
90° (90° lag).
At the Break Frequency the phase φ is at -45°.
Finding the Break Frequency

 Draw a horizontal line through the low frequency amplitude points.
 Draw a line at slope -20 dB/decade through the high frequency points.
 The frequency at which these two lines meet is the break frequency.
 Adjust the lines if necessary to ensure that the actual amplitude curve is at -3
dB and the phase shift is -45° at the break frequency.
From the Bode plot in Fig # 2, the break frequency has been determined by the three
techniques. Enter your values into Table2 in your workbook and calculate the average
of the three readings.
Radian Frequency
 Radians are an angular measurement and there are 2π radians per cycle, such
that2π radians are equivalent to 360°.

 Radian Frequency has the symbol CD, where ω = 2πfc and has dimensions
radians/second.
Relationship between break frequency and time constant:
 Break Frequency, ωc, in radians/second, is the inverse of the time constant, τ, in seconds,
for example
Gain Kp = Amplitude Ratio at low frequency = 0.92

Accuracy of Frequency Tests:
 More accurate results could be obtained if more frequency points were tested but the
three measures of cut-off frequency are consistent and agree with the time tests.
 Fig 3 shows the theoretical Bode plot of a first order lag having the gain and cut-off
frequency measured.
 It can be seen that the first order lag is a good frequency model for the DC motor.

Bode plot of a 1st order lag (Fig # 3)
Usefulness of Bode Plots - Building Complex Responses:
 The log of two numbers multiplied together is the sum of the log of the two
individual numbers, for example:
log (A x B) = logA + logB
 If a plant consists of two first order lags one after the other (in series) then the
Output is the multiple of the lags. Since Bode is a logarithmic plot, the Bode plot
of two lags is the sum of the two individual Bode plots. This is true for both
amplitude and phase.
 It is then quite easy to translate the information into any of the other graphical

forms used in control engineering design.
Usefulness of Bode Plots – Identification of Complex Responses:

 Each lag adds -90° to the phase lag and a slope of-20 dB/decade to the amplitude
response at high frequency. This can be used to determine the different time
constants for higher order lags.
 Bode plots are the only form of the frequency response which can be used in this
way to identify the parameters.
 Electronic instruments called Transfer Function Analyzers can be purchased
which can perform frequency response tests very quickly. These are useful for
electro- mechanisms where the break frequency is greater than 1 Hz but
generally are not available for slow processes where the time constant is
measured in minutes or hours.

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Name: Muhammad Usama Roll No: 20013122-032

File Controller Plant Display Graph

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Observation & Calculations

Frequency Output Phase Lag Amplitude Ratio A Amplitude Ratio

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Finding the Break Frequency

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Gain Kp = Amplitude Ratio at low frequency = 0.92

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

Bode plot of a 1st order lag (Fig # 3)

Usefulness of Bode Plots - Building Complex Responses:

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

forms used in control engineering design.

Usefulness of Bode Plots – Identification of Complex Responses:

Spring 2023 Lab Engineer: Muhammad Waqas Jabbar

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