Servo Motor Modelling using Bump Test

Expt.No- 8
Aditya Das
17BEE0267

Aim:

To find a transfer function that describes the motion of a DC servo motor using bump test.

Hardware and software requirements:

Personal Computer with MATLAB

SRV02 Servo motor

Power Amplifier

DAQ

Servo Motor:

The Quanser SRV02 rotary servo plant, as shown in Figure 1, consists of a DC motor that is encased in a solid
aluminum frame and equipped with a planetary gearbox. The motor has its own internal gearbox that drives
external gears. The SRV02 is equipped with three sensors: potentiometer, encoder, and tachometer. The
potentiometer and encoder sensors measure the angular position of the load gear and the tachometer can be
used to measure its velocity.

Figure 1. Servo motor

Bump Test:

The bump test is a simple test based on the step response of a stable system. A step input is given to
the system and its response is recorded. As an example, consider a system given by the following transfer
function.
Block Diagram:-

Output Plot:-
 Calculation:-

From the output and input signal, the steady state gain=
K= y/ u
y =yss-y0=25-0=25
u=umax-umin=5-0=5
K=25/5=5
The model time constant can be given as:
τ=t1-t0, where t1 is the time to reach 63% of steady state value
τ=0.78
Transfer Function of the given system is:
G(s)=K/(1+ τs)
=5/(1+0.78s)

Result: The transfer function of the DC servo motor using Bump Test is obtained
and the steady state gain and time constant are found.