Lab 4 QUBE-Servo Bump Test Modeling Workbook (Student)

BUMP TEST MODELING
Topics Covered
• First order transfer functions.

• Obtaining the QUBE-Servo model using the bump test method.
• Model validation.
Prerequisites
• QUBE-Servo Integration Lab.

• Filtering Lab.
QUBE-SERVO Workbook - Student Version v 1.0

1 Background
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:
Y (s) K
= (1.1)
U (s) τs + 1
The step response shown in Figure 1.1 is generated using this transfer function with K = 5 rad/V-s and τ = 0.05 s.
Figure 1.1: Input and output signal used in the bump test method
The step input begins at time t0 . The input signal has a minimum value of umin and a maximum value of umax . The
resulting output signal is initially at y0 . Once the step is applied, the output tries to follow it and eventually settles at
its steady-state value yss . From the output and input signals, the steady-state gain is
∆y
K= (1.2)
∆u
where ∆y = yss − y0 and ∆u = umax − umin . The time constant of a system τ is defined as the time it takes the
system to respond to the application of a step input to reach 1 − 1/e ≈ 63.2% of its steady-state value, i.e. for Figure
1.1
t1 = t0 + τ,
where
y(t1 ) = 0.632∆y + y0 . (1.3)
QUBE-SERVO Workbook - Student Version 2

Then, we can read the time t1 that corresponds to y(t1 ) from the response data in Figure 1.1. From the figure we
can see that the time t1 is equal to:
t1 = t0 + τ
From this, the model time constant can be found as:
τ = t1 − t0 (1.4)
1.1 Applying this to the QUBE-Servo

Going back to the QUBE-Servo system, the s-domain representation of a step input voltage with a time delay t0 is
given by
Av e(−st0 )
Vm (s) = , (1.5)
s
where Av is the amplitude of the step and t0 is the step time (i.e. the delay).
The voltage-to-speed transfer function is

Ωm (s) K
= (1.6)
Vm (s) τs + 1
where K is the model steady-state gain, τ is the model time constant, Ωm (s) = L[ωm (t)] is the load gear rate, and
Vm (s) = L[vm (t)] is the applied motor voltage.
If we substitute input 1.5 into the system transfer function 1.6, we get:
KAv e(−st0 )
Ωm (s) = .
(τ s + 1)s
We can then find the QUBE-Servo motor speed step response in the time domain, ωm (t), by taking inverse Laplace
of this equation
( t−t0
)
ωm (t) = KAv 1 − e(− τ ) + ωm (t0 ),
noting the initial conditions ωm (0− ) = ωm (t0 ).

2 In-Lab Exercises
Based on the models already designed in QUBE-Servo Integration and Filtering labs, design a model that applies a
step of 2 V to the motor and reads the servo velocity using the encoder as shown in Figure 2.1. To apply your step
for a certain duration (e.g. 2.5 s), set the Simulation stop time of the Simulink model. Using the saved response, the
model parameters can then be found as discussed in the Background section of this lab. For information on saving
data to Matlab for offline analysis, see the QUARC help documentation (under QUARC Targets | User's Guide |
QUARC Basics | Data Collection).
Figure 2.1: Applies a step voltage and measures corresponding servo speed
1. Run the QUARC controller to apply a 2 V step to the servo. The scope response should be similar to Figure
2.2.
(a) Load Speed (b) Motor Voltage
Figure 2.2: QUBE-Servo Bump Test Response
2. Plot the response in Matlab figure. For example, you can setup the scopes to save the measured load/disk
speed and motor voltage to the Matlab workspace in the variables data_wm and data_vm, where the data_wm(:,1)
is the time vector and data_wm(:,2) is the measured speed.
3. Find the steady-state gain using the measured step response. Hint: Use the Matlab ginput command to
measure points off the plot.

4. Find the time constant from the obtained response.
5. To check if your derived model parameters K and τ are correct, modify the Simulink diagram to include a Trans-
fer Fcn block with the first-order model in Equation 1.1, as shown in Figure 2.3. Connect both the measured
and simulated QUBE-Servo responses to the scope using a Mux block (from the Signal Routing category).
Build and run your QUARC controller. Attach a Matlab figure displaying both the measured and simulated
response in one plot, as well as in the input voltage.
Figure 2.3: Validating bump test model
6. Did you derive the model parameters K and τ correctly? Explain.

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What is the purpose of performing a bump test on a system?

What is the purpose of performing a bump test on a system?

How are the steady state gain and time constant of a system determined from its step response?

How are the steady state gain and time constant of a system determined from its step response?

BUMP TEST MODELING

• First order transfer functions.

• QUBE-Servo Integration Lab.

QUBE-SERVO Workbook - Student Version v 1.0

y(t1 ) = 0.632∆y + y0 . (1.3)

QUBE-SERVO Workbook - Student Version 2

From this, the model time constant can be found as:

1.1 Applying this to the QUBE-Servo

The voltage-to-speed transfer function is

noting the initial conditions ωm (0− ) = ωm (t0 ).

QUBE-SERVO Workbook - Student Version v 1.0

(a) Load Speed (b) Motor Voltage

Figure 2.2: QUBE-Servo Bump Test Response

QUBE-SERVO Workbook - Student Version 4

Figure 2.3: Validating bump test model

6. Did you derive the model parameters K and τ correctly? Explain.

QUBE-SERVO Workbook - Student Version v 1.0

Printed in Markham, Ontario.

QUBE-SERVO Workbook - Student Version 6

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