Servo bandwidth

Last updated

Servo bandwidth is the maximum trackable sinusoidal frequency of amplitude A, with tracking achieved at or before 10% of A amplitude is reached. The servo bandwidth indicates the capability of the servo to follow rapid changes in the commanded input. [1] It is usually specified as a frequency in Hertz or radian/sec. [2]

Frequency is the number of occurrences of a repeating event per unit of time. It is also referred to as temporal frequency, which emphasizes the contrast to spatial frequency and angular frequency. The period is the duration of time of one cycle in a repeating event, so the period is the reciprocal of the frequency. For example: if a newborn baby's heart beats at a frequency of 120 times a minute, its period—the time interval between beats—is half a second. Frequency is an important parameter used in science and engineering to specify the rate of oscillatory and vibratory phenomena, such as mechanical vibrations, audio signals (sound), radio waves, and light.

The amplitude of a periodic variable is a measure of its change over a single period. There are various definitions of amplitude, which are all functions of the magnitude of the difference between the variable's extreme values. In older texts the phase is sometimes called the amplitude.

Bandwidth (signal processing) difference between the upper and lower frequencies in a continuous set of frequencies

Bandwidth is the difference between the upper and lower frequencies in a continuous band of frequencies. It is typically measured in hertz, and depending on context, may specifically refer to passband bandwidth or baseband bandwidth. Passband bandwidth is the difference between the upper and lower cutoff frequencies of, for example, a band-pass filter, a communication channel, or a signal spectrum. Baseband bandwidth applies to a low-pass filter or baseband signal; the bandwidth is equal to its upper cutoff frequency.

Contents

Explanation

Bandwidth of systems is generally defined to be the frequency at which the system's amplitude is times the signal amplitude. But if we apply same logic to servo systems it is difficult to analyze and develop a system to a sufficiently accurate specification. This is because of ambiguity with regard to frequency at which the amplitude should go to .

Ambiguity type of uncertainty of meaning in which several interpretations are plausible

Ambiguity is a type of meaning in which a phrase, statement or resolution is not explicitly defined, making several interpretations plausible. A common aspect of ambiguity is uncertainty. It is thus an attribute of any idea or statement whose intended meaning cannot be definitively resolved according to a rule or process with a finite number of steps.

A simple and sound definition can be sought regarding this. Let us say we want to design a position servo control system with following specifications:

Servo control

Servo control is achieved by sending a servo a PWM signal, a series of repeating pulses of variable width where either the width of the pulse or the duty cycle of a pulse train determines the position to be achieved by the servo. The PWM signal might come from a radio control receiver to the servo or from common microcontrollers such as the Arduino.

The above definition is not enough to design a practical control system. The definitions above have inherent problems with regard to what amplitude the manufacturer should take to design the servo with 10 Hz bandwidth. If the manufacturer takes the amplitude to be ±20° and rise time for this amplitude to be 0.025 sec (10 Hz sinusoid) and some other manufacturer takes amplitude to be ±50°, the acceleration requirements calculated by two will be very different.

This leads us to understand that giving servo bandwidth alone with no amplitude specification is almost useless. Also defining the bandwidth as per normal bandwidth definition does not help (ambiguity with regard to frequency at which the amplitude should go to .

See also

Related Research Articles

Frequency modulation encoding of information in a carrier wave by varying the instantaneous frequency of the wave

In telecommunications and signal processing, frequency modulation (FM) is the encoding of information in a carrier wave by varying the instantaneous frequency of the wave.

Single-sideband modulation refinement of amplitude modulation

In radio communications, single-sideband modulation (SSB) or single-sideband suppressed-carrier modulation (SSB-SC) is a type of modulation, used to transmit information, such as an audio signal, by radio waves. A refinement of amplitude modulation, it uses transmitter power and bandwidth more efficiently. Amplitude modulation produces an output signal the bandwidth of which is twice the maximum frequency of the original baseband signal. Single-sideband modulation avoids this bandwidth increase, and the power wasted on a carrier, at the cost of increased device complexity and more difficult tuning at the receiver.

Signal-to-noise ratio is a measure used in science and engineering that compares the level of a desired signal to the level of background noise. SNR is defined as the ratio of signal power to the noise power, often expressed in decibels. A ratio higher than 1:1 indicates more signal than noise.

The total harmonic distortion (THD) is a measurement of the harmonic distortion present in a signal and is defined as the ratio of the sum of the powers of all harmonic components to the power of the fundamental frequency. Distortion factor, a closely related term, is sometimes used as a synonym.

Pulse-width modulation modulation technique

Pulse-width modulation (PWM), or pulse-duration modulation (PDM), is a way of describing a digital (binary/discrete) signal that was created through a modulation technique, which involves encoding a message into a pulsing signal. Although this modulation technique can be used to encode information for transmission, its main use is to allow the control of the power supplied to electrical devices, especially to inertial loads such as motors. In addition, PWM is one of the two principal algorithms used in photovoltaic solar battery chargers, the other being maximum power point tracking.

Nyquist frequency concept

The Nyquist frequency, named after electronic engineer Harry Nyquist, is half of the sampling rate of a discrete signal processing system. It is sometimes known as the folding frequency of a sampling system. An example of folding is depicted in Figure 1, where fs is the sampling rate and 0.5 fs is the corresponding Nyquist frequency. The black dot plotted at 0.6 fs represents the amplitude and frequency of a sinusoidal function whose frequency is 60% of the sample-rate (fs). The other three dots indicate the frequencies and amplitudes of three other sinusoids that would produce the same set of samples as the actual sinusoid that was sampled. The symmetry about 0.5 fs is referred to as folding.

<i>Q</i> factor

In physics and engineering the quality factor or Q factor is a dimensionless parameter that describes how underdamped an oscillator or resonator is, and characterizes a resonator's bandwidth relative to its centre frequency. Higher Q indicates a lower rate of energy loss relative to the stored energy of the resonator; the oscillations die out more slowly. A pendulum suspended from a high-quality bearing, oscillating in air, has a high Q, while a pendulum immersed in oil has a low one. Resonators with high quality factors have low damping, so that they ring or vibrate longer.

Window function

In signal processing and statistics, a window function is a mathematical function that is zero-valued outside of some chosen interval, normally symmetric around the middle of the interval, usually near a maximum in the middle, and usually tapering away from the middle. Mathematically, when another function or waveform/data-sequence is "multiplied" by a window function, the product is also zero-valued outside the interval: all that is left is the part where they overlap, the "view through the window". Equivalently, and in actual practice, the segment of data within the window is first isolated, and then only that data is multiplied by the window function values. Thus, tapering, not segmentation, is the main purpose of window functions.

Audio power is the electrical power transferred from an audio amplifier to a loudspeaker, measured in watts. The electrical power delivered to the loudspeaker, together with its efficiency, determines the sound power generated.

Frequency response is the quantitative measure of the output spectrum of a system or device in response to a stimulus, and is used to characterize the dynamics of the system. It is a measure of magnitude and phase of the output as a function of frequency, in comparison to the input. In simplest terms, if a sine wave is injected into a system at a given frequency, a linear system will respond at that same frequency with a certain magnitude and a certain phase angle relative to the input. Also for a linear system, doubling the amplitude of the input will double the amplitude of the output. In addition, if the system is time-invariant, then the frequency response also will not vary with time. Thus for LTI systems, the frequency response can be seen as applying the system's transfer function to a purely imaginary number argument representing the frequency of the sinusoidal excitation.

In pulsed radar and sonar signal processing, an ambiguity function is a two-dimensional function of time delay and Doppler frequency showing the distortion of a returned pulse due to the receiver matched filter due to the Doppler shift of the return from a moving target. The ambiguity function is determined by the properties of the pulse and the matched filter, and not any particular target scenario. Many definitions of the ambiguity function exist; Some are restricted to narrowband signals and others are suitable to describe the propagation delay and Doppler relationship of wideband signals. Often the definition of the ambiguity function is given as the magnitude squared of other definitions (Weiss). For a given complex baseband pulse , the narrowband ambiguity function is given by

In signal processing, oversampling is the process of sampling a signal at a sampling frequency significantly higher than the Nyquist rate. Theoretically, a bandwidth-limited signal can be perfectly reconstructed if sampled at the Nyquist rate or above it. The Nyquist rate is defined as twice the highest frequency component in the signal. Oversampling is capable of improving resolution, reducing noise and can be helpful in avoiding aliasing and phase distortion by relaxing anti-aliasing filter performance requirements.

Lock-in amplifier

A lock-in amplifier is a type of amplifier that can extract a signal with a known carrier wave from an extremely noisy environment. Depending on the dynamic reserve of the instrument, signals up to 1 million times smaller than noise components, potentially fairly close by in frequency, can still be reliably detected. It is essentially a homodyne detector followed by low-pass filter that is often adjustable in cut-off frequency and filter order. Whereas traditional lock-in amplifiers use analog frequency mixers and RC filters for the demodulation, state-of-the-art instruments have both steps implemented by fast digital signal processing, for example, on an FPGA. Usually sine and cosine demodulation is performed simultaneously, which is sometimes also referred to as dual-phase demodulation. This allows the extraction of the in-phase and the quadrature component that can then be transferred into polar coordinates, i.e. amplitude and phase, or further processed as real and imaginary part of a complex number.

ITU-R 468 noise weighting ITU-R recommendation

ITU-R 468 is a standard relating to noise measurement, widely used when measuring noise in audio systems. The standard, now referred to as ITU-R BS.468-4, defines a weighting filter curve, together with a quasi-peak rectifier having special characteristics as defined by specified tone-burst tests. It is currently maintained by the International Telecommunications Union who took it over from the CCIR.

Duffing equation Non-linear second order differential equation and its attractor

The Duffing equation, named after Georg Duffing (1861–1944), is a non-linear second-order differential equation used to model certain damped and driven oscillators. The equation is given by

The half-power point or half-power bandwidth is the frequency at which the output power has dropped to half of its peak value; that is, at a level of approximately -3 dB. The half-power point is a commonly-used definition for the cutoff frequency and can be used in a variety of contexts, including the characterization of filters, optical filters, electronic amplifiers and antennas.

Spurious-free dynamic range (SFDR) is the strength ratio of the fundamental signal to the strongest spurious signal in the output. It is also defined as a measure used to specify analog-to-digital and digital-to-analog converters and radio receivers.

Vibration mechanical phenomenon whereby oscillations occur about an equilibrium point; precisely used to describe mechanical oscillation

Vibration is a mechanical phenomenon whereby oscillations occur about an equilibrium point. The word comes from Latin vibrationem. The oscillations may be periodic, such as the motion of a pendulum—or random, such as the movement of a tire on a gravel road.

Equalization (audio)

Equalization or equalisation is the process of adjusting the balance between frequency components within an electronic signal. The most well known use of equalization is in sound recording and reproduction but there are many other applications in electronics and telecommunications. The circuit or equipment used to achieve equalization is called an equalizer. These devices strengthen (boost) or weaken (cut) the energy of specific frequency bands or "frequency ranges".

References

  1. YOUNKIN (2002). Industrial Servo Control Systems: Fundamentals and Applications. CRC Press. p. 42. ISBN   978-0-8247-4352-9.
  2. M. H. Rashid (2006). Power electronics handbook: devices, circuits, and applications. Academic Press. p. 902. ISBN   978-0-12-088479-7.