《Fundamentals of Control Engineering》

Experiment instructor

南 京 理 工 大 学
 Experiment Notice

一、Student should protect public property and keep the lab quiet and tidy. The
equipments should be operated according to operation rules. Do not fiddle
with irrelevant equipments. If there is an damage, it will be handled
according to the relevant regulations of school.

二 、 Study the instruction book of the textbook before the experiment. If there
are any questions, please consult the instructor before starting the
experiment.

三 、 In the experiment, the voltage regulator must be switched off before

connecting the circuit or switching the circuit.

四、Do not touch the electric part with your hand and pay attention to the
safety of yourself after the experimental circuit is connected to the power
supply.

五 、 In the experiment, please observe the experimental phenomena and record

the data. Each experimental result should be reviewed by the instructor.
The experimental circuit can be dismantled after the instructor
approves(The probes of oscilloscope and signal generator are not
necessarily to be removed).

六 、 If an accident happens, switch off the voltage regulator quickly and leave

the scene as it is and report to the instructor. Do not dispose of it privately,

lest danger occurs。

七、After the experiment, the power supply of all instruments and equipment
should be shut down, and the components used should be sorted out. The
wires and switches should be put in order. Student can leave after being
 confirmed by instructor.

八 、 Write and submit lab reports as required. If the experiment result and the
experiment report do not meet the requirements, the experimental grade
will be zero.

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 Class Discipline

一、Conduct experiments in groups. No shouting!

二、If there is any damage or loss to the components, wires or switches in each
group, please report to the instructor for repairing or supplement. Do not
borrow from each other without the instructor’s approval.

三、After each small experiment, please collect the components used in a

timely manner and put them into the designated bag.

四 、 In the experiment, keep the experiment table clean, tidy and organized all
the time.

五 、 Do not fiddle with the equipments. If the instrument is abnormal, please

report to instructor to solve it.

六、Copying experimental data is strictly forbidden.

 Contents
《Fundamentals of Control Engineering》·······················································- 0 -

Experiment instructor··························································································· - 0 -
Preliminary Knowledge ························································································ - 1 -

1、Stabilized voltage supply ············································································· - 1 -

2、Dry cell ································································································· - 2 -
3、Operational Amplifier·················································································- 3 -
4、Switch···································································································- 5 -
5、Resistance ······························································································ - 6 -
6、Capacitor ····························································································· - 10 -
7、Universal electric meter ············································································ - 12 -
8、Bread board ·························································································· - 15 -
9、Oscilloscope·························································································· - 16 -
10、Function generator ················································································· - 23 -
Experiment 1 Experiment of characteristic test of step response in analog control system ······· - 25 -
1、 Aim of the experiment··········································································· - 25 -

2、Experiment content·················································································· - 25 -
3、Experiment process ················································································· - 25 -
4、Experiment requirement ············································································ - 25 -
5、Experiment circuit··················································································· - 25 -
6、Requirement of preview ············································································ - 32 -
7、Experiment instrument·············································································· - 32 -
8、Requirement of experiment report ································································ - 33 -
Experiment 2 Correction experiment of analog control system······································· - 34 -
1、Experiment aim ······················································································ - 34 -
2、Experiment content·················································································· - 34 -
3、Experiment method ················································································· - 34 -
4、Experiment requirement ············································································ - 34 -
5、Experiment circuit··················································································· - 34 -

I
 6、Preview requirement ················································································ - 42 -
7、Experiment instruments············································································· - 42 -
8、Requirement of experiment report ································································ - 42 -
Appendix 1 Requirement and Format of Experiment Report ········································· - 45 -

II
 Preliminary Knowledge

The features and usage of the instrument used in the experiment are briefly
described as following：

1、Stabilized voltage supply

It must supply the required power supply to make the integrated circuit work

properly. The function of the voltage stabilizing power supply is to provide a dual-

polarity power supply(±12V) to the integrated circuit chip(operational amplifier) in

the experiment circuit. The front panel of the double-channel output DC stabilized

power supply used in the experiment is shown as the figure 1 below:

Figure 1 panel of EM1713 double-channel output DC stabilized power supply

DC voltage(or level) is relative to a reference point in the circuit, which is

refered to as the reference point(GND). In the experiment, the two output voltage

values of the output power supply should be adjusted respectively to 12+/-0.5V, then

the positive output(+12V) of one circuit should be connected with the ground of

another circuit as a common ground(GND). The specific method is shown in figure 2

below:

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 +12V GND +12V GND
+12V 地 外壳地 +12V 地

公共地
+12V GND －12V +12V GND －12V

Figure 2 The connection method of bipolar power supply

Note：The output voltages +12V, ‐12V and public GND should be connected to the

experimental circuit.

2、Dry cell

The performance of dry cell is similar to that of stabilized power supply, which

can also provide DC power output, but the output current(or the power provided) of

dry cell is lower. Common dry cells are zinc-manganese batteries and alkaline

batteries, with 1.5V, 3V, 9V, 12V and 24V.

The internal structure and circuit symbol of commonly used zinc manganese dry

cell are shown in the following graph:

Figure 3 Internal structure and circuit symbol of commonly used zinc manganese dry cell

In the experiment, connect two zinc manganese dry cells in series(the voltage is

about 2×1.5 V after series connection) as the input signal of the experimental circuit.

It is used to observe the waveform of the output signal processed by the circuit

system.
Note: In the circuit diagram, dry cell symbol and actual object is slightly different. Pay
attention when connecting the circuit.

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3、Operational Amplifier

Operational amplifier(abbreviated as OP Amp) is a circuit unit with very large

amplification. It can be used to process electrical signals, generally with high gain,

high input impedance and low output impedance. In practical circuit, it is usually

used to constructed a funtional module by combining feedback networks. Because it

was used to realize mathmatical operations when it was applied to analog computer

in the early stage, it is named “Operational Amplifier”.

The operational amplifier is a circuit unit named from functional point of view,

which can be implemented either by discrete devices or in semiconductor chips, that

is, single chip integrated circuits. With the development of semiconductor technology,

most op amps are in the form of a single chip. There are many kinds of op amps,

which are widely used in the electronics industry. The common operational amplifier

is 741 series, and the object is shown in Figure 4 below:

Figure 4 Practicality picture of common operational amplifier

The pins and circuit symbols of 741 series operational amplifier are shown in

figure 5:

2
― 7
6
3
+ 4

Figure 5 Pins and circuit symbols of 741 series operational amplifier

The key to identifying operational amplifiers or other integrated circuits is to

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find the number 1 pin exactly. There are special makers on a general integrated circuit,

such as dots, triangles, or angles. The definitions of pins of 741 series operational

amplifier are described as following:

1 OFFSET NULL ---- offset adjustment and phase compensation,

generally do not connect.

2 INV. INPUT ---- inverting input

3 NON-INV. INPUT ---- non-inverting input

4 V- nagative power supply, usually ranging from -5V to -15V.

5 OFFSET NULL ---- offset adjustment and phase compensation,

generally do not connect.

6 OUTPUT

7 V+ positive power supply, usually ranging from +5V to +15V.

8 NC Not Close, do not connect.

In order to make the operational amplifier work normally, the correct positive

and negative power supply must be applied to it.

Note： The power supply voltages of μA741 series operational amplifiers are
respectively +12V and -12V. At the same time, the public ground GND of the bipolar

power supply must be connected to the circuit.

When analyzing the operational amplifier circuit, the operational amplifier is

regarded as an ideal operational amplifier, that is to say,① the input impedance is

infinite;② the output impedance is zero;③ the differential voltage gain is infinite. At

the same time, there are two assumptions “virtual short” and “virtual open”.

The basic usage of operational amplifiers include inverting amplifier,

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non-inverting amplifier, differential amplifier and comparator amplifier. Thus,

adder, differentiating circuit and integral circuit and so on are extended. Here is an

illustration of the most commonly used inverting amplifier circuit in figure 6:

Rf

Rs
2
― 7
6

3
+ 4

输入Vi
Rc 输出Vo

Figure 6 inverting amplifier


Among them, the value of the balance resistance is selected according to R c Rs Rf
.
R R
s f

According to the assumptions “virtual short” and “virtual open”, input current is
Vi Rf
i ，and output voltage is V  i  R   V。
o f i
Rs Rs

Note：When drawing schematic sheet, in order to avoid the wiring pattern is too

complex, generally omit the positive and negative power leads of pin 4 and pin 7 of

operational amplifiers. However, in the actual construction of the circuit or the

process of drawing PCB printed circuit board, the correct connection of the power

supply of the operational amplifier must be ensured, which is the precondition for the

operational amplifiers to work normally.

4、Switch

The function of switch is to control the connection and disconnection of the

circuit. The commonly used toggle switch and the circuit symbol are shown in figure

7:

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 K or SB

Figure 7 commonly used toggle switch and its circuit symbol

In this experiment instruction book, experiment one and experiment two are

required to use switches to build circuit experiment. It is probidden to use hand to

control the connection of circuit directly. Pushing and pulling the wires with hands is

not reliable and accurate to control the connection of circuit. The jitter of output

signal will be observed in the measurement, thus influence the accuracy.

5、Resistance

Definition： Resistor refers to a component that impedes the flow of current.

Resistors are ubiquitous in electronic circuits and are widely used. Generally, it is

expressed as “R”. The ability to impede the flow of current is called resistance. Its

unit is  .

Figure 8 common resistances and the circuit symbol

Resistance is a feature of resistors. Generally, the resistors composed of different

materials has different impedance. Larger resistance means the greater hindrance to

current of the resistor. Impedance of resistor is generally related to temperature,

material, length and cross section area. Resistor is a dissipative component, its main

physical characteristic is to convert the electric energy into heat energy. Resistor

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usually play a role of divider, shunt and current limiting in the circuit. Both AC and

DC signals can pass through resistor.

Classification：According to different materials and manufacturing techniques.

It can be divided into several categories: carbon film resistance, solid resistance,

metal film resistance and integrated resistance (i.e., discharge resistance) and so on.

At the same time, according to whether the resistance of resistor is variable, it can be

divided into fixed resistance, semi-fixed resistance, carbon film variable

resistance and winding variable resistance and so on.

Carbon film resistance is the most commonly used resistor. Its resistance

generally ranges from 10 to 10MΩ.

Resistance： Not all resistors can be bought. The resistance is produced

according to the E series values in the table below. The values of resistances that can

be bought on the market are the product of the numbers in the table and the n power

of 10.
Table1 A list of numberical values for various E
E3 E6 E12 E24 E3 E6 E12 E24
1.0 1.0 1.0 1.0 3.6
1.1 3.9 3.9
1.2 1.2 4.3
1.3 4.7 4.7 4.7 4.7
1.5 1.5 1.5 5.1
1.6 5.6 5.6
1.8 1.8 6.2
2.0 6.8 6.8 6.8
2.2 2.2 2.2 2.2 7.5
2.4 8.2 8.2
2.7 2.7 9.1
3.0 10 10 10 10
3.3 3.3 3.3

Note：The E3~E24 series uses 2 digits to divide 1~10 into 24 equal parts. The

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integer division is based on the multiples of A. The numbers between 2.7~4.7 are

reassembled. The reason of choosing E series geometric value as the value sequence

of resistance value is that the range of resistance value that it can cover is very wide,

and any two groups of adjacent values can be connected.

Most of the time, the design of the circuit does not require the integral value of

the resistance, but the proportion of multiple resistors as the integer value. For

example, a combination of 1 K and 3 K can also be replaced by a combination of 11

K and 33 K, with a partial pressure ratio of 3.

Accuracy：There is an error between the nominal value of the resistance value

and the actual value, and the accuracy is used to characterize the magnitude of the

error. The accuracy of the common carbon film resistors is generally ±5%, that is to

say, a batch of resistors with a nominal resistance value of 10K is measured. The

actual resistance should be between 9.9 kΩ and 10.1 kΩ.

Power ： The maximum current allowed by each resistor is limited. After

exceeding it, the thermal balance of the resistor will be destroyed, resulting in

excessive heating of the resistor until it is burned out. Power rating is the index of

resistance that show the current passing capacity.

1
The power range of common resistor is usually from W (125 mW ),
8
1
W (250 mW ) to 10 W . When the current or voltage passing through the load is
4
known, the power consumption of the resistor can be calculated.
300Ω

5V

Figure 9 calculation of power

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 Power rating ：   2 V2 . So 52  .In practical
P VI I R  (W) P 0.083(W)
R 300

applications, resistors are usually selected at 2 ～ 4 times the actual power

1
consumption. The 300 Ω resistor in the diagram should be in specification of W .
8
Series connection：The equivalent resistance after series connection of resistors

is the sum of the resistance values of each series resistor. The formula is：

R=R1+R2 ++R n

Parallel connection：The equivalent resistance after parallel connection of

resistors is the reciprocal of the sum of the reciprocal of the resistance values of each

parallel resistor. The formula is：

1
R=
1 + 1 ++ 1
R1 R 2 Rn

Identification：The common carbon film resistors use different colors to print

the resistance and accuracy of resistors on the surface of resistors, called color ring

resistors.The meaning of different colors of the color rings is shown as below：

Table2 The meaning of different color ring
1st Color 2nd Color 3rd Color 4th Color 5th Color
ring ring ring ring ring
Color
1st 2 nd
3 rd
4th 5th
Number Number Number Number Number
Black 0 0 0 100
Brown 1 1 1 101 ±1%
Red 2 2 2 102 ±2%
Orange 3 3 3 103
Yellow 4 4 4 104
Green 5 5 5 105 ±0.5%
Blue 6 6 6 106 ±0.25%
Pink 7 7 7 107 ±0.10%
Gray 8 8 8 ±0.05%
White 9 9 9
Gold 10-1 ±5%
-2
Silver 10 ±10%

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 When you read the resistance value of the resistor, you first find the 1 st color

ring(closest to the resistor pin). The present color ring resistors are represented by

four colors and five colors. In the four color representation, the first two represent the

valid digits, and the third digits represent the coefficients (i.e., the power 10n of 10),

and the fourth digit represents the accuracy. When the five colors are used, the first

three represent the valid digits, and the fourth digits represent the coefficients (i.e., the

power 10N of 10), and the fifth digit represents the accuracy.

6、Capacitor

Definition：The capacitor is a kind of "electric container" which can store the

charge. It is also one of the electronic components which are widely used. In the

circuit, the main functions of capacitors are decoupling, bypassing, filtering and

energy storage.It is represented as the capital letter C.

+
C C

Figure 10 common capacitor and the circuit symbol

Classification：According to different manufacturing materials and technologies,

the capacitor can be divided into: ceramic capacitor, polyester capacitor,

electrolytic capacitor, tantalum capacitor, and other types of advanced

polypropylene capacitor. At the same time, according to the capacitance value is

variable, can be divided into: fixed capacitors, variable capacitors and fine tuning

capacitors and so on. According to the polarity of the capacitor, it can be divided into

polar capacitance and non-polar capacitance. The commonly used polarity capacitors

are aluminum electrolytic capacitors, and the non-polar capacitors are ceramic

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capacitors, monolithic capacitors and mica capacitors(The polarity of electrolytic

capacitors has a special mark in the surface, usually in the negative sign "-", while the

negative pin is longer than the positive pin).

Rated voltage：It refers to the maximum DC voltage effective value at both ends
of the capacitor at the lowest ambient temperature and rated ambient temperature(also

known as the value of permissible voltage). It is usually marked directly on the

capacitor case. If the pressure exceeds the value of the permissible capacitor voltage,

the capacitor will be penetrated and even burst, causing permanent damage which can

not be repaired.

Capacity indicator：
The basic unit of capacitance is farad, refered to as “F”. Beacause the unit “F” is

too large, it is seldom used in the actual case. Small units, like microfarad( μF) and

picofarad( pF ), are commonly used. The relationship between them and “F” is as

following:

1( μF )=106 ( F )，1( pF )=1012 ( F )

There are many kinds of capacitor capacity, and there are several common ones

on the market：

① Direct calibration method：

Mark directly with numbers and units, for example: 1μF represents 1

microfarad. Some capacitors represent decimal points with "R", for example, R56

represents 0.56 microfarad.

② The text symbol method：

A regular combination of numbers and text symbols to represent capacity. For

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example, p10 represents 0.1 picofarad, 1p0 represents 1pF , 6p8 represents 6.8pF ,

2u2 represents 2.2μF .

③ Mathematical counting method：

This is the most common labelling method. It is often used for ceramic

capacitors or monolithic capacitors. For example, if marked value is 272, the

capacitor capacity is: 27×100pF=2700pF; if marked value is 473, the capacitor

capacity is: 47×1000pF=47000pF. That is to say, the third digit represents the square

number of 10. Also, 332=33×100pF=3300pF，225=22×10000pF=2200000pF=2.2μF.

Series connection and Parallel connection：The calculation about series and

parallel connection of capacitors is just opposite to that of resistors. Please take care

when building the circuit.

After being series connected, the equivalent capacitance is equal to the

reciprocal of the sum of the reciprocals of capacitance of each capacitor. That is:

1
C=
1 + ++ 1
1
C 1 C2 Cn

After being parallel connected, the equivalent capacitance is equal to the sum of

the capacitances of each capacitor. That is:

C=C1+C2 ++Cn

7、Universal electric meter

Universal electric meter is a multi function and multi range measuring

instrument. It is commonly used to measure DC current, DC voltage, AC current, AC

voltage, resistance and audio level and so on. Some of them can be used to measure

the parameters of AC current, capacitance, inductance and semiconductors(such as

- 12 -
the transistor magnification β , etc).

Universal electric meter is divided into analogue meter and digital meter. The

digital meter which is used in experiment is shown as following:

Figure 11 The digital meter used in experiment

Usage：

⑴ Insert black probe into the socket marked with “COM”, and insert red probe

into the socket marked “ VΩ ”. Press the button of power supply “POWER”. Note: the

sockets marked with “A” and “ μAmA ” are used to measure current, which is not used

among this experiment guide book.

Measurement of resistance：

⑵ Switch the table intermediate dial(Black triangle mark) to the area marked

with “ Ω ”. The value of each measurement area indicates the maximum value that can

be measured by this universal electric meter. If the measured resistance value exceeds

the range, the "L" is displayed, and then the larger range needs to be converted to

measure.

⑶ Place the measured resistors on the experiment table. Do not attach the both

side of resistor at the same time when measuring the resistance. Otherwise, the

resistance of human body will be parallel connected with the resistance under test,

which cause the inaccuracy of measurement. When measuring a two port resistor, it is

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necessary to disconnect the power supply before the measurement. Live line

measurement of resistance is strictly forbidden.

Three prohibition when measuring resistance: ① Do not attach the both side of

resistor at the same time. ② Do not measure resistance in a connected circuit. ③

Live line measurement is strictly forbidden.

Measurement of voltage：

(1) Switch the table intermediate dial(Black triangle mark) to the area marked

with “ V ”(AC) or “ V ”(DC). The value of each measurement area indicates the

maximum value that can be measured by this universal electric meter. If the measured

voltage value exceeds the range, the "L" is displayed, and then the larger range needs

to be converted to measure.

(2) Contact the two endpoints of the measured circuit with the two probes. If the

measured value does not stop changes, this shows that the contact between the probe

and the circuit is not good, and the way of measuring should be changed.

Measurement of capacitance：

(1) Switch the table intermediate dial(Black triangle mark) to the area marked

with “F”(Part of universal electric meter may not have this gear).

(2) Put the two pins of the measured capacitor into the long hole of the left

bottom of the multimeter respectively, slightly shake it so that the contact is good.

Attentions：

① When using multimeter to measure, pay attention to the safety of human body

and instrument. In test, do not attach the metal part of probes by hand and switch gear

switch in circuit to ensure the accuracy of measurement and avoid accident including

- 14 -
electric shock and damage of instruments.

② When the size of the measured data is unknown, the range switch should be

placed at the maximum value. Then switch it from a large range to a small range. If

you accidentally press the "HOLD" button, the multimeter displays the value locked

and displays the "H" pattern on the display screen. In this case, once again press the

"HOLD" key, you can unlock the lock state.

③ After the multimeter is used, the switch should be placed at the maximum

voltage of the AC voltage, and the power supply should be switched off. If the

universal electric meter is not used for a long time, the battery inside the multimeter

should be taken out so as to avoid other components are corroded by batteries.

8、Bread board

Bread board is used to build the platform of experiment circuit. The bread board

used in experiment is as following:

Figure 12 The bread board used in experiment

Note：When using bread board, pay attention to its internal short connection,

otherwise it is easy to cause circuit connection error. It's not easy to identify the cause

of the error.

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 The schematic diagram of the internal short circuit copper layout of the

breadboard used in the experiment is as following:

Figure 13 The schematic diagram of internal copper layout

Note：There are two breakpoints in the middle of the horizontal single row

socket, the location is shown in the circle of figure 13. If the breakpoints are used in

circuit, it needs manual short connection with the wire.

Example：Here is a simple light emitting two stage tube control circuit and its

layout diagram corresponding to the circuit built on the bread board. Please

carefully study the process from the circuit diagram to the actual circuit built on the

bread board.

Figure 14 Usage of bread board

9、Oscilloscope

Oscilloscope is a kind of instrument which is widely used and has complex

operation. It can replace the multimeter to measure the voltage value, and also can

record the change curve of voltage signal. There are many types of oscilloscopes. At

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present, there are some famous oscilloscope in the field of measurement: Lecroy,

Agilent, Tektronix, FLUKE, LEADER, YOKOGAWA, GwinsTek and Rigol, Tonghui

and so on. Because of the difference of signal characteristics between different

measuring objects, the functions and shapes of these oscilloscopes are different. In the

following, the oscilloscope of Tektronix TDS1001 series used in experiment is taken

as an example to briefly introduce its usage.

The front panel of Tektronix oscilloscope is shown as figure 15:

Multipurpose knob

Front panel buttons and knob

Option buttons, are used in conjunction with the screen display menu
Figure 15 Front panel of Tektronix oscilloscope

Indentification of screen icon：

When the oscilloscope starts the measurement, the screen display area is similar

to the following screenshot：

Figure 16 screenshot of measurement

- 17 -
Connection and setting of probes：

In the experiment, two measuring probes should be connected to the positions of

CH1 and CH2 respectively as the following ：

Figure 17 Connecting position for probes

Among them, EXT TRIG indicates the external trigger signal source, which is

not used in the experiment guide book. After the probes are connected, it is necessary

to set the probes before measuring. The adjustment knob for the vertical and

horizontal positions of the two probes is shown below in figure 18.

Adjust the vertical
position of the CH2
curve.
Adjust the vertical
position of the CH1
curve. Adjust the horizontal
position of the current
measurement channel
Before adjustment, curve.
press it first.

Adjust the vertical

proportion of CH1 Adjust the scan speed of
curve volts/div. two channels sec/div.

Adjust the vertical

proportion of CH2 curve
volts/div.

Figure 18 Vertical and horizontal position

adjustment knob

Note：When setting the probes, first press the corresponding button(CH1 MENU

or CH2 MENU) to display the relevant measurement curve and menu on the screen.

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Then set the probes according to the contents of the vertical menu, combined with

the "option button" on the right.

Each measurement channel uses a separate vertical menu. After pressing the

button CH1 MENU or CH2 MENU, the screen menu is shown as the following

picture:

CH1 MENU CH2 MENU

Figure 19 Vertical menu for two channels

Through the five white square buttons on the right side of the screen menu, you

can select and set the contents of different menu items. The contents and meanings of

each menu item are shown in Table 3 below:

Table3 options and meanings of each menu item in channel menu
Option Setting Notation
"DC" passes both the AC component of the input signal and
直 流 DC
its DC component. "AC" will block the DC component and
Coupling 交 流 AC
attenuate the signal below 10Hz. "GND" will break the input
接 地 GND
signal.
Bandwidth 开 20MHz Limiting bandwidth to reduce display noise. Filter signals to
setting 关 40MHz reduce noise and other unwanted signals.

Choose the resolution of the volt/div knob. Coarse tuning

Coarse adjustment
Volt/div defines a 1-2-5 sequenc and fine tuning adjust the resolution
Fine tuning
to small step.

1×、10×、20×、50×、 After pressing, the probe can be adjusted to correspond with

Probe the attenuation of the probe to ensure the correct vertical
100×、500×、1000× reading is obtained.

- 19 -
 Open
Inversion Inverting(inverted) waveform relative to reference level.
Close

Note：① In the four small circuit experiments of experiment one and two, only

one measurement channel is used(usually is CH1), which adopts “DC” coupling

mode. Time of scanning is 1s and the resolution of voltage is 1V. ② In the

experiment three, when doing the test that tests the frequency feature, the two

channels CH1 and CH2 are both used in “AC” coupling mode. Time of scanning

depends on the frequency of input and the resolution of voltage is still set to 1 V. ③

In all experiments, the probes should be set to 1×, and close the inversion.

Measurement：
The oscilloscope can automatically measure some physical parameters from the

collected waveform data. At the right side of the screen, you can display up to 5

measurements at a time. The oscilloscope can automatically measure 11 types of

data(Table 4). In this experiment guide book, only when doing the test that tests the

frequency feature(experiment three), the peak values and frequency of both input

channels should be measured.

Table 4 Data types that can be measured automatically and their meanings
Type Definition
By measuring the first cycle, the frequency of the waveform is
Frequency
calculated.
Cycle Calculate the time of the first cycle.
Average Calculate the arithmetic average amplitude in the whole record.

Peak Calculate the difference between the maximum and minimum peak
values of the whole waveform.
Root mean square Calculate the actual root mean square value of the first complete
value cycle of the waveform.

Minimun value Check all 2500 points in the waveform record and show the minimum.

Maximum value Check all 2500 points in the waveform record and show the
maximum.

- 20 -
 Rising time Measuring the time between 10% and 90% of the first rising edge of
the waveform.

Measuring the time from 90% to 10% of the first falling edge of the
Falling time
waveform.
Measure the time between the first rising edge of the waveform and
Positive bandwidth
50% of the adjacent falling edge.
Negative Measure the time between the first falling edge of the waveform and
bandwidth 50% of the adjacent rising edge.
NULL Not do any measurement.

Note ： Before measurement, channel waveform must be open. If the

corresponding measurement channel does not show the waveform on the screen, click

the button makred with "CH1 MENU" or "CH2 MENU".

The following example is about how to set the measurement data type by using

the calibration signal of the channel CH1 as an example:

① Connect the probe of the channel CH1 to the "probe compensation" at the

bottom right of the oscilloscope screen.

Note： The probe hook (or the red crocodile clip) is attached to the signal

positive pole, and the probe clip (or black crocodile clip) is attached to the signal

negative pole.

② Press the "Measure" button in the upper and middle of the front panel button

area of the oscilloscope, then the interface of the following figure will be shown on

the screen.

- 21 -
 Figure 20 Setup of measurement menu

③ Set the required measurement data by clicking the button on the right side of

the display screen.

Press the menu button of the first line and select an information source(CH1,

CH2, MATH······). Then select type(press the buttons one by one until the occurence

of “frequency”). Press the button “return” and confirm the selected measurement

data type. Next, press the menu button of the second line and repeat the above actions

and select the option “peak”.

The following is the setting of the measurement data of the oscilloscope when

testing the frequency characteristics of the experiment three.

Figure 21Setting of the measurement data type

Note： When testing the frequency characteristics, both of the two channels of

- 22 -
oscilloscope should be connected to the circuit. Among them, connect CH1 with the

output signal of the function generator(this signal also access to the experiment circuit

as input signal) and connect CH2 with the output signal of the experiment circuit.

10、Function generator

Function generator is also a commonly used instrument in experiment. It is used

to generate required signals. There are too many types of function generator.

Basically, manufacturers of oscilloscopes also produce function generators. The

operations of function generators produced by different manufacturers are different.

However, the basic functions are the same which is to generate the function signals

of designated frequency and amplitude.

New function generator of shanghai used in the experiment is taken as an

example as the following to introduce the usage of function generator briefly. The

front panel of the function generator is shown as figure 22:

占空比 直流偏置 信号幅值 输出

频率调整转盘

figure22 Front panel of function generator

Note ： The signal generator is only used when testing the frequency

characteristics(experiment three).

In the experiment, connect the red crocodile clip of the probe(connected with

- 23 -
OUTPUT) with the input of the test circuit, and connect the black crocodile clip to

the GND of the circuit. After pressing the button of power supply, select the type of

waveform firstly, and then select the frequency range accrording to the required value

of frequency. While rotating the frequency dial lightly, watch the displayed value of

frequency in the oscilloscope, until it meets the requirements. By rotating the signal

amplitude knob lightly, and observing the measured peak value in the oscilloscope,

adjust the output signal to 2V.

Note：① In general, do not rotate knob of duty cycle and DC offset. ② The
amplitude of the output signal is usually 2V. Do not rotate the knob of signal

amplitude substantially.

- 24 -
Experiment 1 Experiment of characteristic test of step response in
analog control system
(3 scores）

1、 Aim of the experiment

According to the equivalent simulation principle, the linear integrated operational

amplifier and discrete components are used to form an electronic simulator, and the

dry cell is used as the input signal to study the step response of the control system.

2、Experiment content

Study the influence of the parameters change of first-order system and second-order

system on system dynamic characteristics(step response).

3、Experiment process

Use components to build test circuits (or use homemade circuit boards) and use

digital storage oscilloscope to observe the step response of first-order and second-

order system.

4、Experiment requirement

Learn to use digital storage oscilloscope, operate according to the experimental

requirements, record data, calculate the parameter values and draw the corresponding

response curve.

5、Experiment circuit

1、Circuit simulation of first-order system(the components needed are in the bag

marked with “实验一”).

- 25 -
 Use the provided components to bulid a typical first-order system as the

following on a bread board(inertial element):

R2
V+ ＋12V
C
V－ －12V

K0 7 V+ 公共地
Ur(t) R1 2
―
6
F1
R0 3
+ Uc(t)
－3V 4 V－
+

Figure 23 first-order system circuit

According to the principle of complex impedance and “virtual short”, “virtual

open”, we have this formula:

Ur (s) U (s)
 c
R1 R2 / 1
Cs
So the transfer function is:
Uc (s) K
G(s)    R2 R1  
Ur (s) R2Cs 1 Ts 1

Among them, K  R2 R1 is magnification, T  R2C is time constant. R0 is current

balance resistor, and R0  R1. The minus sign of the transfer function means that the

output signal is inverted to the input signal. It can be seen that this is a typical form

of the transfer function of the first-order inertial element.

The voltage of the two dry cells connected in series is about 3V. When the

switch K0 is pressed, it is equivalent to applying a step input with a magnitude of 3V

to the analog circuit. At this moment, the output curve of the circuit is the analog

output of the first-order inertial element under step response.

- 26 -
 According to the schematic sheet of circuit in figure 23, use the given components

(operational amplifier, resistor and capacitor) and toggle switch, battery, wires and

crocodile clip to build an analog circuit of first-order system on bread board as the

following:

Black
GND Connect to the
oscilloscope

Blue

－12V

Red

＋12V
Figure 24 First-order system on bread board

In experiment, make R0  R1  R2  510KΩ ( K  1). The capacitance C=1 μF, 2.2 μF and

4.4 μFare taken respectively to observe the change of the step response curve when

the capacitance value (also the time constant T) changes.

After the toggle switch K0 is closed, observe the output curve of first-order analog

circuit on the digital storage oscilloscope screen. Record the step response curve of

the first order system corresponding to different time constants. According to the

measured curve, calculate the steady-state output UC() and time constant T of the

system, and compare them with the theoretical value.

- 27 -
 Table5 Data sheet for step response test of first-order system
Steady-state output
Time constant T (s)
Capacitance UC () (V)
( μF ) theoretical Measured theoretical Measured
value value value value
1.0
2.2
4.4
Measured parameters of components

Ur= (V) R0= (KΩ) R1= (KΩ) R2= (KΩ)

Note：①The bipolar power supply +12V, -12V and public GND should be

connected to the experimental circuit.② Before the experiment, first check the type

of resistors by using universal eletric meter and build the test circuit then. After

finishing the experiment, switch off the power supply and dismantle the circuit. At the

same time, measure the resistances of different resistors in the circuit, which are used

to calculate the theoretical values.

2、Analog circuit of second-order system(use upper half of the self-made experiment

board “二阶系统模拟实验”)

The typical transfer function of second-order system is

Uc (s) 1 2
G(s)   2n
U (s) T s  2 Ts 1 s  2 s   2
2 2
r n n

Among them, T is time constant, also called undamped free vibration period.  is
1
damping ratio.   is undamped natural frequency or natural frequency.
n
T

- 28 -
Build the following second-order system circuit in the experiment.
Rw 560K
R0 47K 手动短接点
K2
C1 1μF 1 测试点 2
C2 1μF

Ur(t) K1 7 V+
R1 100K 2
― 7 V+
6 R3 100K 2
R4 100K F1 ―
+ 3 6
3V + F2
R6 100K 3
4 V－ + Uc(t)
R5
100K 4 V－
R9 100K

7 V+
2 R7 100K
V+ ＋12V ―
UA(t) 6 F3
V－ －12V
3 R8 100K
+
公共地
4 V－

Figure 25 Circuit of second-order

Now select U r (t ) as input signal and U c (t ) as output signal to to derive the

transfer function of the analog circuit. Assume that U1(t) is the input signal of the

operational amplifier F1, the switch of point A K1 is disconnected with the feedback

circuit and the switch K2 is also switched off. The following formula can be

derived.

U1(s)

K （T  R C S ， K  R R ， R  R  R ）
Ts 1
2 1 2 1 2 0 w
Ur (s)

1
U c (s) C2s 1
  ；
U1(s) R3 R3C2s

UA (s)
 1；
Uc(s)

So, the block diagram of this analog circuit is as the following:

- 29 -
 Ur (s) R2 R1 1 Uc(s)
 
R2C1s 1 R3C2s

1

After finishing the simplification, we have this:

R2
Ur (s) Uc(s)
R1
3 1 2 C s  RC3 2s
2
－ R2RC

So the transfer function is:

U（
c s）
G(s)  
1
RR
r s）
U（ RRC C s  1 3 C s 1
2

1 3 1 2
R2 2
R 1
As R  R  R  100K and C  C  1μF ，so T  R C ，   1  .
1 3 4 1 2 1 1
2R2 2K

In this formula, K is the magnification of the inertial element of the operational

amplifier F1 .
1
When doing experiment, keep  and make  take 0.1, 0.5, 0.7, 1.0
n
T
respectively by adjusting R2 (changing the value of K). Take the equivalent power

supply of two series connected dry cells as the input signal, observe and record the

waveform of the output voltage U c (t ) when K1 is connected and K2 is

disconnected at the same time(single pole double throw switch is used in this

experiment). In this case, this is equivalent to applying a step input to the circuit, and

the output curve is the step response of the second-order system.

- 30 -
 The second-order system circuit simulation experiment is carried out on the self-

made experiment board. The connection is as the following:

Short‐circuit it when adjusting

the resistance of potentiometer
Connected and disconnect it when doing Measurement
with dry cells experiment. point

Connected with the

stabilized voltage
supply Connected with
oscilloscope

Figure 26 connection of the analog ciucuit of second-order

system

Different damping ratio  can be set by the following method: under the condition
that the A point of the feedback circuit is disconnected, input a constant voltage U r
(here U r is the battery voltage) to make the steady output voltage of the inertia
element is equal to Ur / 2 by adjusting the potentiometer Rw in R2 . You can also
disconnect the wire between the two yellow terminals to measure the resistance
between the measurement point 1 and 2 when the power is cut off. Slowly rotate the
black knob of the potentiometer to adjust the resistance value of the sliding rheostat to
the given value in the lower table.

According to the waveform of the output voltage U c (t ) recorded by the digital

oscilloscope (step input transient response curve), calculate the performance index of

- 31 -
the step response of the second-order system(Peak time tp , Peak value U c (tp ) ,
Maximum overshoot M p ,Setting time ts , Steady-state final value Uc() and
oscillation times N ).
Table 6 Test data of the step response of the second-order system
Steady-state Maximum
Measured
Damping Adjusted Peak Oscillation
resistance Peak time (s) Setting time (s) final overshoot
ratio resistance value (V) times
Rw tp ts value (V) (%)
 Rw () U c (tp ) N
()
Uc () Mp
0.1 453 K

0.5 53 K

0.7 24.43 K

1.0 3K

Note：① Take Uc(ts)  Uc()  95% as Setting time. ②Oscillation times: the half of
the intersection times of the response curve and the extended line of the steady-state

final value level. For example, one intersection is recorded as 0.5 times of the
Uc(tp ) Uc()
oscillation times. ③Maximum overshoot： M p  100% .
Uc()

6、Requirement of preview

1、Analysis of first-order and second-order system

2、Application of linear integrated operational amplifier

7、Experiment instrument

1、digital storage oscilloscope

2、Dual DC power supply

3 、 digital universal electric meter

4、self-made circuit board, bread board, components, wires and so on.

- 32 -
8、Requirement of experiment report

1、Experiment name

2、Experiment aim

3、Experiment content

4、Experiment instrument

5 、 Draw the system output waveform by observing the first-order system

experiment, and record the measured data on the waveform, calculate the time

constant of the system;

6 、 Compare with the theoretical values, and give the reasons for the errors

between the experiment and the theory.

7 、 Draw the system output waveform by observing in the second-order system

experiment, and record the measured data on the waveform: Setting time, final value

of the voltage, maximum voltage and oscillation times. Calculate the maximum

overshoot of the second-order system.

8、Answer the questions：

① Why is it necessary to set switches of K1 and K2 in the second-order

analog circuit, and must act at the same time?

② Why is it necessary to set up the operational amplifier F3 in the second-

order analog circuit?

- 33 -
 Experiment 2 Correction experiment of analog control system
（2 scores）

1、Experiment aim

Understand the function of correction in a control system.

2、Experiment content

Design a cascade correction device to improve the performance of a system so as

to meet the specified requirement.

3、Experiment method

Use components to build the test circuit(or use a self-made circuit board), and

use digital storage oscilloscope to observe the changes of the step response curve

before and after the correction of the second-order system.

4、Experiment requirement

Systematically correct the second-order analog system, record the experiment

data, calculate the value of parameters and draw the response curve.

5、Experiment circuit

1 、 The analog circuit before correction(the required components are in the bag

marked with“实验二”)

- 34 -
 V+ ＋12V
R6 510K
V－ －12V
R3 100K C1 1μF C2 1μF
Public GND

K R1 100K 7 V+ 7 V+ 7 V+
Ur(t) 2 R5 100K 2 R8 240K 2
― ― ―
6 6 6
R2 100K F1 F2 F3
3 3 3
+ + +
－3V
Uc(t)
4 V－ 4 V－ 4 V－
R4 R7 R9
+ 100K 100K 100K

Figure 27 the circuit before t

Note：① The three operational amplifiers should be connected with＋12V,－

12V and GND carefully. No missing, no misconnection, especially no reverse, or it

would be burned easily. ② Be carefully when dealing with the resistors of 510K and

240K, do not mix them with other resistors.

We can have the block diagram of the system before correction according to the

derivation process:

Ur (s) R R6 R5 1 Uc(s)
 R3  
1 R6C1s 1 R8C2s

After simplification, we can have:

R3R6
Ur (s) R1R5 Uc(s)

8 1 2 C s  RC8 2s
2
R6RC

The the closed loop transfer function is:

- 35 -
 R3R6
U（s）
G (s)  c   R1R5


RR
R R C C s2  R C s  3 6
B
r s）
U（
6 8 1 2 8 2
R1R5

Note：The minus sign in the formula means that input and output is reversed,

namely the phase difference between the input and output is 180 degrees, which is

irrelavant to the stability and dynamic characteristics of the system.

After substituting the parameters of components R1  R3  R5  100K , R6  510KΩ ,

R8  240KΩ and C1  C2  1μF into the equation, we can have:

G (s)  5.1
 2
41.667
0.1224s  0.24s  5.1 s 1.961s  41.667
B 2

The closed loop transfer function obtained above is the theoretical result of the

uncorrected system. In pratice, in order to analyze and estimate the system easily, the

open-loop transfer function is approximately treated as:

R3R6
R1R5 5.1 21.25 20
   
R6R8C1C2s  R 8C2 s
2
0.1224s  0.24s
2
s(0.51s 1) s(0.5s 1)

Then the block diagram of the system before correction is:

－Ur (s) 20 Uc(s)

s(0.5s 1)
－

Figure 28 Block diagram of the

uncorrected system

The closed loop transfer function is:

40
GB(s) 
s  2s  40
2

Undamped oscillation angular frequency:

n  40  6.324 (rad/s)

- 36 -
 Damping ratio:
1
   0.158
n

So the maxinmum overshoot of the uncorrected system is:

M  e π 1  0.605  60.5%

2

Take   0.02 as error, then the setting time is:

4
ts   4.003 （秒）
n

System static speed error coefficient Kv is equal to the open-loop gain of I

Model System, namely,

Kv  20 （1/秒）

2 、 Design a cascade correction device to make the system meet the following

requirements:

① Maximum overshoot M p ≤25%

② Setting time ts ≤1（秒）

。
③System static speed error coefficient Kv ≥20（1/秒）

Now calculate the transfer function of the correction device:

Because M p e π 1 ≤25%，so   0.4 . Take   0.5 。

2

4 4
As t  ，we have  ≥ =8（1/s）.
≤1（s）
s
 n
n



Because ，here we take

K v ≥20（1/s） Kv  20 .

The open-loop transfer function of the corrected system:

0.5s 1  20
G(s)  
Ts 1 （ s 0.5s 1）

- 37 -
 20

s Ts 1）
（
20
T 1
s s ）
（
T
0.5s 1
Among them， is the transfer funtion of the correction device，T is a
Ts 1
undetermined time constant.

So we can have the closed-loop transfer function of the corrected system:

20
G (s)  T
B
1 20
s2  s 
T T

So：
2  20 / T

n

2n  1 / T

Subsititute   0.5 into the equation, we can have:

n  20

 1
 20
 T

So the tranfer function of the correction device is:

0.5s  1
Gc (s)  ，
0.05s  1
The circuit of the correction device is as Figure 29.

According to the characteristics of operational amplifier and impedance, the

following transfer 根 funtion of the correction device can be derived:

R3  R4
Gc(s)  (1  R3R4  Cs
)
R  R R Cs 1



R
1 3 4 5

( 3 R4  R5)Cs  1
RR
R R R
4 3 4
 3

R1 R5Cs  1
0.5s 1

0.05s 1

- 38 -
 R3 180K R4 180K

R5
10K

C
4.7μF

7 V+
R1 360K 2
―
6
F
R2 360K 3
+

4 V－

Figure29 circuit of the correction

3 、 The corrected system（use the another part of the self-made circuit board

marked with“校正后的系统模拟实验”）：

The block diagram of the corrected system：

Ur (s) 0.5s 1 20 Uc(s)

0.05s 1 s(0.5s 1)

Figure30 block diagram of the corrected system

The corresponding schematic sheet of the circuit：

- 39 -
 R7 180K R8 180K V+ ＋12V

V－ －12V
R9
10K
GND
C1
4.7μF R11 510K
R3 100K
C2 1μF C3 1μF
Ur(t) K R1 100K 7 V+ R5 360K 7 V+
2 2
― ― R10 100K 7 V+ R13 240K 2 7 V+
6 6 2
R2 100K F1 R6 360K F2 ― ―
3 3 6 6
+ + + F3 F4
3V 3 3
4 V－ 4 V－ + +
R4 Uc(t
100K 4 V－ 4 V－
R16 100K R12 R14
100K 100K

7 V+
R15 100K
2
―
6
F5 R17 100K
3
+
4 V－

Figure31 schematic sheet of the circuit

The step response test of the corrected system is carried out on the self-made

experimental circuit board. According to Figure 31, connect the required experiment

instruments.

Connect with
stabilized voltage
supply
Connect with
oscilloscope

Connect with dry cells

Figure 32 Connection of the experimental circuit board“校正后

- 40 -
 的系统模拟试验”

4、Experimental procedures：

⑴ Build test circuit according to Figure 27. Observe, measure and record the

output waveform of the uncorrected system in the control of step signal. Calculate the

time domain performance index and compare it with the theoretical value.
Table7 test data of the uncorrected system
Steady-s
Maximum Oscillat
Peak Peak Setting tate
oversho ion
time(s) value(V) time(s) final
ot (%) times
tp U c (tp ) t s value(V)
Mp N
Uc ()
Measured
value
Measured parameters of components
R1= (KΩ) ，R2= (KΩ) ，R3= (KΩ) ，R4= (KΩ) ，R5=

R6= (KΩ) ，R7= (KΩ) ，R8= (KΩ) ，R9= (KΩ)

C1= (μF) ，C2= (μF) ，Ur= (V)

Theoreti
cal

⑵ Connect the circuit as Figure 32, observe, measure and record the output

waveform of the corrected system in the control of step signal. Calculate the time

domain performance index.

- 41 -
 Table8 test data of the corrected system
Steady-state Maximum Oscillat
Peak time Peak value Setting
final value overshoo ion times
tp (s) U c (tp ) (V) time t s(s)
Uc () (V) t M p (%) N

6、Preview requirement

Review the theoretical knowledge of correction, understand the function of

correction in control system, and how to achieve correction.

7、Experiment instruments

1、Digital storage oscilloscope

2、Dual DC stabilized voltage supply

3、Digital universal electric meter

4、Self-made circuit board, bread board, components and wires

8、Requirement of experiment report

1、Experiment name

2 、 Experiment aim

3、Experiment content

4、Experiment instruments

5、Draw the output waveform before and after correction and calculate the time

domain performance index

6 、 Compare the measued results with the theoretical values

7、Analyze the difference between the performance of the system before and

after correction

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 8、Answer the questions：

① Why the output is inverse to the input before correction?

② What is the funtion of F5 in the schematic sheet of the corrected

system?

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 Appendix 1 Requirement and Format of Experiment Report
Requirements：① All of the four experiments are required to write experimental

reports. Each participant in the experiment has to write a separate report.② Each

team can share the experiment data, but do not copy the analysis and calculation of

the experimental results and graphics.③Referring to the following, handwriting it and

printing it are both permitted. After the report is finished, hand in it bound with the

cover issued by the instructor.

Requirements of the content of the experiment report

1、Experiment name：

（According to the specific circumstances of each experiment）

2、Experiment aim：

（According to the specific circumstances of each experiment）

3、Experiment content：

（According to the specific circumstances of each experiment）

4、Experiment instruments：

（According to the specific circumstances of each experiment）

5、Data analysis：
（According to the specific circumstances of each experiment）
6、Problems and thoughts：
（According to the specific circumstances of each experiment）

In the final section of this report, answer the following questions according to

your own real situation.

①What are the problems encountered in the experiment? Finally, what

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methods or means are adopted to solve the problem?

② What you have learnt and understood when finishing this experiment?

What ideas or suggestions do you have for the experimen

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