Figure 1 shows a schematic drawing of an experimental setup

consisting of a DC motor setup with a gearhead.

The shaft is coupled with a tachometer and a potentiometer that
respectively provide signals proportional to the angular velocity 
and the angular displacement  of the output shaft of the motor
gearhead.
ENGR. RIHAB HAMZA UAEU
 .
1. Process

2. Actuator

3. Sensor

4. Data Acquisition

5. Controller (Computer)

6. Amplifier

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 Dead zone = ?? V
Max. Voltage = 24 V

ENGR. RIHAB HAMZA UAEU

Build a LabVIEW program as follows:
1. To have an output DAQ Assist to operate the motor at certain speed
depending on the Voltage given to the motor by the user ( numeric
control)
2. An input DAQ Assist to read the measurement of the Tachometer.
3. Record the tachometer outputs of minimum and maximum voltage of
the motor.
Motor V Speed Output (V)
Min. Voltage
Max Voltage

Do you need to repeat the same process to find the

working range for the potentiometer???
To find the equation that relates the input of the sensor
(Physical phenomenon that to be measured) with the
output of the sensor (Electrical signal).
This requires finding the gains of the tachometer gain
Ktac (in deg/s/v) and the potentiometer gain Kpot (in
deg/v) both referenced to the gearhead output shaft.

𝒅𝒆𝒈 𝒅𝒆𝒈/𝒔
𝝎( ) = 𝑲𝒕𝒂𝒄 𝑽 (v) KTac =
𝒔 𝑽𝑻𝒂𝒄

𝒅𝒆𝒈
𝜽 𝒅𝒆𝒈 = 𝑲𝒑𝒐𝒕 V (v) Kpot =
𝑽𝒑𝒐𝒕
Build a LabVIEW program as follows:
1. To have an output DAQ Assist to operate the motor at certain speed
depending on the Voltage given to the motor by the user ( numeric
control)
2. An input DAQ Assist to read the measurements of the sensors.
3. Since there is 2 sensors potentiometer and tachometer, the data from
DAQ Assist will be connected to 2 select signals one for the position
and the one for the speed.
4. Record the tachometer and potentiometer outputs.
5. Load the recorded data in Excel and plot the recorded signals.
6. From the recorded responses, estimate the gain for the potentiometer
and Tachometer Kpot and Ktac.
ENGR. RIHAB HAMZA UAEU
1. Repeat the pervious task for 3 times and take the average.
2. Analysis the error boundaries.

ENGR. RIHAB HAMZA UAEU

ENGR. RIHAB HAMZA UAEU
The schematic drawing is a model for a geared DC motor. The gearbox has
a gear ratio N, and connects the motor shaft to the output shaft. The motor
shaft, which includes the motor armature, has mass moments of inertia Jm
and a friction-damping coefficient Bm, while the output shaft includes the
external load and has a mass moments of inertia Jo and a friction-damping
coefficient Bo.
The armature circuit model is also shown in the figure and has a resistance
R and a back emf constant Kb. The angular velocities of the motor shaft and
the output shaft ωn and ωo are positive in the direction shown.
 VL is neglected

Assume L =0
Applying KVL to the motor circuit
Va=VR+VL + Vb
Vb = Ke ωm

Va= 𝑖𝑅 + +𝐾𝑒ωm -------(1)

 𝑵τ𝒐
τ𝒎 τ𝒐
ω𝒐

Jm
ω𝒎 Jo Applying Newton's second law

bm ෍ τ = 𝑱𝜽ሷ
Gear with GR N
bo

τm-τ𝒐- 𝒃𝒎ωm = 𝑱𝝎ሶ m ωm = Nω

𝑵τ𝒐- 𝒃ω = 𝑱𝝎ሶ
𝑲𝒕𝒊
Combining equations to get
ሶ
Ko𝑽𝑖𝑛 = 𝛕𝝎+ω where,
Ko = ??? , (open loop gain)
and 𝛕 = ???, ( time constant)

The time constant 𝜏, and the plant open loop steady state
gain 𝐾0 can be obtained from the previous relations.
How???

What is the order of the System??

Using Laplace transform what is the transfer
function???
ω(s)
Speed TF = 𝑽𝒊𝒏 𝒔
= ????

ϴ(s)
Position TF= 𝑽𝒊𝒏 𝒔
= ????
 If give the system a step input of value a, then the
Laplace transform is a/s
Now, the equation becomes:
𝑲𝒐 𝑎
ω(s) = *
𝛕𝒔+𝟏 𝑠
Using inverse Laplace to give the output response in
the time domain for a step change of the input of
magnitude a.
1
−( )𝑡
𝜔 𝑡 = 𝑎𝐾𝑜 (1 - 𝑒 𝜏 )
How can get this??

ENGR. RIHAB HAMZA UAEU

Steps to be done:
1. Modify your VI program you build last time to have step response
test for the speed of the motor.
2. Run the system at the chosen operating point using the VI program
3. Read both Vin (motor voltage) and system output using data
acquisition system and insure that data is saved to an excel file.
4. Apply a change in the Vin such that the output would change to a
new stable value within 75% of the operating range.
5. Stop the system after the output reaches the new stable value.
6. Examine the saved data in the excel file format. The data should
include the time, the input voltage, and the process output.
Steps to be done:

1. Identify the point for the step response i.e at the point the
input change and use them at reference.

2. Use t_ref to establish a new time data as t’ = t-t_ref

3. Use Y_ref to find ΔY as ΔY= Y-Y_ref

4. Find the input step value, ΔVin

5. Divide the ΔY by the input step value, ΔVin, to have a

unit response and call it ΔY / ΔVin
 ω(s)
G(s) = =
𝑽𝒊𝒏 𝒔

ϴ(s)
G(s) = =
𝑽𝒊𝒏 𝒔