10

Mechanical Motion

Figure 10-1. Tachometer Apparatus to Measure Motor Speed

The ability to translate electrical signals into motion in the real world
combined with the ability to measure position can help you exploit the
power of the computer to generate computer automation the source of
much of the modern worlds conveniences.

Goal
In this experiment, use the power capacity of the NI DAQ Card to run and
control the speed of a small DC motor. Using a modified free space IR
link, build a tachometer to measure the speed of the motor. By combining
the motor and tachometer with a LabVIEW program, you can incorporate
computer automation in the system.

Introduction to NI ELVIS

10-1

ni.com

Lab 10

Required Components

1 k resistor (brown, black, red)

10 k resistor (brown, black, orange)

IR LED/phototransistor module

DC motor

Small punch or drill

Glue

Several combs with varying numbers of teeth per inch

Mechanical
Motion

Lab 10

Mechanical
Motion

Exercise 10-1 Start Your Engine

You can purchase a small, inexpensive DC motor at Radio Shack or many
hobby stores. These motors require a voltage source from 0 to 12 V,
producing a maximum RPM of about 15,000 at 12 V. With no load, the
current requirement is about 300 mA. The NI ELVIS II VPS can supply
up to 500 mA at 12 V. Also, by changing the polarity of the applied
voltage, you can change the direction of rotation.
Complete the following steps to install and run a motor on an NI ELVIS II
protoboard.
1. Connect a DC motor to the VPS output terminals, (SUPPLY+ and
GROUND).
2. Launch the NI ELVISmx Instrument Launcher and select Variable
Power Supply (VPS).
3. From either the workstations manual VPS controls or the SFP
controls, test the motor.
In the following example, manual control has been selected by
clicking on the Manual box []. Read the VPS voltage by clicking on
the Measure Supply Outputs box [], applying power to the protoboard,
and clicking Run.

Figure 10-2. VPS Supply + Configured to Manually Drive a DC Motor

End of Exercise 10-1

Lab 10

Mechanical
Motion

Exercise 10-2 The Tachometer

Using an IR LED and phototransistor or an integrated
LED/phototransistor module, you can build a simple motion sensor.
Complete the following steps to build a simple motion sensor.
1. On the protoboard, insert the components shown in the Figure 10-3
circuit diagram.

+5V

Emitte
r

1k
Gnd

Dete ctor

10 k

+
To ACH 4
-

Figure 10-3. Circuit for Operation of an Integrated LED/Phototransistor Module

In the case of an LED/phototransistor module, an internal LED is used

for the optical source. Power it from the +5 V power supply through a
1 k current limiting resistor Then connect a 10 k resistor from the
phototransistor emitter to ground and connect the same +5 V power
supply to the phototransistor collector. The voltage developed across
the
10 k resistor is the phototransistor or tachometer signal.
2. Connect leads from the 10 k resistor to the [AI 0+] and [AI 0] pin
sockets.

3. Select Scope from the NI ELVISmx Instrument Launcher and select

the settings, as shown in Figure 10-4.

Figure 10-4. Tachometer Signal Viewed on the Oscilloscope

4. Power on the protoboard and run the oscilloscope SFP.

5. Pass a piece of paper through the IR motion sensor. You should see
the oscilloscope trace change (HI-LO-HI). With a narrow piece of
paper, you might catch the pulse generated as you drag it through the
sensor.
6. Place a comb with many teeth in the sensor IR beam. Dragging it
through the sensor generates a train of pulses. You can even run it
back and forth like a saw to generate a continuous stream of pulses as
shown in Figure 10-4.
It is interesting to try combs with different sizes and numbers of teeth.
Each comb generates its own signature waveform.

End of Exercise 10-2

Exercise 10-3 Building a Rotary Motion System

The rotary motion demonstration system consists of the DC motor
controlled by the variable power supply and the IR motion sensor
configured as a tachometer. To complete the tachometer, you must attach
a disk with a 2 in. diameter, to the shaft of the motor by completing the
following steps.
1. Cut a 2 in. diameter disk from a piece of thin but sturdy cardboard or
plastic.
2. Cut a slot about 0.25 in. wide and 0.25 in. deep near the circumference
of the disk.
3. Punch or drill a small hole at the center point.
4. Glue the disk to the end of the motor shaft.
5. Mount the motor so that the slot lines up with the IR
transmitter/receiver beam. In operation, each revolution generates one
pulse.

Emitte r

VPS+

Dete ctor

+5V

1k
Gn d

10 k

+
To ACH 4
-

Gn d
1 2 V DC M ot
or

Figure 10-5. Motion Sensor Circuit and Motor Parts

Note You can also use the CD and motor of Lab 6. Instead of a small magnet

triggering the sensor, you can drill a hole about the size of the transmitter/receiver
beam (3 mm) near the edge of the CD. Align the IR sensor so that the beam passes
through the hole.

Figure 10-6. Apparatus to Measure the Speed of a Spinning CD

End of Exercise 10-3

Exercise 10-4 Testing the Rotary Motion System

Complete the following steps to test the rotary motion system.
1. Power on the protoboard and run the motor using the NI ELVIS II
VPS SFP to control the motor speed.
2. Adjust the motor position so that the disk does not touch the sensor slot.
3. Observe on the oscilloscope the pulses generated by the rotating
motor, as shown in Figure 10-7.

Figure 10-7. Typical Tachometer Waveform

4. Read the pulse frequency (Freq:) from the measurement row CHO
Meas: at the bottom of the oscilloscope screen. Take frequency
measurements for a variety of power supply levels. A plot of
frequency versus VPS voltage level demonstrates the linearity of your
rotary motion system.
5. Close NI ELVIS and all SFPs.

End of Exercise 10-4

Exercise 10-5 A LabVIEW Measurement of RPM

LabVIEW has several VIs located at FunctionsProgrammingAnalog
WaveformWaveform Measurements that are convenient for measuring
the timing periods of a continuous waveform. You can use the Pulse
Measurements.vi to measure the period, pulse duration, or duty cycle from
a waveform array.

Figure 10-8. Period Measurement Converted to kRPM

You can convert the period measurement to revolutions per minute by

inverting the period to get frequency and multiplying by 60 to get rpm.
For scaling, divide by 1000 to get krpm.
Note You can also use the Express template for Timing and Transitions

Measurements and get the frequency directly. Then convert the frequency to rpm as
discussed above.

Figure 10-9. kRPM Measurements using an Express VI

Using LabVIEW, complete the following steps to measure the

period/frequency on a continuous waveform.
1. Launch LabVIEW and open RPM.vi from the Hands-On-NI ELVIS II
library folder.
2. Open the diagram window and study the program.

Figure 10-10. Block Diagram of program RPM.vi

Use the DAQ Assistant to collect 1000 voltage samples for the tachometer
graph and provide an input signal array for the Pulse Measurements.vi.
The rpm signal is sent to a front panel meter and displayed in krpm. The
rpm signal also goes to a shift register with five elements. This provides
an averaged rpm signal for the front panel. You manually control the
motor speed with the front panel knob labeled Setpoint. Also available on
the front panel is a graph of the tachometer signal as a function of time.

Run this VI and take your motor for a spin. See and hear how responsive
the motor is to a rapid change in the rpm setpoint.

Figure 10-11. LabVIEW Tachometer and Motor Control Circuit Front Panel

End of Exercise 10-5

LabVIEW Challenge: Computer Automation of the Rotary Motion

System
National Instruments offers the LabVIEW PID Control Toolkit, which
features additional LabVIEW VIs you can use to add computer
automation to your rotary system. PID stands for proportional integral
derivative. These control algorithms move a system from one setpoint
(initial rpm) to another setpoint (final rpm) in an optimized manner. The
addition of a single VI (PID.vi) provides optimal control to your program.
The algorithm compares the target rpm (final rpm) with the current rpm
(averaged rpm signal) to generate a DC error signal, which drives the
VPS. Integration and differentiation parameters adjust the VPS voltage
smoothly from one measurement to the next.

Figure 10-12. PID subVI for Control Applications

If you are more familiar with control, you can use another VI (PID
Autotuning.vi) to set the initial PID parameters automatically. Then you
can fine-tune the parameters to your specific system. Search for additional
LabVIEW PID resources at ni.com.

Figure 10-13. Setpoint (yellow) and RPM (red) Traces show Optimal Control PID
in Action

In Figure 10-13, the setpoint (yellow trace) is changed suddenly from

3300 to 4500 krpm. The system rpm (red trace) responds by moving the
motor speed smoothly and optimally from the current setpoint to the target
setpoint.