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Motor Position Digital Control Overview This tutorial shows how to use the root locus design method for digital DC motor position control. This tutorial uses LabVIEW 8.2 with LabVIEW Control Design Toolkit. These tutorials are based on the Control Tutorials developed by Professor Dawn Tilbury of the Mechanical Engineering department at the University of Michigan and Professor Bill Messner of the Department of Mechanical Engineering at Carnegie Mellon University and were developed with their permission. In this example, the controller will be designed by a Root Locus method. A digital DC motor model can obtain from conversion of analog DC motor model, as we will describe. According to the Modeling DC Motor Position page, the open-loop transfer function for DC motors position is: where: ? electric resistance (R) = 4 ohm ? electric inductance (L) = 2.75E-6 H ? electromotive force constant (K=Ke=Kt) = 0.0274 Nm/Amp ? moment of inertia of the rotor (J) = 3.2284E-6 kg*m^2/s^2 ? damping ratio of the mechanical system (b) = 3.5077E-6 Nms ? input (V): Source Voltage ? output (sigma dot): Rotating speed ? The rotor and shaft are assumed to be rigid The design requirements are: ? Settling time: Less than 0.04 seconds ? Overshoot: Less than 16% ? Steady-state error: 0 with a step disturbance input Continuous to Discrete Conversion The first step in the design of a discrete-time system is to convert a continuous transfer function to a discrete transfer function. LabVIEW MathScript can be used to convert the above transfer function to a discrete transfer function by using the c2d command. The c2d command requires three arguments: system, a sampling time (T) and a type of hold circuit. In this example we will use the zero-order hold ( zoh). From the design requirement, let the sampling time, T, equal 0.001 seconds, which is 1/100 of the required time constant or 1/40 of the required settling time. In LabVIEW, click Tools #62;#62; MathScript Window. In the MathScript Window, selec