SPRUHJ0C April   2013  – October 2021 TMS320F28068M , TMS320F28069-Q1 , TMS320F28069M , TMS320F28069M-Q1

 

  1. 1Read This First
    1. 1.1 About This Manual
    2. 1.1 Glossary
    3. 1.1 Support Resources
    4.     Trademarks
  2. 1 F2806xM InstaSPIN-MOTION Enabled MCUs
  3. 2InstaSPIN-MOTION Key Capabilities and Benefits
    1. 2.1 Overview
    2. 2.2 FAST Unified Observer
    3. 2.3 SpinTAC Motion Control Suite
      1.      IDENTIFY
      2.      CONTROL
      3.      MOVE
      4.      PLAN
    4. 2.4 Additional InstaSPIN-MOTION Features
  4. 3InstaSPIN-MOTION Block Diagrams
    1.     Scenario 1: InstaSPIN-MOTION Speed Control with FAST Software Encoder
    2.     Scenario 2: InstaSPIN-MOTION Speed Control with a Mechanical Sensor
    3.     Scenario 3: InstaSPIN-MOTION Position Control with Mechanical Sensor and Redundant FAST Software Sensor
  5. 4Application Examples
    1. 4.1 Treadmill Conveyor: Smooth Motion Across Varying Speeds and Loads
    2. 4.2 Video Camera: Smooth Motion and Position Accuracy at Low Speeds
    3. 4.3 Washing Machine: Smooth Motion and Position Accuracy at Low Speeds
      1.      Agitation Cycle
      2.      Spin Cycles
    4. 4.4 InstaSPIN-MOTION Works Over the Entire Operating Range
  6. 5Evaluating InstaSPIN-MOTION Performance
    1. 5.1 Overview
    2. 5.2 Velocity Control Performance: SpinTAC vs PI
      1. 5.2.1 Disturbance Rejection
      2. 5.2.2 Reference Tracking
      3. 5.2.3 Step Response
    3. 5.3 Position Control Performance: SpinTAC vs PI
      1. 5.3.1 Disturbance Rejection
      2. 5.3.2 Reference Tracking
      3. 5.3.3 Step Response
      4. 5.3.4 Inertia Estimation Repeatability
  7. 6Microcontroller Resources
    1. 6.1 CPU Utilization
    2. 6.2 Memory Utilization
    3. 6.3 Pin Utilization
      1.      A Resources
        1.       B Definition of Terms and Acronyms
          1.        C Revision History

5.3 Position Control Performance: SpinTAC vs PI

The performance of SpinTAC Position Control was compared against a typical PI-PI control system. Each controller was tuned via the same method.

The Estun motor used a 2500-line encoder. Both controllers were tuned by injecting 25% rated torque (45 oz-in) disturbances while running the motor at 100% rated speed (3000 rpm), resulting in the following gains:

PI Control System

  • Position Loop
    • Kp = 20
    • Ki = 0.002
  • Speed Loop
    • Kp = 23
    • Ki = 0.5

SpinTAC Position Control (single gain for position and speed)

  • Bandwidth = 36 radians/s

The inertia used by SpinTAC Position Control was estimated with the dyne coupled with the motor. The value was found to be 0.44 A / (krpm/s).

The Teknic motor used a 1000-line encoder. Both controllers were tuned by injecting 50% rated torque (19.4 oz-in) disturbances while running the motor at 50% rated speed (2000 rpm). This resulted in the following gains:

PI Control System

  • Position Loop
    • Kp = 17
    • Ki = 0.01
  • Speed Loop
    • Kp = 1.2
    • Ki =0.1

SpinTAC Position Control (single gain for position and speed)

  • Bandwidth = 50 radians/s

The inertia used by SpinTAC Position Control was estimated with the dyne coupled with the motor. The value was found to be 0.07 A / (krpm/s).

The gains were held constant throughout all of the tests. This was done purposefully to highlight the wide operating range of SpinTAC Position Control.