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

FAST Unified Observer

FAST unified observer structure exploits the similarities between all motors that use magnetic flux for energy transduction:

  • Supports both synchronous (BLDC, SPM, IPM) and asynchronous (ACIM) control.
  • Provides salient compensation for interior permanent magnet motors. Observer tracks rotor flux and angle correctly when Ls-d and Ls-q are provided.

FAST offers unique, high-quality motor feedback signals for control systems:

  • High-quality Flux signal for stable flux monitoring and field weakening.
  • Superior rotor flux Angle estimation accuracy over wider speed range compared to traditional observer techniques independent of all rotor parameters for ACIM.
  • Real-time low-noise motor shaft Speed signal.
  • Accurate high-bandwidth Torque signal for load monitoring and imbalance detection.

FAST replaces mechanical encoders and resolvers, and accelerates control system design:

  • Angle estimator converges within first cycle of the applied waveform, regardless of speed.
  • Stable operation in all power quadrants, including generator quadrants.
  • Accurate angle estimation at steady state speeds below 1 Hz (typical) with full torque.
  • Angle integrity maintained even during slow speed reversals through zero speed.
  • Angle integrity maintained during stall conditions, enabling smooth stall recovery.
  • Motor Identification measures required electrical motor parameters of unloaded motor in under 2 minutes (typical).
  • "On-the-fly" stator resistance recalibration (online Rs) tracks stator resistance changes in real time, resulting in robust operation over temperature. This feature can also be used as a temperature sensor of the motor's windings (basepoint calibration required).
  • Superior transient response of rotor flux angle tracking compared to traditional observers.
  • PowerWarp™ adaptively reduces current consumption to minimize the combined (rotor and stator) copper losses to the lowest, without compromising ACIM output power levels.