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

3 InstaSPIN-MOTION Block Diagrams

InstaSPIN-MOTION is designed in a modular structure. Customers can determine which functions will be included in their system. The FAST Observer resides in ROM. The core control algorithms of the SpinTAC library reside in ROM, and these functions are accessed by Application Program Interface (API) from the user code.

InstaSPIN-MOTION supports a wide array of system designs. InstaSPIN-MOTION uses the FAST software encoder for sensorless FOC systems (for additional information, see the TMS320F28069F, TMS320F28068F, TMS320F28062F InstaSPIN-FOC™ Software Technical Reference Manual). InstaSPIN-MOTION also supports solutions that leverage mechanical sensors (for example, encoders and resolvers). These scenarios are described below.

The variables in Figure 4-1, Figure 4-2, Figure 4-3, and Figure 4-4 are defined as:

  • θQep: position angle signal from encoder
  • θSP: sawtooth position reference signal generated by SpinTAC Position Move
  • ωlim: speed limit (used in position profile generation)
  • GUID-ED109F4D-EC04-440C-87FD-6E40BCC0E7A5-low.gif: acceleration limit
  • GUID-C3023F2F-6517-4730-AE3F-C2EACEA0422B-low.gif: jerk limit
  • ωRef: speed reference
  • GUID-FDE3A411-834A-4269-86F4-F0AF099584FB-low.gif: acceleration reference
  • GUID-E60AA17D-1E20-4C76-9A59-BCBB5B5E5845-low.gif: motor time constant