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

5.2.3 Step Response

Step response tests how quickly a controller can respond to a sudden input change. The two metrics to evaluate during this testing are settling time and maximum overshoot. This test is also a measure of stability of your controller. If the controller oscillates upon reaching the goal speed, then it is not very stable.

A step profile was applied to each controller. This step input bypassed the profile generator. The following parameters were measured:

  • Settling Time (from the step input until within 2% of the target speed): The settling time reflects how long it takes the controller to reach the goal speed and bring the speed of the motor within a narrow band around the goal speed.
  • Maximum Overshoot: The maximum speed the motor reaches after the step input.

Figure 6-9 compares the step responses of the SpinTAC and PI controllers. It also gives a visual representation of how these metrics were calculated. The SpinTAC controller was able to reach the goal speed with zero overshoot and the minimal amount of settling time. It achieved the minimal amount of settling time because the controller did not allow the motor speed to exceed the goal speed.

GUID-C37E0C54-3CB8-4DF5-BEB8-7B4C0F616EB6-low.png Figure 5-9 Step Response Test of Maximum Overshoot and Settling Time
Table 5-5 SpinTAC vs PI Step Response Test Results (Teknic Motor)
Settling Time(s) Overshoot (rpm)
SpinTAC PI SpinTAC Advantage (percentage improvement over PI) SpinTAC PI SpinTAC Advantage (percentage improvement over PI)
0-4000 rpm
2.67 3.45 22.66 73 140.4 48.01
2.48 3.39 26.84 71.5 139.6 48.78
2.52 3.51 28.21 70.1 138.2 49.28
2.54 3.59 29.25 71.5 138.2 48.26
2.64 3.39 22.12 70.1 139.6 49.79
0-2000 rpm
0.84 1.51 44.37 317 319.6 0.81
0.9 1.42 36.62 325 320.3 -1.47
0.86 1.42 39.44 332 320.3 -3.65
0.93 1.45 35.86 390 320.3 -21.76
0.92 1.42 35.21 325 319.6 -1.69
0-1000 rpm
0.65 1.28 49.38 239 316.2 24.41
0.79 1.1 28.18 269 317.6 15.3
0.57 1.27 55.12 195 319.1 38.89
0.59 1.38 57.25 203 318.4 36.24
0.59 1.18 50 24.16 318.4 38.76

 

Table 5-6 SpinTac vs PI Step Response Test Results (Estun Motor)
Settling Time(s) Overshoot (rpm)
SpinTAC PI SpinTAC Advantage (percentage improvement over PI) SpinTAC PI SpinTAC Advantage (percentage improvement over PI)
0-3000 rpm
0.44 1.16 61.81 2.9 250.5 98.84
0.54 1.1 50.91 2.9 251.2 98.85
0.38 1.32 71.21 2.9 252.7 98.85
0.4 1.21 66.94 2.9 252 98.85
0.42 1.41 70.21 2.9 252.7 98.85
0-1500 rpm
0.25 1.12 78 3.7 261.5 98.59
0.37 1.3 71.54 19 262.2 92.75
0.47 1.12 58.04 3.7 263.7 98.6
0.42 1.1 61.82 3.7 263.7 98.6
0.44 1.13 61.06 3.7 262.9 98.59
0-750 rpm
0.41 0.81 49.63 63.72 286.4 77.75
0.32 0.61 47.54 76.17 179.44 57.55
0.43 0.71 39.44 71.04 279.8 74.61
0.32 0.62 48.39 13.91 292.2 95.24
0.32 0.73 56.16 24.16 177.97 86.42