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InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active...

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InstaSPIN-MOTION Speed Controller
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Page 1: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

InstaSPIN-MOTION Speed Controller

Page 2: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Introduction

• What is the SpinTAC Speed Controller? – Advanced Speed Controller

• Replaces traditional PI speed controllers

– Active Disturbance Rejection Control (ADRC)

• ADRC estimates the disturbance in the system and actively compensates for these disturbances

– Single Parameter Tuning

• Reduces time spent tuning speed controllers in development

– Inertia Compensation

• Controller response is adjusted by the system inertia

– Feedforward

• Controller accepts feedforward input to improve profile tracking

– Wide Operating Range

• Controller typically works across an application’s entire speed and load range

Page 3: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

SpinTAC’s Advantages over PI

• ADRC Technology

– PI does NOT estimate system disturbance and actively compensate for them

• Single Parameter Tuning – PI does NOT features a single tuning parameter, it requires multiple

tuning parameters to be balanced

• Inertia Compensation – PI does NOT directly compensate for the system inertia

• Feedforward – PI does NOT take feedforward as an input

• Wide Operating Range – PI does NOT work over a wide oparting range and must be retuned for

multiple speed and load points.

Page 4: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Controller Comparison

Controller Considerations

PI Controllers SpinTAC™ Speed Controller

The bottom line… • PI controllers are inconsistent across the operating range

SpinTAC™ delivers desired performance, regardless of speed, load or disturbance

Performance Unpredictable across varying speeds and loads

Auto-adjusting

Tuning parameters

Multiple required to be effective across entire operating range

Single parameter effective across operating ranges

Tuning process Complex, time intensive, iterative Simple – the identification process takes a few minutes

Start-up Difficult – requires control expertise Simple – accomplished in 3 steps

Disturbance recovery

Overshoot and undershoot when disturbances occur, and upon speed/load transitions

Disturbance-rejecting controller holds set points more closely

Page 5: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Bandwidth As bandwidth is increased, the controller response becomes stiffer

Page 6: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Optimal Performance

• Getting best possible performance is critical

• InstaSPIN-MOTION’s SpinTAC Speed Controller gets the best possible performance

• The traditional PI controller was compared against the SpinTAC controller in a battery of tests

• Test Setup – Anaheim Automation BLY172S Motor

– Magtrol HD-400 Dynamometer

– DRV8312 Rev D Evaluation Kit

Page 7: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Advantage – Single Parameter Tuning

• PI was tuned mathematically using the procedure outlined in User Guide

– 6 motor parameters need to be identified

– 6 equations need to be evaluated

– 4 tuning parameters

• SpinTAC was tuned experimentally using the procedure outlined in User’s Guide

– 1 system parameter needs to be identified • Identified by SpinTAC Velocity Identify

– 0 equations need to be evaluated

– 1 tuning parameter

Page 8: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Advantage – Disturbance Rejection Test

ADRC allows SpinTAC to

respond quicker to

disturbances.

Page 9: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Advantage – Feedforward Feedforward allows SpinTAC to more accurately track references

profile

Page 10: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Advantage – No Integrator Windup SpinTAC is not impacted by integrator windup

Page 11: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

Advantage – Minimum Startup Overshoot SpinTAC produces minimal overshoot on startup

Page 12: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

InstaSPIN-MOTION Lab 05d

• Implements the SpinTAC Speed Controller

– Replaces the InstaSPIN-FOC Speed Controller with the InstaSPIN-MOTION Speed Controller

Page 13: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

InstaSPIN-MOTION Lab 05e

• Tune the SpinTAC Speed Controller

– Experience how quick and simple it is to tune the SpinTAC Speed Controller

Page 14: InstaSPIN-MOTION Speed Controllerprocessors.wiki.ti.com/images/c/c5/...Controller.pdf · –Active Disturbance Rejection Control (ADRC) •ADRC estimates the disturbance in the system

InstaSPIN-MOTION Lab 05f

• Compare the SpinTAC Speed Controller with the PI Speed Controller

– See the performance improvements that the SpinTAC Speed Controller brings


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