TMS320F28069M, TMS320F28068M InstaSPIN™ …

1 TMS320F28069M, TMS320F28068 MInstaSPIN -MOTIONS oftwareTechnicalReferenceManualLiteratur eNumber:SPRUHJ0 BApril2013 RevisedMarch2014 Contents1F2806xMInstaSPIN Capabilitiesand :SmoothMotionAcrossVaryingSpeedsand :SmoothMotionand PositionAccuracyat Low :SmoothMotionand PositionAccuracyat Low :SpinTACvs :SpinTACvs Definitionof Termsand ContentsSPRUHJ0B April2013 RevisedMarch2014 SubmitDocumentationFeedbackCopyright 2013 2014, of Figures1 InstaSPIN-MOTION= C2000F2806xMMCU+ FASTS oftwareSensor(optional)+ Auto-TunedInner-TorqueController+ a a UserMemory,with Exceptionof FASTand SpinTACin a MechanicalSensorand 500 MaximumSpeedErrorand PI PI PI MaximumOvershootand MaximumPositionErrorand MaximumOvershootand F2806xMAllocatedMemoryfor InstaSPIN-FOCand April2013 RevisedMarch2014 List of FiguresSubmitDocumentationFeedbackCopyri ght 2013 2014, of vs PI DisturbanceRejectionTestResults(TeknicMo tor).

2 294 SpinTACvs PI DisturbanceRejectionTestResults(EstunMot or)..305 SpinTACvs PI PI StepResponseTestResults(TeknicMotor)..37 7 SpinTacvs PI StepResponseTestResults(EstunMotor)..378 SpinTACvs PI PositionControlDisturbanceRejectionTestR esults(TeknicMotor)..409 SpinTACvs PI PositionControlDisturbanceRejectionTestR esults(EstunMotor)..4010 SpinTACvs PI PI PositionControlStepResponseTestResults(T eknicMotor)..4412 SpinTacvs PI PositionControlStepResponseTestResults(E stunMotor)..4413 SpinTACCPUC ycleUtilizationwith LibraryExecutingin LibraryExecutingin RAMU sagefor SpinTACC omponents+ of TablesSPRUHJ0B April2013 RevisedMarch2014 SubmitDocumentationFeedbackCopyright 2013 2014,TexasInstrumentsIncorporated^Y]L@ Velocity Control^Y]L@ Velocity MoveZ=ROMSVMIqPISpeedPIINVPARKCLARKECLAR KEPARKIdPITrajRamp ^@ Software Encoder Rotor Flux ObserverMotor Parameters IDDRV_ run++User_ IqRefUser_ IdRefVqVdVH_ outVJ_outTaTbTcIaIbIcVaVbVcVbusVH_inVJ_i nIq _refIqId _ refIdZrefIdIqIH_inIJ_ inAngleSpeedFluxTorqueEnable Motor IdentificationEnable PowerWarp Motor TypeEnable RsOnline RecalibrationEST_ runROMFLASH / RAMFLASH / RAMRs=Rr=Irated=\rated=Lsd=Lsq=6=Z=9=\=9 =Z=\=Irated=6=6=6=Z=SpdoutEnable Force Angle StartupTorque ModeFLASH / RAMDRV_ readAdcDataDRV_ acqAdcIntCTRL_ runCTRL_ setupROMSTVELMOVE _runSTVELCTL _run^Y]L@ ,} ]}L Control Suite^Y]L@ Velocity PlanMotion SequenceZSPFLASH / RAM^Y]

3 L@ VelocityIdentifyROMSTVELID _ ModeSTVELPLAN _ runUser_ SpdRefUser_ -FOCI nstaSPIN -MOTION PWMD riverADCD riverTechnicalReferenceManualSPRUHJ0B April2013 RevisedMarch2014 TMS320F28069M, TMS320F28068 MInstaSPIN -MOTIONS oftware1F2806xMInstaSPIN -MOTIONE nabledMCUsInstaSPIN-MOTION[TMS320F2806xM (69 Mand 68M- 80 or 100 pin packages)]is the first offeringfromTexasInstrumentsto combineTI 32-bitC2000 Piccolo microcontrollerswith comprehensivemotor-,motion-,speed-,and positioncontrolat the highestefficiencyfor motorapplicationsthat operatein yourown motioncontrolexpert,on a a sensorlessor sensoredfield-orientedmotorcontrol(FOC)s olutionthat canidentify,tune,and controlyourmotorin FAST premiumsoftwaresensorand the SpinTAC MotionControlSuite(Figure1).

4 The corealgorithmsare embeddedin the read-only-memory(ROM)on TI 32-bitC2000 Piccolomicrocontrollers(MCUs).Figure1. InstaSPIN-MOTION= C2000F2806xMMCU+ FASTS oftwareSensor(optional)+ Auto-TunedInner-TorqueController+ SpinTACM otionControlSuiteInstaSPIN,C2000,Piccolo ,FAST,PowerWarpare trademarksof a trademarkof othertrademarksare the propertyof April2013 RevisedMarch2014 TMS320F28069M, TMS320F28068 MInstaSPIN -MOTIONS oftwareSubmitDocumentationFeedbackCopyri ght 2013 2014,TexasInstrumentsIncorporatedF2806xM InstaSPIN idealfor applicationsthat requireaccuratespeedand positioncontrol,minimaldisturbance,or undergomultiplestatetransitionsor experiencedynamicspeedor load providesexamplesof applicationsthat will InstaSPIN-MOTIONA pplicationExamplesApplicationCharacteris ticsExamplesAccuratespeedcontrolIndustri alfansConveyorsystemsElevators/escalator sAutomotivebodyparts(electricwindows,sun roofs,etc.)

5 Opticaldisc drives/harddrivesMedicalmixingAccuratepo sitioncontrolSurveillancesystemsPackagin gsystemsMedicalrobotsGimbalsystemsTextil e/SewingmachinesMinimaldisturbanceDental toolsPowertoolsSecuritygatesand doorsUndergoesmultiplestateHVAC pumps,fans and blowerstransitions/dynamicchangesGenerat orsAir conditioningcompressorsWashingmachinesEx erciseequipmentMedicalpumpsThis documentfocuseson the additivefeaturesprovidedin InstaSPIN-MOTIONand is a supplementto allstandardTMS320F2806xdocumentation,inc luding:SPRS698 TMS320F28069,TMS320F28068,TMS320F28067,T MS320F28066,TMS320F28065,TMS320F28064,TM S320F28063, pinout,signaldescriptions,as well as electricaland timingspecificationsfor the integration,theenvironment,the functionaldescription,and the programmingmodelsfor eachperipheralandsubsystemin the TMS320x28xx, peripheralreferenceguidesof the 28x digitalsignalprocessors(DSPs).

6 Additionally,the InstaSPIN-MOTION documentationpackageincludes:SPRUHJ1 TMS320F2802xFInstaSPIN-FOC,TMS320F2806xF InstaSPIN-FOC,TMS320F2806xMInstaSPIN-MOT IONUser' scopeand functionalityof: F2806xMdevices F2806xMROM contents ,TMS320F28068 MInstaSPIN -MOTIONS oftwareSPRUHJ0B April2013 RevisedMarch2014 SubmitDocumentationFeedbackCopyright 2013 2014,TexasInstrumentsIncorporatedSpinTAC MotionControl SuiteSpinTACPlanSpinTACMoveSpinTACC ontrolSpinTACI dentifyMotionSystemIq Capabilitiesand Benefits2 InstaSPIN-MOTIONKey Capabilitiesand BenefitsInstaSPIN-MOTION replacesinefficient,olderdesigntechnique swith a solutionthat maximizessystemperformanceand embeddingthe motorexpertiseon the chip,InstaSPIN-MOTION enablesusersto focuson optimizingtheirapplicationratherthanstru gglingwith followingcorecapabilities.

7 The FAST unifiedobserver,whichexploitsthe similaritiesbetweenall motorsthat use magneticflux FAST estimatormeasuresrotorflux (magnitude,angle,and speed)as wellas shafttorquein a sensorlessFOCsystem. Motorparameteridentification,usedto tunethe FAST observerand initializethe innermostcurrent(torque)PI controllersfor Iq and Id controlof the FOCsystem. SpinTAC,a comprehensivemotioncontrolsuite(seeFigur e2) fromLineStreamTechnologies,simplifiestun ingand ensuresoptimalperformanceacrossdynamicsp eedand similaritiesbetweenall motorsthat use magneticflux forenergytransduction: Supportsbothsynchronous(BLDC,SPM,IPM)and asynchronous(ACIM)control. Providessalientcompensationfor andanglecorrectlywhenLs-dand Ls-qare ,high-qualitymotorfeedbacksignalsfor controlsystems: High-qualityFlux signalfor stableflux monitoringand field weakening.

8 SuperiorrotorfluxAngle estimationaccuracyoverwiderspeedrangecom paredto traditionalobservertechniquesindependent of all rotorparametersfor ACIM. Real-timelow-noisemotorshaftSpeedsignal. Accuratehigh-bandwidthTorquesignalfor load monitoringand resolvers,and acceleratescontrolsystemdesign: Angleestimatorconvergeswithinfirst cycleof the appliedwaveform,regardlessof speed. Stableoperationin all powerquadrants,includinggeneratorquadran ts. Accurateangleestimationat steadystatespeedsbelow1 Hz (typ)with full torque. Angleintegritymaintainedevenduringslowsp eedreversalsthroughzerospeed. Angleintegritymaintainedduringstall conditions,enablingsmoothstall recovery. MotorIdentificationmeasuresrequiredelect ricalmotorparametersof unloadedmotorin under2minutes(typ).

9 "On-the-fly"statorresistancerecalibratio n(onlineRs) tracksstatorresistancechangesin real time,resultingin featurecan also be usedas a temperaturesensorof the motor'swindings(basepointcalibrationrequ ired). Superiortransientresponseof rotorflux angletrackingcomparedto traditionalobservers. PowerWarp adaptivelyreducescurrentconsumptionto minimizethe combined(rotorand stator)copperlossesto the lowest, April2013 RevisedMarch2014 TMS320F28069M, TMS320F28068 MInstaSPIN -MOTIONS oftwareSubmitDocumentationFeedbackCopyri ght 2013 2014,TexasInstrumentsIncorporatedInstaSP IN-MOTIONKey Capabilitiesand time you spenddefininghow you wantyourmotorto spin and ensuresthat yourmotorrunsat its optimallevelfor benefitsinclude: SimplifiedTuning- Tuneyoursystemfor the entirepositionand speedoperatingrangewith a singleparameter.

10 IntuitiveTrajectoryPlanning- Easilydesignand executecomplexmotionsequences. MechanicallySoundMovement- Optimizeyourtransitionsbetweenspeedsbase don yoursystem'smechanicallimitations. IdealControl- Benefitfromthe mostaccuratespeedand positioncontrolon the market,basedonLineStream' four componentsthat comprisethe SpinTACM otionControlSuite:Identify,Control,Move, thesecomponentsexistfor boththe Velocityand (the resistanceof an objectto rotationalaccelerationaroundan axis).The greaterthe systeminertia,the greaterthe torqueneededto accelerateor deceleratethe system'sinertiavalueto providethe spinningthe motorin the applicationandmeasuringthe an advancedspeedand positioncontrollerfeaturingActiveDisturb anceRejectionControl(ADRC),whichproactiv elyestimatesand compensatesfor systemdisturbance,in undesiredsystembehaviorcausedby.