Datenblatt-Suchmaschine für elektronische Bauteile |
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TMC4671 Datenblatt(PDF) 44 Page - TRINAMIC Motion Control GmbH & Co. KG. |
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TMC4671 Datenblatt(HTML) 44 Page - TRINAMIC Motion Control GmbH & Co. KG. |
44 / 157 page TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11 44 / 157 4.8.3 PI Controller Calculations - Advanced Structure The PI controllers in the advanced controller structure perform the calculation dXdT = P · e + t 0 P · I · e(t) dt (22) with e = X_TARGET − X (23) where X_TARGET represents target ux, target torque, target velocity, or target position with control error e, which is the difference between target value and actual values. The time constant dt is set according to the PWM period but can be downsampled for the velocity and position controller by register MODE_PID_SMPL. Velocity and position controller evaluation can be down-sampled by a constant factor when needed. Figure 24: Advanced PI Controller Info The PI velocity controller will be given a derivative part (so it will be a PID controller) in a future version of the chip. Also, the normalization of the PI parameters might be changed due to low performance at high PWM frequencies. This will need changes in the user’s application controller software. Info The P Factor in the advanced position controller is not properly scaled. Due to the high gain in velocity control loop, the position controller gain should be respectively low. The P Factor normalization of Q8.8 does not match these needs. This will be changed in a future version of the chip to a different Q format. This change will need changes in the user’s application controller software. We recommend to use the classical PI control structure if performance is not su cient. 4.8.4 PI Controller - Clipping The limiting of target values for PI controllers and output values of PI controllers is programmable. Per power on default these limits are set to maximum values. During initialization, these limits should be set properly for correct operation and clipping. ©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com |
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