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TMC4671 Datenblatt(Datasheet) 51 Page - TRINAMIC Motion Control GmbH & Co. KG.

Teile-Nr. TMC4671
Beschreibung  Encoder Engine: Hall analog/digital, Encoder analog/digital
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Hersteller  TRINAMIC [TRINAMIC Motion Control GmbH & Co. KG.]
Homepage  http://www.trinamic.com
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
51 / 157
statements are correct for the velocity biquad
lter. Both
lters’ sampling times are
xed to the PWM
period.
The velocity target value biquad is con gured as a second order low-pass with a cutoff frequency at 200 Hz
- by default at a sampling frequency of 25 kHz. Biquad
lters can be activated separately.
4.9.2 Standard Velocity Filter
By using the standard velocity measurement algorithm, the default velocity
lter is enabled and can not be
switched off. The standard velocity
lter is a low-pass
lter with a cutoff frequency of 20 Hz (slope of -20
dB/Decade). In this con guration, a new velocity is calculated at a sample rate of approx. 4369.067 Hz.
This con guration is intended to be used in low-performance applications with a simple position feedback
system like digital Hall sensors.
4.9.3 Feed-Forward Control Structure
The TMC4671 provides a feed-forward control structure for torque target value and velocity target value.
The structure is intended to support controllers at high dynamic input pro les. It can be switched on when
using the advanced PI controller structure. The feed-forward value is calculated with a DT1 (30) element.
Each DT1 element can be parametrized with two parameters.
Figure 30: DT1 Element Structure
Equations:
e = X − int_val
(36)
int_val =
e dt
(37)
Y = b_1 · e
(38)
The coe
cients a_0 and b_1 are represented in Q2.30 format. Registers for parametrization of feed-forward
control structure are feed_forward_velocity_gain, feed_forward_velocity_ lter_constant, feed_forward_torque_gain,
and feed_forward_torque_ lter_constant.
The input target value to the velocity feed-forward entity is the
ltered position target value. For the torque
feed-forward entity the output of the velocity feed-forward entity is used. Sampling time for both entities’
integrators is
xed to the PWM frequency.
©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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