InstaSPIN-MOTION Speed Controller
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
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.
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
Bandwidth As bandwidth is increased, the controller response becomes stiffer
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
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
Advantage – Disturbance Rejection Test
ADRC allows SpinTAC to
respond quicker to
disturbances.
Advantage – Feedforward Feedforward allows SpinTAC to more accurately track references
profile
Advantage – No Integrator Windup SpinTAC is not impacted by integrator windup
Advantage – Minimum Startup Overshoot SpinTAC produces minimal overshoot on startup
InstaSPIN-MOTION Lab 05d
• Implements the SpinTAC Speed Controller
– Replaces the InstaSPIN-FOC Speed Controller with the InstaSPIN-MOTION Speed Controller
InstaSPIN-MOTION Lab 05e
• Tune the SpinTAC Speed Controller
– Experience how quick and simple it is to tune the SpinTAC Speed Controller
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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