InstaSPIN-FOC™与InstaSPIN-MOTION™用户指南
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"TI的InstaSPIN-FOC和InstaSPIN-MOTION技术是针对电机控制领域的高级解决方案，旨在简化并加速高性能电机控制系统的开发。这两个技术是Texas Instruments（TI）提供的创新软件框架，结合了传感器融合算法和运动控制策略，以实现无传感器磁场定向控制（FOC）和精确的电机运动控制。
InstaSPIN-FOC是一款先进的传感器融合技术，它提供了一种无需物理传感器就能实现FOC的方法。该技术的主要特点包括：
1.1.1 FAST™（Field-Oriented Control with Sensorless Algorithm Technology）估计算法特性：利用高级算法，即使在没有传感器的情况下也能准确估计电机状态，如转速、位置和电流。
1.1.2 InstaSPIN-FOC解决方案特性：包括实时性能优化、快速启动时间和高精度控制。
1.1.3 InstaSPIN-FOC块图：展示了算法如何处理电机控制的各个组件，如电流检测、速度估计和角度计算。
1.1.4 比较FAST™估计算法与典型解决方案：FAST™在性能和效率上优于传统的有传感器或无传感器FOC方法。
1.1.5 FAST™提供无传感器FOC性能：通过减少系统复杂性和提高效率，实现了与有传感器系统相当的性能。
InstaSPIN-MOTION则是TI的运动控制解决方案，它结合了SpinTAC™（Speed and Torque Control）技术，具备以下关键能力和优势：
1.2.1 InstaSPIN-MOTION的关键功能和益处：包括灵活的控制策略、高动态响应和易于集成到现有系统中。
1.2.2 InstaSPIN-MOTION块图：描绘了运动控制流程中的主要模块，如速度控制器、扭矩控制器和位置规划器。
1.2.3 应用示例：展示了这些技术在不同应用场景下的实际应用，如伺服驱动、机器人和工业自动化。
为了便于用户快速上手，TI提供了包含软件和硬件的快速启动套件：
2.1 概览：套件包含了运行InstaSPIN-FOC和InstaSPIN-MOTION所需的所有组件。
2.2 评估InstaSPIN-FOC和InstaSPIN-MOTION：指导用户如何使用套件进行原型设计和测试。
MotorWare是TI提供的软件环境，与InstaSPIN技术一起使用，支持高效电机控制系统的开发：
3.1 概览：MotorWare是一个全面的软件栈，包含驱动、IDE、模块和解决方案。
3.2.1 MotorWare驱动：提供与硬件交互的基础，支持各种电机类型和接口。
3.2.2 MotorWare IDE：集成开发环境，用于编写、调试和优化代码。
3.2.3 MotorWare模块：预配置的软件组件，可简化特定功能的实现。
3.2.4 MotorWare解决方案：针对特定应用的完整软件包，加速产品上市时间。
3.3 MotorWare面向对象的设计：采用面向对象编程原则，使代码更模块化，易于维护和扩展。
3.3.1 对象：代表电机控制中的实体，如电机、控制器和滤波器。
3.3.2 方法：定义对象的行为，如初始化、读取状态和执行控制算法。
3.4 InstaSPIN-FOC API：公开了一组接口，允许开发者直接与InstaSPIN-FOC功能交互，实现定制的控制逻辑。
InstaSPIN-FOC和InstaSPIN-MOTION是TI提供的强大工具，它们结合了先进的软件框架和算法，帮助工程师快速开发出高性能、高精度的电机控制系统，适用于各种工业和消费电子应用。"
Table 3-8. SpinTAC™ Velocity Move State Transition.............................................................................................................178
Table 3-9. SpinTAC™ Velocity Plan Interfaces........................................................................................................................179
Table 3-10. SpinTAC™ Velocity Plan State Transition.............................................................................................................181
Table 3-11. SpinTAC™ Velocity Plan Additional Functions......................................................................................................182
Table 3-12. SpinTAC™ Velocity Identify Interfaces and Parameters.......................................................................................183
Table 3-13. SpinTAC™ Velocity Identify State Transition........................................................................................................ 185
Table 3-14. SpinTAC™ Position Convert Interfaces and Parameters......................................................................................186
Table 3-15. SpinTAC™ Position Convert State Transition.......................................................................................................187
Table 3-16. SpinTAC™ Position Control Interface Parameters............................................................................................... 188
Table 3-17. SpinTAC™ Position Control State Transition........................................................................................................190
Table 3-18. SpinTAC™ Position Move Interfaces....................................................................................................................191
Table 3-19. SpinTAC™ Position Move State Transition...........................................................................................................193
Table 3-20. SpinTAC™ Position Plan Interfaces......................................................................................................................195
Table 3-21. SpinTAC™ Position Plan State Transition............................................................................................................ 196
Table 3-22. SpinTAC™ Position Plan Additional Functions.....................................................................................................197
Table 4-1. ACIM Motor Parameters in user.h...........................................................................................................................226
Table 5-1. hal.c Configuring the PLL........................................................................................................................................236
Table 5-2. Maximum SVM Input Ranges................................................................................................................................. 237
Table 6-1. Controller (CTRL) States........................................................................................................................................ 254
Table 6-2. State Transitions for Controller (CTRL) State Diagram...........................................................................................255
Table 6-3. Estimator (EST) States........................................................................................................................................... 256
Table 6-4. State Transitions for Estimator (EST) State Diagram............................................................................................. 257
Table 6-5. Listing of PMSM and ACIM EST States..................................................................................................................259
Table 6-6. PMSM Motor Parameters in user.h.........................................................................................................................301
Table 7-1. SpinTAC™ Velocity Identify Error Code..................................................................................................................320
Table 8-1. InstaSPIN-Enabled Devices....................................................................................................................................328
Table 8-2. Allocated Memory for InstaSPIN-FOC™ Library.................................................................................................... 336
Table 8-3. ROM Table Addresses............................................................................................................................................ 337
Table 8-4. Total Memory Usage of InstaSPIN-FOC™ for F2806xF and F2805xF Devices..................................................... 339
Table 8-5. Total Memory Usage of InstaSPIN-FOC™ for F2802xF Devices........................................................................... 339
Table 8-6. Code Size and RAM Usage for SpinTAC™ Components.......................................................................................339
Table 8-7. Stack Utilization of SpinTAC™ Components + InstaSPIN-FOC™..........................................................................339
Table 8-8. CPU Execution Time Wait States (F2806xF and F2806xM Devices)..................................................................... 340
Table 8-9. CPU Execution Time Wait States (F2805xF and F2805xM Devices)..................................................................... 340
Table 8-10. CPU Execution Time Wait States (F2802xF Devices).......................................................................................... 340
Table 8-11. Full Implementation Memory Usage Executing in RAM........................................................................................342
Table 8-12. Full Implementation Executing in RAM................................................................................................................. 342
Table 8-13. Minimum Implementation Memory Usage Executing in RAM...............................................................................343
Table 8-14. Minimum Implementation Executing in RAM........................................................................................................ 343
Table 8-15. Full Implementation Memory Usage Executing in FLASH.................................................................................... 344
Table 8-16. Full Implementation Executing in FLASH............................................................................................................. 344
Table 8-17. Minimum Implementation Memory Usage Executing in FLASH........................................................................... 345
Table 8-18. Minimum Implementation Executing in FLASH.....................................................................................................345
Table 8-19. Full Implementation Executing from ROM and FLASH.........................................................................................346
Table 8-20. Minimum Implementation Executing from ROM and FLASH................................................................................346
Table 8-21. Full Implementation Executing from ROM and FLASH.........................................................................................347
Table 8-22. Minimum Implementation Executing from ROM and FLASH................................................................................347
Table 8-23. CPU Cycle Utilization for SpinTAC™ with Library Executing in RAM on F2806xM Devices................................ 350
Table 8-24. CPU Cycle Utilization for SpinTAC™ Library Executing in Flash on F2806xM Devices.......................................352
Table 8-25. Full Implementation Executing from ROM and FLASH.........................................................................................360
Table 8-26. Full Implementation Executing from ROM and FLASH.........................................................................................361
Table 8-27. CPU Cycle Utilization for SpinTAC™ Library Executing in Flash on F2805xM Device.........................................362
Table 8-28. Minimum Implementation Memory Usage Executing in FLASH........................................................................... 364
Table 8-29. Minimum Implementation Executing in FLASH.....................................................................................................364
Table 8-30. Minimum Implementation Executing from ROM, RAM, and FLASH.....................................................................365
Table 8-31. Minimum Implementation Executing from ROM, RAM and FLASH......................................................................365
Table 8-32. Pin Utilization Per Motor....................................................................................................................................... 366
Table 12-1. Time Domain Common Criteria.............................................................................................................................441
Table 12-2. SpinTAC™ Velocity Control ERR_ID Code...........................................................................................................445
Table 12-3. SpinTAC™ Position Control ERR_ID Code.......................................................................................................... 459
Table 12-4. InstaSPIN-MOTION™ Position Control Advantage.............................................................................................. 463
Table of Contents www.ti.com
16 InstaSPIN-FOC™ and
InstaSPIN-MOTION™
SPRUHJ1I – JANUARY 2013 – REVISED OCTOBER 2021
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