TI InstaSPIN-FOC与InstaSPIN-MOTION用户指南

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"TI的InstaSPIN-FOC™ 和 InstaSPIN-MOTION™ 用户指南，介绍了这两种先进的电机控制算法，以及相关的Sensorless FOC性能和TI提供的软件硬件评估套件。" TI的InstaSPIN-FOC™ 和 InstaSPIN-MOTION™ 是针对电机控制领域的高级算法技术，它们旨在简化并优化无传感器磁场定向控制（FOC）和电机运动控制的过程。这份用户指南详细阐述了这两个技术的核心特性和应用。 1. InstaSPIN-FOC™ 算法是TI开发的一种创新解决方案，其特点包括： - FAST（快速估算器）功能：提供高效准确的电机状态估计，包括速度、位置和扭矩等参数。 - 解决方案特性：包括实时性能、鲁棒性以及易于集成到各种电机控制系统中。 - 块图解析：通过详细的系统块图展示了InstaSPIN-FOC的工作原理和流程。 - 与典型解决方案的比较：突出了FAST估算器在性能和效率上的优势，特别是在传感器缺失的情况下实现FOC的能力。 - Sensorless FOC性能：展示了在无需物理传感器的情况下，InstaSPIN-FOC如何实现高精度的电机控制。 2. InstaSPIN-MOTION™ 则专注于电机运动控制，具有以下关键能力和优点： - 关键功能和效益：包括灵活的运动规划、精确的位置控制以及优化的能效。 - 块图展示：通过图示解释了InstaSPIN-MOTION如何协调和管理电机的各个运动阶段。 - 应用实例：提供了具体的场景，展示InstaSPIN-MOTION在实际应用中的效果和优势。 3. 快速启动套件：TI提供了包含软件和硬件的评估工具，帮助用户迅速评估InstaSPIN-FOC和InstaSPIN-MOTION的性能，加速产品开发进程。 - 评估过程：涵盖了从设置到测试的整个流程，便于开发者了解和掌握这些技术。 4. MotorWare：是TI的一套全面的电机控制软件框架，其目录结构包括驱动、集成开发环境（IDE）、模块和解决方案等部分，采用面向对象的设计方法，使得软件开发更为模块化和可扩展。 - 驱动：包含了处理硬件接口和底层电机控制的代码。 - IDE：支持开发和调试工具，方便用户编写和测试代码。 - 模块：封装了特定的功能集，如控制算法或滤波器，便于复用和定制。 - 解决方案：预配置的软件包，适用于特定的应用场景，可以直接集成到项目中。 TI的InstaSPIN-FOC和InstaSPIN-MOTION是电机控制领域的重要创新，结合配套的MotorWare软件框架和快速启动套件，为开发人员提供了强大而高效的电机控制解决方案。无论是对电机状态的精确估算，还是实现复杂的运动控制，这些技术都极大地提升了电机系统的性能和可靠性。

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SPRUHJ1G–January 2013–Revised February 2017

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List of Figures

14-52. Zoom-in on Angle Plot ................................................................................................... 513

14-53. Speed Plot ................................................................................................................. 513

14-54. Torque Plot ................................................................................................................ 514

14-55. Iq Current Plot............................................................................................................. 514

14-56. Fastest Motor Startup with Full Load with Motor Alignment Plot ................................................... 516

14-57. Zoom-in on the Current Plot............................................................................................. 517

14-58. Flux Plot.................................................................................................................... 518

14-59. Angle Plot .................................................................................................................. 518

14-60. Zoom-in on Angle Plot ................................................................................................... 519

14-61. Speed Plot ................................................................................................................. 519

14-62. Torque Plot ................................................................................................................ 520

14-63. Iq Current Plot............................................................................................................. 520

14-64. Overloading and Motor Overheating Plot.............................................................................. 521

14-65. Zoom-in on Overloading and Motor Overheating Plot ............................................................... 521

14-66. Stator Resistance Plot ................................................................................................... 522

14-67. Flux Plot.................................................................................................................... 522

14-68. Angle Plot .................................................................................................................. 523

14-69. Zoom-in on Angle Plot ................................................................................................... 523

14-70. Speed Plot ................................................................................................................. 524

14-71. Torque Plot ................................................................................................................ 524

14-72. Iq Current Plot............................................................................................................. 525

15-1. FAST Estimator - Rs Online Highlighted .............................................................................. 526

15-2. Rs Online Recalibration.................................................................................................. 529

15-3. Phase Currents at Light Loads - Rs Online Disabled................................................................ 530

15-4. Phase Currents at Light Loads - Rs Online Enabled ................................................................ 530

15-5. Phase Currents with Mechanical Load - Rs Online Disabled....................................................... 531

15-6. Phase Currents with Mechanical Load - Rs Online Enabled ....................................................... 531

15-7. Rs Online and Rs Offline Flowchart.................................................................................... 532

15-8. Result of Adding 0.25 A for Rs Online ................................................................................. 536

15-9. Result of Increasing Load for Rs Online............................................................................... 537

15-10. Maximum Current With Rs Online Enabled ........................................................................... 538

15-11. 2.2-A Motor With an Rs Online Current of 5%........................................................................ 538

15-12. Current Shape Changes When Frequency Equals Slow Rotating Angle Frequency............................ 540

15-13. Result of RsOnLine_Angle_Delta_pu .................................................................................. 541

15-14. Resistance Response to Initial Value Difference ..................................................................... 542

15-15. Delta Values Changed to Double Default Value...................................................................... 542

15-16. Rs Online Varies Depending on Cut-Off Frequency ................................................................. 543

16-1. FAST Estimator with PowerWarp....................................................................................... 547

16-2. InstaSPIN Controller Flowchart - PowerWarp Executed in Closed Loop.......................................... 548

16-3. FAST Estimator State Machine Flowchart - PowerWarp Executed in Closed Loop ............................. 549

16-4. PowerWarp Improves Motor Efficiency ................................................................................ 551

16-5. Current Reduced When PowerWarp Enabled ........................................................................ 551

16-6. Current Slopes When PowerWarp Disabled .......................................................................... 552

16-7. PowerWarp Algorithm Enabled vs. TRIAC Control of Induction Motor ............................................ 553

16-8. InstaSPIN-FOC with PowerWarp Enabled vs. InstaSPIN-FOC with PowerWarp Disabled..................... 554

17-1. Typical SVM Waveform Sampled by Counter ........................................................................ 556

17-2. Single-Shunt Current Measurement Circuit with Inverter............................................................ 557

17-3. Single-Shunt Current Measurement When Sampling Times are Long Enough .................................. 557

17-4. SVM and Regions Where Current Measurement is Not Allowed................................................... 558

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List of Tables

1-1. FAST Estimator vs. Typical Solutions ................................................................................... 27

1-2. InstaSPIN-MOTION Application Examples ............................................................................. 31

3-1. User Code Header Files ................................................................................................. 165

3-2. SpinTAC Version Structure.............................................................................................. 165

3-3. SpinTAC Structure Names .............................................................................................. 166

3-4. SpinTAC Variables ....................................................................................................... 167

3-5. SpinTAC Velocity Control Interface Parameters...................................................................... 169

3-6. SpinTAC Velocity Control State Transition ............................................................................ 171

3-7. SpinTAC Velocity Move Interfaces ..................................................................................... 172

3-8. SpinTAC Velocity Move State Transition .............................................................................. 174

3-9. SpinTAC Velocity Plan Interfaces ...................................................................................... 175

3-10. SpinTAC Velocity Plan State Transition ............................................................................... 176

3-11. SpinTAC Velocity Plan Additional Functions.......................................................................... 177

3-12. SpinTAC Velocity Identify Interfaces and Parameters ............................................................... 179

3-13. SpinTAC Velocity Identify State Transition ............................................................................ 180

3-14. SpinTAC Position Convert Interfaces and Parameters .............................................................. 181

3-15. SpinTAC Position Convert State Transition ........................................................................... 183

3-16. SpinTAC Position Control Interface Parameters...................................................................... 184

3-17. SpinTAC Position Control State Transition............................................................................ 185

3-18. SpinTAC Position Move Interfaces ..................................................................................... 186

3-19. Position Move State Transition.......................................................................................... 188

3-20. SpinTAC Position Plan Interfaces ...................................................................................... 190

3-21. SpinTAC Position Plan State Transition ............................................................................... 191

3-22. SpinTAC Position Plan Additional Functions.......................................................................... 191

4-1. ACIM Motor Parameters in user.h...................................................................................... 217

5-1. hal.c Configuring the PLL................................................................................................ 226

5-2. Maximum SVM Input Ranges ........................................................................................... 227

6-1. Controller (CTRL) States ................................................................................................ 242

6-2. State Transitions for Controller (CTRL) State Diagram.............................................................. 242

6-3. Estimator (EST) States................................................................................................... 244

6-4. State Transitions for Estimator (EST) State Diagram................................................................ 245

6-5. Listing of PMSM and ACIM EST States ............................................................................... 247

6-6. PMSM Motor Parameters in user.h .................................................................................... 293

7-1. SpinTAC Velocity Identify Error Code.................................................................................. 311

8-1. InstaSPIN-Enabled Devices ............................................................................................. 318

8-2. Allocated Memory for InstaSPIN-FOC Library ........................................................................ 327

8-3. ROM Table Addresses................................................................................................... 328

8-4. Total Memory Usage of InstaSPIN-FOC for F2806xF and F2805xF Devices .................................... 329

8-5. Total Memory Usage of InstaSPIN-FOC for F2802xF Devices..................................................... 329

8-6. Code Size and RAM Usage for SpinTAC Components ............................................................. 330

8-7. Stack Utilization of SpinTAC Components + InstaSPIN-FOC ...................................................... 330

8-8. CPU Execution Time Wait States (F2806xF and F2806xM Devices) ............................................. 330

8-9. CPU Execution Time Wait States (F2805xF and F2805xM Devices) ............................................. 330

8-10. CPU Execution Time Wait States (F2802xF Devices)............................................................... 331

8-11. Full Implementation Memory Usage Executing in RAM ............................................................. 332

8-12. Full Implementation Executing in RAM ................................................................................ 333

8-13. Minimum Implementation Memory Usage Executing in RAM....................................................... 333

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List of Tables

8-14. Minimum Implementation Executing in RAM.......................................................................... 333

8-15. Full Implementation Memory Usage Executing in FLASH .......................................................... 334

8-16. Full Implementation Executing in FLASH.............................................................................. 334

8-17. Minimum Implementation Memory Usage Executing in FLASH.................................................... 335

8-18. Minimum Implementation Executing in FLASH ....................................................................... 335

8-19. Full Implementation Executing from ROM and FLASH.............................................................. 336

8-20. Minimum Implementation Executing from ROM and FLASH ....................................................... 337

8-21. Full Implementation Executing from ROM and FLASH.............................................................. 337

8-22. Minimum Implementation Executing from ROM and FLASH ....................................................... 338

8-23. CPU Cycle Utilization for SpinTAC with Library Executing in RAM on F2806xM Devices...................... 340

8-24. CPU Cycle Utilization for SpinTAC Library Executing in Flash on F2806xM Devices........................... 341

8-25. Full Implementation Executing from ROM and FLASH.............................................................. 347

8-26. Full Implementation Executing from ROM and FLASH.............................................................. 347

8-27. CPU Cycle Utilization for SpinTAC Library Executing in Flash on F2805xM Device ............................ 348

8-28. Minimum Implementation Memory Usage Executing in FLASH.................................................... 350

8-29. Minimum Implementation Executing in FLASH ....................................................................... 350

8-30. Minimum Implementation Executing from ROM, RAM, and FLASH ............................................... 351

8-31. Minimum Implementation Executing from ROM, RAM and FLASH................................................ 352

8-32. Pin Utilization Per Motor ................................................................................................. 352

12-1. Time Domain Common Criteria......................................................................................... 425

12-2. SpinTAC Velocity Control ERR_ID Code.............................................................................. 429

12-3. SpinTAC Position Control ERR_ID Code.............................................................................. 441

12-4. InstaSPIN-MOTION Position Control Advantage..................................................................... 446

13-1. SpinTAC Velocity Move ERR_ID Code................................................................................ 456

13-2. SpinTAC Position Move ERR_ID Code................................................................................ 459

13-3. Memory Requirements for SpinTAC Velocity Plan Elements....................................................... 461

13-4. SpinTAC Velocity Plan ERR_ID ........................................................................................ 471

13-5. SpinTAC Velocity Plan ERR_code ..................................................................................... 471

13-6. SpinTAC Position Plan ERR_ID ........................................................................................ 477

13-7. SpinTAC Position Plan ERR_code ..................................................................................... 478

15-1. Temperature Sensor Implementation Values ......................................................................... 545

17-1. The Eight SVM Switching States ....................................................................................... 557

17-2. Current and Voltage Ratings for TI Development Kits............................................................... 562

17-3. Recommended Op-Amp Slew Rates for Corresponding Number of Sense Resistors .......................... 562

18-1. Pins Required to Connect Quadrature Encoder to eQEP Module ................................................. 564

18-2. SpinTAC Position Convert ERR_ID Code............................................................................. 568

SPRUHJ1G–January 2013–Revised February 2017

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About This Manual

Preface

SPRUHJ1G–January 2013–Revised February 2017

About This Manual

Welcome and thank you for selecting Texas Instrument's InstaSPIN™ solutions. This document will guide

you through the technical details of InstaSPIN software enabling you to integrate this solution into your

application. The structure of this document can be summarized as:

• Introduction to

– InstaSPIN-FOC™ and FAST™

– InstaSPIN-MOTION™ and SpinTAC™

• Running a motor immediately with TI hardware and software

• Understand software details, from reviewing API function calls to state diagrams and tuning the speed

and position control loops

• Understanding hardware aspects that directly impact InstaSPIN's performance.

All of the above are provided to help you develop a successful product using InstaSPIN-FOC or

InstaSPIN-MOTION software. Example projects (labs) are a key part of this success and are designed to

relate specifically with the topics in this document. They are intended for you to not only experiment with

InstaSPIN but to also use as reference for your design. The most up-to-date InstaSPIN-FOC and

InstaSPIN-MOTION solutions and design resources, along with practical videos, can be found here:

http://www.ti.com/instaspin.

Definition of terms that are used throughout this document can be found in Appendix A at the end of this

document. The most common terms used are the following:

• FOC:

– Field-Oriented Control

• InstaSPIN-FOC:

– Complete sensorless FOC solution provided by TI on-chip in ROM on select devices (FAST

observer, FOC, speed and current loops), efficiently controlling your motor without the use of any

mechanical rotor sensors.

• FAST

– Unified observer structure which exploits the similarities between all motors that use magnetic flux

for energy transduction, automatically identifying required motor parameters and providing motor

feedback signals: Flux, flux Angle, motor shaft Speed, and Torque.

• SpinTAC Motion Control Suite:

– Includes an advanced speed and position controller, a motion engine, and a motion sequence

planner. The SpinTAC disturbance-rejecting speed controller proactively estimates and

compensates for system disturbances in real-time, improving overall product performance. The

SpinTAC motion engine calculates the ideal reference signal (with feed forward) based on user-

defined parameters. SpinTAC supports the standard industry curves, and LineStream's proprietary

“smooth trajectory” curve. The SpinTAC motion sequence planner operates user-defined state

transition maps, making it easy to design complex motion sequences.

• InstaSPIN-MOTION:

– A comprehensive sensorless or sensored FOC solution for motor-, motion-, speed-, and position-

control. This solution delivers robust system performance at the highest efficiency for motor

applications that operate in various motion state transitions. InstaSPIN-MOTION includes the FAST

unified software observer, combined with SpinTAC Motion Control Suite from LineStream

Technologies.

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