InstaSPIN-MOTION Speed Controller

Transcription

1 InstaSPIN-MOTION Speed Controller

2 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

3 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.

4 Controller Comparison Controller Considerations Performance Tuning parameters PI Controllers Unpredictable across varying speeds and loads Multiple required to be effective across entire operating range SpinTAC Speed Controller Auto-adjusting 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 The bottom line PI controllers are inconsistent across the operating range SpinTAC delivers desired performance, regardless of speed, load or disturbance

5 Bandwidth As bandwidth is increased, the controller response becomes stiffer

6 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

7 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

8 Advantage Disturbance Rejection Test ADRC allows SpinTAC to respond quicker to disturbances.

9 Advantage Feedforward Feedforward allows SpinTAC to more accurately track references profile

10 Advantage No Integrator Windup SpinTAC is not impacted by integrator windup

11 Advantage Minimum Startup Overshoot SpinTAC produces minimal overshoot on startup

12 InstaSPIN-MOTION Lab 05d Implements the SpinTAC Speed Controller Replaces the InstaSPIN-FOC Speed Controller with the InstaSPIN-MOTION Speed Controller

13 InstaSPIN-MOTION Lab 05e Tune the SpinTAC Speed Controller Experience how quick and simple it is to tune the SpinTAC Speed Controller

14 InstaSPIN-MOTION Lab 05f Compare the SpinTAC Speed Controller with the PI Speed Controller See the performance improvements that the SpinTAC Speed Controller brings