Datasheet TMC4671 (TRINAMIC) - 6
| 制造商 | TRINAMIC |
| 描述 | Dedicated Motion Controller for 2-/3-Phase PMSM |
| 页数 / 页 | 159 / 6 — 2 Functional Summary. Servo Controller with Field Oriented Control (FOC). … |
| 文件格式/大小 | PDF / 5.1 Mb |
| 文件语言 | 英语 |
2 Functional Summary. Servo Controller with Field Oriented Control (FOC). Control Functions/PI Controllers
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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.06 • 2019-Feb-06 6 / 159
2 Functional Summary
•
Servo Controller with Field Oriented Control (FOC) –
Torque (and flux) control mode
–
Velocity control mode
–
Position control mode
–
update rate of current controller and PWM at maximum frequency of 100 kHz (speed and position controller update rate is configurable by setting a divider of current controller update rate) •
Control Functions/PI Controllers –
Programmable clipping of inputs and outputs of interim results
–
Integrator windup protection for all controllers q
–
Programmable field oriented voltage circular ( U2 + U2 ) limiter D Q
–
Feed-forward offsets for target values and feed-forward friction compensation
–
Advanced feed-forward control structure for optimal trajectory tracking performance
–
Extended IRQ event masking options and limiter status register
–
Advanced encoder initialization algorithms with Hall sensor or/and with minimal movement •
Supported Motor Types –
FOC3 : 3-phase permanent magnet synchronous motors (PMSM)
–
FOC2 : 2-phase stepper motors
–
DC1 : brushed DC motors, or linear voice coil motors •
ADC Engine with Offset Correction and Scaling –
Integrated ∆Σ ADCs for current sense voltage, motor supply voltage, analog encoder, two AGPIs
–
Integrated ∆Σ-Interface for external ∆Σ-Modulators •
Position Feedback Evaluation –
Open loop position generator (programmable [rpm], [rpm/s]) for initial setup
–
Digital incremental encoder (ABN resp. ABZ, up to 5 MHz)
–
Secondary digital incremental encoder
–
Digital Hall sensor interface (H , H , H resp. H , H , H ) with interpolation of interim positions 1 2 3 U V W
–
Analog encoder/analog Hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
–
multi-turn position counter (32-bit)
–
Position target, velocity and target torque filters (Biquad) •
PWM Engine Including SVPWM –
Programmable PWM frequency within the range of 20 kHz . 100 kHz
–
Programmable Brake-Before-Make (BBM) times (high side, low side) 0 ns . 2.5 µs in 10 ns steps and gate driver input signals
–
PWM auto scaling for transparent change of PWM frequency during motion •
SPI Communication Interface –
40-bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits) ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Document Outline 1 Order Codes 2 Functional Summary 3 FOC Basics 3.1 Why FOC? 3.2 What is FOC? 3.3 Why FOC as pure Hardware Solution? 3.4 How does FOC work? 3.5 What is Required for FOC? 3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark 3.5.2 Measurement of Stator Coil Currents 3.5.3 Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 3.5.4 Measurement of Rotor Angle 3.5.5 Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator 3.5.6 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters 3.5.7 Proportional Integral (PI) Controllers for Closed Loop Current Control 3.5.8 Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM) 3.5.9 Orientations, Models of Motors, and Coordinate Transformations 4 Functional Description 4.1 Functional Blocks 4.2 Communication Interfaces 4.2.1 SPI Slave User Interface 4.2.2 TRINAMIC Real-Time Monitoring Interface (SPI Master) 4.2.3 UART Interface 4.2.4 Step/Direction Interface 4.2.5 Single Pin Interface 4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs 4.3.1 Numerical Representation 4.3.2 N_POLE_PAIRS, PHI_E, PHI_M 4.3.3 Numerical Representation of Angles PHI 4.4 ADC Engine 4.4.1 ADC Group A and ADC Group B 4.4.2 Internal Delta Sigma ADCs 4.4.3 External Delta Sigma ADCs 4.5 Delta Sigma Configuration and Timing Configuration 4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW 4.5.2 External Delta Sigma Modulator Interface 4.5.3 ADC Configuration - MDAC 4.6 Analog Signal Conditioning 4.6.1 FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y 4.6.3 ADC Selector & ADC Scaler w/ Offset Correction 4.7 Encoder Engine 4.7.1 Open-Loop Encoder 4.7.2 Incremental ABN Encoder 4.7.3 Secondary Incremental ABN Encoder 4.7.4 Digital Hall Sensor Interface with optional Interim Position Interpolation 4.7.5 Digital Hall Sensor - Interim Position Interpolation 4.7.6 Digital Hall Sensors - Masking and Filtering 4.7.7 Digital Hall Sensors together with Incremental Encoder 4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) 4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) 4.7.10 Encoder Initialization Support 4.7.11 Velocity Measurement 4.7.12 Reference Switches 4.8 FOC23 Engine 4.8.1 PI Controllers 4.8.2 PI Controller Calculations - Classic Structure 4.8.3 PI Controller Calculations - Advanced Structure 4.8.4 PI Controller - Clipping 4.8.5 PI Flux & PI Torque Controller 4.8.6 PI Velocity Controller 4.8.7 P Position Controller 4.8.8 Inner FOC Control Loop - Flux & Torque 4.8.9 FOC Transformations and PI(D) for control of Flux & Torque 4.8.10 Motion Modes 4.8.11 Brake Chopper 4.9 Filtering and Feed-Forward Control 4.9.1 Biquad Filters 4.9.2 Standard Velocity Filter 4.9.3 Feed-Forward Control Structure 4.10 PWM Engine 4.10.1 PWM Polarities 4.10.2 PWM Frequency 4.10.3 PWM Resolution 4.10.4 PWM Modes 4.10.5 Break-Before-Make (BBM) 4.10.6 Space Vector PWM (SVPWM) 5 Safety Functions 5.1 Watchdog 6 Register Map 6.1 Register Map Overview 6.2 Register Map Full 7 Pinning 8 TMC4671 Pin Table 9 Electrical Characteristics 9.1 Absolute Maximum Ratings 9.2 Electrical Characteristics 9.2.1 Operational Range 9.2.2 DC Characteristics 10 Sample Circuits 10.1 Supply Pins 10.2 Clock and Reset Circuitry 10.3 Digital Encoder, Hall Sensor Interface and Reference Switches 10.4 Analog Frontend 10.5 Phase Current Measurement 10.6 Power Stage Interface 11 Setup Guidelines 12 Package Dimensions 13 Supplemental Directives 13.1 Producer Information 13.2 Copyright 13.3 Trademark Designations and Symbols 13.4 Target User 13.5 Disclaimer: Life Support Systems 13.6 Disclaimer: Intended Use 13.7 Collateral Documents & Tools 14 Errata 15 Figures Index 16 Tables Index 17 Revision History 17.1 IC Revision 17.2 Document Revision
2 Functional Summary
•
Servo Controller with Field Oriented Control (FOC) –
Torque (and flux) control mode
–
Velocity control mode
–
Position control mode
–
update rate of current controller and PWM at maximum frequency of 100 kHz (speed and position controller update rate is configurable by setting a divider of current controller update rate) •
Control Functions/PI Controllers –
Programmable clipping of inputs and outputs of interim results
–
Integrator windup protection for all controllers q
–
Programmable field oriented voltage circular ( U2 + U2 ) limiter D Q
–
Feed-forward offsets for target values and feed-forward friction compensation
–
Advanced feed-forward control structure for optimal trajectory tracking performance
–
Extended IRQ event masking options and limiter status register
–
Advanced encoder initialization algorithms with Hall sensor or/and with minimal movement •
Supported Motor Types –
FOC3 : 3-phase permanent magnet synchronous motors (PMSM)
–
FOC2 : 2-phase stepper motors
–
DC1 : brushed DC motors, or linear voice coil motors •
ADC Engine with Offset Correction and Scaling –
Integrated ∆Σ ADCs for current sense voltage, motor supply voltage, analog encoder, two AGPIs
–
Integrated ∆Σ-Interface for external ∆Σ-Modulators •
Position Feedback Evaluation –
Open loop position generator (programmable [rpm], [rpm/s]) for initial setup
–
Digital incremental encoder (ABN resp. ABZ, up to 5 MHz)
–
Secondary digital incremental encoder
–
Digital Hall sensor interface (H , H , H resp. H , H , H ) with interpolation of interim positions 1 2 3 U V W
–
Analog encoder/analog Hall sensor interface (SinCos (0°, 90°) or 0°, 120°, 240°)
–
multi-turn position counter (32-bit)
–
Position target, velocity and target torque filters (Biquad) •
PWM Engine Including SVPWM –
Programmable PWM frequency within the range of 20 kHz . 100 kHz
–
Programmable Brake-Before-Make (BBM) times (high side, low side) 0 ns . 2.5 µs in 10 ns steps and gate driver input signals
–
PWM auto scaling for transparent change of PWM frequency during motion •
SPI Communication Interface –
40-bit datagram length (1 ReadWrite bit + 7 address bits + 32 data bits) ©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany Terms of delivery and rights to technical change reserved. Download newest version at www.trinamic.com Document Outline 1 Order Codes 2 Functional Summary 3 FOC Basics 3.1 Why FOC? 3.2 What is FOC? 3.3 Why FOC as pure Hardware Solution? 3.4 How does FOC work? 3.5 What is Required for FOC? 3.5.1 Coordinate Transformations - Clarke, Park, iClarke, iPark 3.5.2 Measurement of Stator Coil Currents 3.5.3 Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 3.5.4 Measurement of Rotor Angle 3.5.5 Measured Rotor Angle vs. Magnetic Axis of Rotor vs. Magnetic Axis of Stator 3.5.6 Knowledge of Relevant Motor Parameters and Position Sensor (Encoder) Parameters 3.5.7 Proportional Integral (PI) Controllers for Closed Loop Current Control 3.5.8 Pulse Width Modulation (PWM) and Space Vector Pulse Width Modulation (SVPWM) 3.5.9 Orientations, Models of Motors, and Coordinate Transformations 4 Functional Description 4.1 Functional Blocks 4.2 Communication Interfaces 4.2.1 SPI Slave User Interface 4.2.2 TRINAMIC Real-Time Monitoring Interface (SPI Master) 4.2.3 UART Interface 4.2.4 Step/Direction Interface 4.2.5 Single Pin Interface 4.3 Numerical Representation, Electrical Angle, Mechanical Angle, and Pole Pairs 4.3.1 Numerical Representation 4.3.2 N_POLE_PAIRS, PHI_E, PHI_M 4.3.3 Numerical Representation of Angles PHI 4.4 ADC Engine 4.4.1 ADC Group A and ADC Group B 4.4.2 Internal Delta Sigma ADCs 4.4.3 External Delta Sigma ADCs 4.5 Delta Sigma Configuration and Timing Configuration 4.5.1 Internal Delta Sigma Modulators - Mapping of V_RAW to ADC_RAW 4.5.2 External Delta Sigma Modulator Interface 4.5.3 ADC Configuration - MDAC 4.6 Analog Signal Conditioning 4.6.1 FOC3 - Stator Coil Currents I_U, I_V, I_W and Association to Terminal Voltages U_U, U_V, U_W 4.6.2 Stator Coil Currents I_X, I_Y and Association to Terminal Voltages U_X, U_Y 4.6.3 ADC Selector & ADC Scaler w/ Offset Correction 4.7 Encoder Engine 4.7.1 Open-Loop Encoder 4.7.2 Incremental ABN Encoder 4.7.3 Secondary Incremental ABN Encoder 4.7.4 Digital Hall Sensor Interface with optional Interim Position Interpolation 4.7.5 Digital Hall Sensor - Interim Position Interpolation 4.7.6 Digital Hall Sensors - Masking and Filtering 4.7.7 Digital Hall Sensors together with Incremental Encoder 4.7.8 Analog Hall and Analog Encoder Interface (SinCos of 0° 90° or 0° 120° 240°) 4.7.9 Analog Position Decoder (SinCos of 0°90° or 0°120°240°) 4.7.10 Encoder Initialization Support 4.7.11 Velocity Measurement 4.7.12 Reference Switches 4.8 FOC23 Engine 4.8.1 PI Controllers 4.8.2 PI Controller Calculations - Classic Structure 4.8.3 PI Controller Calculations - Advanced Structure 4.8.4 PI Controller - Clipping 4.8.5 PI Flux & PI Torque Controller 4.8.6 PI Velocity Controller 4.8.7 P Position Controller 4.8.8 Inner FOC Control Loop - Flux & Torque 4.8.9 FOC Transformations and PI(D) for control of Flux & Torque 4.8.10 Motion Modes 4.8.11 Brake Chopper 4.9 Filtering and Feed-Forward Control 4.9.1 Biquad Filters 4.9.2 Standard Velocity Filter 4.9.3 Feed-Forward Control Structure 4.10 PWM Engine 4.10.1 PWM Polarities 4.10.2 PWM Frequency 4.10.3 PWM Resolution 4.10.4 PWM Modes 4.10.5 Break-Before-Make (BBM) 4.10.6 Space Vector PWM (SVPWM) 5 Safety Functions 5.1 Watchdog 6 Register Map 6.1 Register Map Overview 6.2 Register Map Full 7 Pinning 8 TMC4671 Pin Table 9 Electrical Characteristics 9.1 Absolute Maximum Ratings 9.2 Electrical Characteristics 9.2.1 Operational Range 9.2.2 DC Characteristics 10 Sample Circuits 10.1 Supply Pins 10.2 Clock and Reset Circuitry 10.3 Digital Encoder, Hall Sensor Interface and Reference Switches 10.4 Analog Frontend 10.5 Phase Current Measurement 10.6 Power Stage Interface 11 Setup Guidelines 12 Package Dimensions 13 Supplemental Directives 13.1 Producer Information 13.2 Copyright 13.3 Trademark Designations and Symbols 13.4 Target User 13.5 Disclaimer: Life Support Systems 13.6 Disclaimer: Intended Use 13.7 Collateral Documents & Tools 14 Errata 15 Figures Index 16 Tables Index 17 Revision History 17.1 IC Revision 17.2 Document Revision