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TMC4670 Datasheet PRELIMINARY • IC Version V0.99 | Document Revision V0.91 • 2016-Nov-09
3.7.2 PI(D) Controller Calculations
The PI regulators performs the calculation
Z
t
dXdT = P · e + I ·
e(t) dt
(6)
(7)
0
with
e = X_TARGET − X
where X_TARGET stands for target flux, target torque, target velocity, or target position with error e that is
the difference between target value and actual values. The time constant d is 1µs with the integral part is
t
divided by 256.
3.7.3 PI(D) Controller - Clipping
The limiting of target values for PI controllers and output values of PI controllers is programmable. Per
power on default theses limiter are set to maximum values. Before one starts a motor one should set the
limiters for clipping.
The target input is clipped to X_TARGET_LIMIT. The output of a PI(D) is named dXdT because it gives the
desired derivative d/dt as a target value to the following stage: The position (x) controller gives velocity
(dx/)
The output of the PI(D) is clipped to dXdT_LIMIT. The error integral of (6) is clipped to dXdT_LIMIT / I.
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