Datasheet

TMC4671 Datasheet • IC Version V1.3 | Document Revision V2.00 • 2020-Apr-17
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Figure 29: Classic PI Controller
Info
Changing the I-parameter of the classic PI controller during operation causes the
controller output to jump, as the control error is first integrated and then gained
by the I parameter. Jumps can be avoided by incremental changes of I-parameter.
Info
Support for the TMC4671 is integrated into the TMCL-IDE including wizards for
set up and configuration. With the TMCL-IDE, configuration and operation can be
done in a few steps and the user gets direct access to all registers of the TMC4671.
4.7.4 PI Controller Calculations - Advanced Structure
The PI controllers in the advanced controller structure perform the calculation
dXdT = P · e +
Z
t
0
P · I · e(t) dt (29)
with
e = X_TARGET − X (30)
where X_TARGET represents target flux, target torque, target velocity, or target position with control error e,
which is the difference between target value and actual values. The time constant d t is set according to the
PWM period but can be downsampled for the velocity and position controller by register MODE_PID_SMPL.
Velocity and position controller evaluation can be down-sampled by a constant factor when needed.
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