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Inertia Identification Introduction • What is Inertia? – Inertia is the resistance of an object to rotational acceleration – Anything that is rigidly coupled with the motor shaft – Example: The drum of a washing machine • What is NOT Inertia? – Anything that does not immediately change directions with the motor – Example: Clothes/Water in a washing machine Example of What is Inertia Simple Motion System Load Identifying Inertia Rotation Rotation Motor Motor Rotating Mass Rotating Mass Disconnected Non-Rotating Mass Non-Rotating Mass Importance of Inertia • Why is Inertia Important? – Represents the amount of mass the motor is rotating – Informs speed controller how strongly to respond to disturbances – Allows for the most responsive speed control – Direct Input to SpinTAC Speed Controller SpinTAC Velocity Identify • • • • • Identifies the system inertia Simple, one-button operation Accurate and repeatable inertia result Compensates for the influence of friction Only run during development – Needs to be run on the final application • Implemented in InstaSPIN-MOTION GUI & InstaSPIN-MOTION Lab 5c Accuracy of Estimated Inertia The inertia result is highly repeatable, the maximum and minimum values for these 100 tests are within 0.5% of the mean Tolerance of Inertia Error SpinTAC Speed Controller can tolerate up to 4x of inertia mismatch TI Confidential - Maximum Restrictions Estimation Process Torque This continuous torque profile is sent to the motor, it is important to note that the torque needs to be drive negative for this test Estimation Process Speed Even though we applied negative torque to the system it resulted in little to no negative speed on the motor. Troubleshooting Common Errors Get Error Code: uint16_t STVELID_getErrorID(ST_VELID_Handle) • 2003 • 2004 Bad Estimation Value Process Timeout – High friction/cogging force – Automotive Pumps Solution: – Increase RampTime – Motor Spins • Washing Machines Solution: • Decrease GoalSpeed – Motor starts slowly • Compressors Solution: • Increase OutputTorque Difficult Applications for Inertia ID • Features of Difficult Applications – – – – Large Cogging Force Large Friction Low Rated Speed Large Start-up Current • Difficult Applications – Automotive Pumps -> Large Friction – Washing Machines -> Low Rated Speed – Compressors -> Large Start-up Current • User’s Guide goes into specifics for these applications InstaSPIN-MOTION Lab 05c • Implements SpinTAC Velocity Identify – Identifies the system inertia – Provides the system inertia to use with the SpinTAC Velocity Controller