16-Bit DSP Interpolator IC For Enhanced Feedback in Motion Control Systems

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1 16-Bit DSP Interpolator IC For Enhanced Feedback in Motion Control Systems David T. Robinson Copyright 2013 ic-haus GmbH

2 Feedback in Motion Control Systems Position control Accuracy Angular Endpoint Speed or velocity control Smoothness Resolvers Encoders Optical Magnetic Device choice affects system performance 2

3 Encoder Types Housed Bearings Coupling Shaft Stator (hollow shaft) Fixed configuration Primarily End Users Modular No bearings or couplings Lower cost, smaller User configurable Separate wheel or scale Separate electronics Embedded applications OEMs 3

4 Modular Encoder Components Wheel, disc, or scale Matching sensor LED + Photo diode Hall element Magnetoresistive Electronics Direct read Conditions sensor signals Interpolation Increases resolution Additional features Optional line driver 4

5 Considerations When Using Interpolated Modular Encoders Mechanical alignment Eccentricity Airgap Thermal expansion Configuration Resolution Features Calibration Offset Gain Phase error Thermal Issues Accuracy over temperature 5

6 ic-tw8 16-Bit DSP Interpolator COS SIN OUTA OUTB ZERO OUTZ Index pulse is suppressed as ZERO is low. Interpolation factor of x5 shown Configuration Pin configuration Simple applications Serial configuration (SPI) Sophisticated applications Spreadsheet design tools Auto-Calibration Push-button or command Adjusts all parameters Values stored in EEPROM Auto-Adaption Parameters continuously adjusted during operation to maintain peak performance 7x7mm QFN package 6

7 ic-tw8 Pin Configuration Mode MR Sensor 1µF 1µF VDD_TW8 1µF Calibration Button AVDD AVSS SIN+ SIN COS+ COS CALIB VREF VC VDD_TW8 ic-tw8 10µF DVDD PINSEL EESEL DVSS OUTA OUTB OUTZ C0 C1 C2 C3 SCL SDA Regulator VDD_TW8 1µF VDD_MAIN VDD_TW8 SCL SDA PINSEL tied to DVDD for Pin Configuration mode EESEL tied to DVSS. Line Driver 8 Configuration Resistors EEPROM 24AA02 Hardware Sensor EEPROM 8 configuration resistors Interpolation factor Auto-adaption mode Filter mode Maximum AB frequency Calibration button Optional crystal or clock Optional line driver 7

8 ic-tw8 Design Spreadsheet 8

9 ic-tw8 Architecture Analog Gain Analog Offset Correction Anti-Aliasing Filter Analog-to-Digital Converters Digital Offset Correction Gain Match Correction Phase Correction Angle Calculation Sensor Distortion Correction (Lookup Table) Filter (Servo Loop) Digital Hysteresis Interpolation Factor Calculation AB/PWM Output Generator SIN+ SIN COS+ COS PGA PGA ADC ADC Error Corr. Arctan AB Signal Path LUT Velocity Filter Hyst Inter Position Output Generator OUTA OUTB OUTZ ZERO+ ZERO x8 Delay Z Comparator Z Signal Path SPI_xSS SPI_SCLK CALIB XIN XOUT Clock Generator Auto Calibration Auto Adaption Auto Store ADC Quality Monitor Adaption Quality Monitor Internal Memory Serial Ports SPI_SI SPI_SO IR WP xrst Power-On Reset Fault Handling EEPROM Interface SCL SDA STATUS FAULT 9

10 Error Correction 10

11 Error Correction: Improves Accuracy 11

12 AB Signal Path Filter - pgain igain 1 s Delay delay 1 s Reduces jitter and noise Three modes 1 st order low-pass (P) Lag 2 nd order low-pass (PI) Critically damped No filter lag 2 nd order lag recovery Under damped No filter lag Reduced latency lag Filter bandwidth 630 Hz 80 khz 12

13 AB Signal Path Filter: Reduces Noise and Jitter 13

14 Filter Configuration: Spreadsheet Design Tool 14

15 Filter Instance 112 (80kHz Bandwidth P Mode) 15

16 Filter Instance 124 (630Hz Bandwidth P Mode) 16

17 Filter Instance 106 (1.3kHz Bandwidth PI Mode) 17

18 Filter Instance 107 (1.3kHz Bandwidth Lag Recovery) 18

19 Enhanced Feedback With Modular Encoders Using ic-tw8 16-bit Interpolator Error Correction Improves accuracy Auto-Calibration Fast, easy commissioning Auto-Adaption Maintains performance over all conditions Signal Path Filter Reduces noise and jitter Spreadsheet Design Tool Simplifies system design and configuration Evaluates performance 19

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