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Giải thích chi tiết về linh kiện  Encoder Engine: Hall analog/digital, Encoder analog/digital
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USB-2-RTMI bảng dữ liệu(HTML) 45 Page - TRINAMIC Motion Control GmbH & Co. KG.

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TMC4671 Datasheet • IC Version V1.00 | Document Revision V1.04 • 2018-Dec-11
45 / 157
The target input is clipped to X_TARGET_LIMIT. The output of a PI controller 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/dt). The output of the PI Controller is clipped to dXdT_LIMIT. The error integral of (20) is clipped to
dXdT_LIMIT / I in the classic controller structure, and the integrator output is clipped to dXdT_output_limit
in the advanced controller structure.
Figure 25: PI Controllers for position, velocity and current
4.8.5 PI Flux & PI Torque Controller
The P part is represented as q8.8 and I is the I part represented as q0.15.
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