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DRV8461SPWPR bảng dữ liệu(PDF) 38 Page - Texas Instruments

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Giải thích chi tiết về linh kiện  DRV8461: 65 V, 3 A Stepper Motor Driver for High Efficiency and Noiseless Operation
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DRV8461SPWPR bảng dữ liệu(HTML) 38 Page - Texas Instruments

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Table 7-22. Silent step Parameter Table (continued)
Parameter
Description
SS_THR[7:0]
Programs the frequency at which the device transitions from silent step decay mode to another decay
mode programmed by the DECAY bits. This frequency corresponds to the frequency of the sinusoidal
current waveform.
•
00000001b = 2 Hz
•
00000010b = 4 Hz
•
.
•
.
•
11111111b = 510 Hz (default)
To convert the SS_THR threshold to STEP frequency (fSTEP) for a specified microstepping setting, Equation 6
should be used -
fSTEP = (SS_THR * 1000 * usm) / 256
(6)
Where usm corresponds to the number of microsteps (4, 16, 256 etc.). When the device is operating with custom
microstepping mode, use usm = 256 in Equation 6 when calculating the STEP frequency.
The gain vs frequency plot of the silent step loop is shown below -
Loop Gain (dB)
Frequency
Pole at Origin
UGB
Motor Pole
PI Zero
Attenuated Frequency
Allowed Frequency
UGB reduced
UGB increased
Figure 7-18. Silent step Gain vs. Frequency
The loop transfer function has two poles and one zero -
• One pole at origin
• One pole (fP) due to the motor coil resistance and inductance -
fP = RMOTOR / (2 * π * LMOTOR)
(7)
• One zero (fZ) created by the PI loop
fZ = (KI * FPWM) / (2 * π * KP)
(8)
The proportional gain KP should be chosen to achieve the desired loop gain. Use the following equation to
calculate the KP -
KP = 6 * π * UGB * LMOTOR / VM
(9)
DRV8461
SLOSE98 – DECEMBER 2022
www.ti.com
38
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Product Folder Links: DRV8461



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