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AVR194
Figure 11. Ki tuning example
250
200
150
100
Ki=1 ; Kp=1
Ki=2 ; Kp=1
Ki=0,5 ; Kp=1
Speed Speed
R eference Consign
50
0
Time (s)
In Figure 10 and Figure 11 , the right parameters are KP = 1, KI = 0.5 and KD = 0.
To adjust the KD parameter:
?
?
If the reponse is still slow, increase KD gain.
If the reponse is still unstable, decrease KD gain.
Another significant point is the sampling time. It has to be chosen according to the response time
of the system. The sampling time must be at least twice as small as the response time of the
system (according to the Shannon-Nyquist criteria).
Two functions are available for the sampling time configuration (explained previously). They
result in a global variable called g_tick which is set every 250us. With this variable it is possible
to configure the sampling time.
5.3
CPU & Memory Usage
All measurements have been realized with Fosc = 16MHz. They also depend on the motor type
(numbers of pair of poles). With a motor of 4 pairs of poles, hall sensor frequency is four times
faster than the motor rotation.
All results in Figure 5-1 are obtained with a three phases BLDC motor with four pairs of poles
and a maximum speed of 6900 rpm. (Motor provided with the ATAVRMC300 kit)
Table 5-1.
Microcontroller utilization rate
Function Param eters
m c_es tim ation_s peed() Speed = 6900 rpm
m c_s witch_com m utation() Speed = 6900 rpm
activation tim e
15 us
8 us
activation period
2 ms
300 us
Ratio uc %
0.75
2.7
m c_regulation_loop()
Open Loop
Clos e Loop
1.4 us
20 us
80 m s
80 m s
0.0175
0.025
In the worst case, the microcontroller utilization ratio is about 3.5% with a sampling time of 80ms
at 6900 rpm.
13
8138A–AVR–04/08
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