The performance of SpinTAC Position Control was compared against a typical PI-PI control system. Each controller was tuned via the same method.

The Estun motor used a 2500-line encoder. Both controllers were tuned by injecting 25% rated torque (45 oz-in) disturbances while running the motor at 100% rated speed (3000 rpm), resulting in the following gains:

PI Control System

• Position Loop
  • Kp = 20
  • Ki = 0.002
• Speed Loop
  • Kp = 23
  • Ki = 0.5

SpinTAC Position Control (single gain for position and speed)

• Bandwidth = 36 radians/s

The inertia used by SpinTAC Position Control was estimated with the dyne coupled with the motor. The value was found to be 0.44 A / (krpm/s).

The Teknic motor used a 1000-line encoder. Both controllers were tuned by injecting 50% rated torque (19.4 oz-in) disturbances while running the motor at 50% rated speed (2000 rpm). This resulted in the following gains:

PI Control System

• Position Loop
  • Kp = 17
  • Ki = 0.01
• Speed Loop
  • Kp = 1.2
  • Ki =0.1

SpinTAC Position Control (single gain for position and speed)

• Bandwidth = 50 radians/s

The inertia used by SpinTAC Position Control was estimated with the dyne coupled with the motor. The value was found to be 0.07 A / (krpm/s).

The gains were held constant throughout all of the tests. This was done purposefully to highlight the wide operating range of SpinTAC Position Control.