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# Apr 02, 2013 Santa Clara, CA- Session 1: Control Theory Fundamentals Apr 03, 2013 - Santa Clara,

, CA - Session 2: Motors and Motor Control Apr 04, 2013 - Santa Clara, CA - Session 3: C28x Hands-on Workshop Class runs 8:30 a.m. to 5:00 p.m. Lunch will be provided Price: \$79
Control Theory Fundamentals This one day technical seminar offers a refresher of elementary control theory which will be valuable to electronic, electrical and mechanical engineers of all levels. No prior knowledge of the subject is assumed, although a basic understanding of engineering mathematics will be beneficial. the material is organized into six equal length sections, each covering a major control topic. Agenda Fundamental Concepts o Linear systems, transient response, frequency analysis, minimum phase systems Feedback Systems o Effects of feedback, Nyquist analysis, stability margins, phase compensation Transient Tuning o Transient response, steady state error, PID control, root locus analysis Discrete Time Systems o Sampled systems, the z-transform, z plane mapping Digital Controller Design o Pole-zero matching, numerical integration, invariant methods, direct digital design Implementation Considerations o Sample rate selection, sample-to-output delay, reconstruction, control law implementation, aliasing o

The course opens with a review of fundamental concepts beginning with linear differential equations and the Laplace transform. Transfer functions are used to describe classical first and second order systems and to examine their performance in both the time and the frequency domain. The second session introduces closed loop control and the effects of negative feedback. The Nyquist plot is introduced as a valuable tool to assess control loop stability and performance. The control design process is illustrated using classical phase compensation techniques. Section three covers performance and tuning in the time domain. The design and tuning of PID controllers is explained using the unit step response plot, and methods of assessing quality of response are presented. The root locus plot is then introduced as a means of analyzing the transient performance of complex systems. Section four focus is on sampled control systems and introduces the z-transform. The relationship between s-plane and z-plane is explained in detail as it leads in the following section to root locus based design examples. The central theme of section five is the design of digital closed loop controllers. Several emulation design techniques are introduced and contrasted, which allow controllers designed in the continuous domain o

be converted into digital form with equivalent performance. Direct digital design is introduced in the form of a worked example, resulting in a significantly improved discrete time performance. The seminar concludes with a description of some important practical considerations when implementing discrete time controllers. These include aliasing sample rate selection, the effects of computational delay, and zero order hold. The material is supported by many practical examples and tutorials, and includes a brief question and answer session at the end of each section. Matlab is used throughout the seminar to illustrate new concepts and to introduce each major topic. Printed copies of the seminar manual containing all the presentation material are issued to attendees at the start of the course.Supporting documentation, including Matlab scripts and tutorial solutions, is sent to attendees after the course. This course is sponsored by the C2000 MCU group at Texas Instruments.

Motor Control Seminar - From Magnets to Magic! Motor Basics and Motor Types: In order to understand how to optimally control a motor, it is first necessary to understand how a motor works. the operation of the following popular motor types is discussed: Brushless DC Motors Permanent Magnet Synchronous Motors AC Induction Motors Stepper Motors

Power Control and Modulation Techniques: Once a motor has been selected for an application, an appropriate power stage must be designed to achieve maximum performance from the motor. Proper selection of the modulation technique employed with the power stage is also critical for maximizing performance. The following topics are covered in this section: PWM Tricks and Techniques Energy Regeneration SVM and 3rd Harmonic Modulation

Piccolo Lab Exercise: The Piccolo is one of the most popular processors for motor control applications. This section covers some of the popular motor control features of the Piccolo's PWM and ADC modules, followed by a hands-on exercise using the Piccolo controlStick development tools. (Please bring your own laptop to use for this exercise.) Control Techniques:In most modern motor control systems, the control will be a digitally implemented as an algorithm running on a processor. Several factors influence the chosen control topology, including motor type and required performance in terms of motor speed and torque. The following topics are presented: Introduction to Feedback and Feed forward PI and PID Servo Control Digitizing your Control System Field Oriented control (FOC) Current Sensing Techniques and Issues Tracking Filters

## Observers Sensor less Field Oriented Control

Texas Instruments Motor Control Solutions: This last (but certainly not least) segment covers the diverse offering and unique motor control features of Texas Instruments' motor control solutions. Reference design demos are also presented. Presenter for this session is Dave Wilson. Dave is the team lead for a motor control applications team at Texas Instruments. He has 32 years of experience working on projects ranging from nuclear pulse processing to artificial intelligence pattern recognition. He has designed motor control systems as simple as trigger controls for power tools, and as complex as a six-axis DSP servo stage controller for a scanning electron microscope. He is also the author of several articles, patents, and conference papers related to motor control. Dave holds a BSEE from John Brown University and an MSEE from the University of Wisconsin. His passions include hiking, camping, photography, guitar, and, of course, rotating metal.

C28x Hands-On Workshop The C2000 Microcontroller one-day workshop is a hands-on technical course facilitated by Ken Schachter. The workshop is based on the Piccolo F28069 device. which combines many common features and peripherals of the Piccolo and Delfino families. Therefore, this workshop would be very useful to anyone interested in the C2000 MCU family of devices. The workshop steps the user through system initialization, peripheral setup and programming an application into flash memory using the CCS on-chip Flash programmer. Every lab exercise builds on the previous lab exercise, running a common application theme through the workshop. The lab exercise are performed using the F28069 Control STICK USB Evaluation tool that will be provided at the class and available to take home after class. C2000 Microcontroller One day Workshop Outline 1. Workshop Introduction 2. Architecture Overview 3. Programming Development Environment Lab: Linker command file

4. Peripheral Register Header Files 5. Reset, Interrupts and System Initialization Lab: Watchdog and interrupts

## 6. Control Peripherals Lab: Generate and graph a PWM waveform

7. Flash Programming