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Command Fine Interpolation with 3rd order polynomial trajectory for position control

bin gao1
Intellectual 270 points

Dear Sirs,

    I use TI TMS320f28069M for driver development. For position loop, my TI DSP receive target command position from Ethernet every 1 ms while our positition loop in DSP is running at 125us per cycle. 

   Therefore, I need 3rd order polynomial interpolation algorithm to get another 7 target position in DSP.

   Could you help send us standard  polynomial interpolation algorithm ?

  Thanks in advance

  • 0
    Guru 12800 points

    Bin,

    The profile generation in InstaSPIN-MOTION does not use the polynomial interpolation.  We expect to run the profile generation at the same rate as the position control loop.  Would it be possible to run the InstaSPIN-MOTION profile generation at 125us per cycle so that you don't need the polynomial interpolation?

  • 0 in reply to Adam D. Reynolds
    Intellectual 270 points

    Adam,

        Thanks for your quick reply and you are very kind. :)

        The reason I need write Interpolation with 3rd order polynomial trajectory for position control is that some time we will lost one or two packet of command data during Ethernet transmmisson.


        Therefore, I need this algorithm to generate not only interpolation, also extrapolation in some special case.

       I believe 3rd order polynomial should be very standard function for TI and could you help direct me where I can find that ?

      Thanks for your help.

  • 0 in reply to bin gao1
    TI__Guru** 118000 points

    bin,

    I don't believe we have a 3rd order poly function in any of our standard libraries for C2000, but I'm checking.