migrate to latex document
This commit is contained in:
8
.gitignore
vendored
8
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@@ -20,3 +20,11 @@ python/images/
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python/MXTuning/
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python/MXTuning/
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python/old_npz/
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python/old_npz/
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python/PBMotionAnalyzer/records/
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python/PBMotionAnalyzer/records/
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*/*Doc/*.aux
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*/*Doc/*.log
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*/*Doc/*.out
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*/*Doc/fastStageTune.pdf
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*/*Doc/*.synctex.gz
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*/*Doc/*.toc
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*/*Doc/*-eps-converted-to.pdf
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@@ -62,7 +62,7 @@ function [mot1,mot2]=identifyFxFyStage()
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s=str2ndOrd(tfc);
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s=str2ndOrd(tfc);
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t=(0:199)*50E-6;
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t=(0:199)*50E-6;
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[y,t]=step(tfc,t);
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[y,t]=step(tfc,t);
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figure();
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f=figure();f.Position=[200,100,900,500]
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subplot(1,2,1);
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subplot(1,2,1);
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plot(t*1000,obj.currstep.OutputData(11:210),'b',t*1000,y*1000,'r');
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plot(t*1000,obj.currstep.OutputData(11:210),'b',t*1000,y*1000,'r');
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xlabel('ms')
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xlabel('ms')
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@@ -73,6 +73,8 @@ function [mot1,mot2]=identifyFxFyStage()
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subplot(1,2,2);
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subplot(1,2,2);
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h=bodeplot(tfc,'r');
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h=bodeplot(tfc,'r');
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setoptions(h,'FreqUnits','Hz','Grid','on');
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setoptions(h,'FreqUnits','Hz','Grid','on');
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%print(sprintf('figures/currstep_%d',obj.id),'-dpng','-r0');
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print(f,sprintf('figures/currstep_%d',obj.id),'-depsc');
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end
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end
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function s=str2ndOrd(tf)
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function s=str2ndOrd(tf)
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@@ -109,13 +111,17 @@ function [mot1,mot2]=identifyFxFyStage()
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function plotBode(mot)
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function plotBode(mot)
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t1=tf(mot.ssPlt);t2=tf(mot.ssMdl_c1);t3=tf(mot.ssMdl_12);h=bodeplot(mot.meas,'r',t1(3,1),'g',t2(3,1),'b',t3(1,1),'m',mot.w);
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t1=tf(mot.ssPlt);t2=tf(mot.ssMdl_c1);t3=tf(mot.ssMdl_12);h=bodeplot(mot.meas,'r',t1(3,1),'g',t2(3,1),'b',t3(1,1),'m',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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setoptions(h,'FreqUnits','Hz','Grid','on');
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p=getoptions(h);p.YLim{2}=[-360 90];p.YLimMode='manual';setoptions(h,p);
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ax=h.getaxes();
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ax=h.getaxes();
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legend(ax(1),'Location','sw',{'real','plant','no res','no cur + 1 res'});
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legend(ax(1),'Location','sw',{'real','plant','no res','no cur + 1 res'});
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print(gcf,sprintf('figures/plotBode_%d',mot.id),'-depsc');
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end
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end
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function mot=fyStage()
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function mot=fyStage()
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motid=1;
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motid=1;
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',motid);
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%mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',motid);
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/19_01_29/',motid);
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mot.id=motid;
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mot.id=motid;
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mot.tfc=currstep(mot);
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mot.tfc=currstep(mot);
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@@ -207,7 +213,8 @@ function [mot1,mot2]=identifyFxFyStage()
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function mot=fxStage()
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function mot=fxStage()
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motid=2;
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motid=2;
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',motid);
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%mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',motid);
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/19_01_29/',motid);
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mot.id=motid;
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mot.id=motid;
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currstep(mot);
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currstep(mot);
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@@ -73,12 +73,12 @@ class MXTuning(Tuning):
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# rad/s -> rad/ms
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# rad/s -> rad/ms
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if mot==1:
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if mot==1:
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#identify matlab: k:0.671226 w0:134.705 damp:0.191004
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#identify matlab: k:0.671226 w0:134.705 damp:0.191004
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mag1=0.671226 #10**(db_mag1/20)
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mag1=6 #10**(db_mag1/20)
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db_mag1=20*np.log10(mag1)#dB
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db_mag1=20*np.log10(mag1)#dB
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w1=134.705*_N #rad/sec
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w1=53.4705*_N #rad/sec
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f1=w1/2/np.pi; # ca. 6.5Hz
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f1=w1/2/np.pi; # ca. 6.5Hz
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T1=1/w1
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T1=1/w1
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d1=0.19 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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d1=0.6 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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num1=np.poly1d([mag1])
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num1=np.poly1d([mag1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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@@ -124,12 +124,12 @@ class MXTuning(Tuning):
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elif mot==2:
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elif mot==2:
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#identify matlab: k:1.7282 w0:51.069 damp:0.327613
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#identify matlab: k:1.7282 w0:51.069 damp:0.327613
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mag1=1.7282 #10**(db_mag1/20)
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mag1=12. #10**(db_mag1/20)
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db_mag1=20*np.log10(mag1)#dB
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db_mag1=20*np.log10(mag1)#dB
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w1=51.069*_N #rad/sec
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w1=18.*_N #rad/sec
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f1=w1/2/np.pi; # ca. 6.5Hz
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f1=w1/2/np.pi; # ca. 6.5Hz
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T1=1/w1
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T1=1/w1
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d1=0.32 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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d1=0.4 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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num1=np.poly1d([mag1])
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num1=np.poly1d([mag1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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@@ -515,6 +515,7 @@ def save_figs(fn):
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for i, figure in enumerate(figures):
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for i, figure in enumerate(figures):
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#figure.savefig('figure%d.png' % i)
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#figure.savefig('figure%d.png' % i)
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fn=fnBase+'%d.png' % i
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fn=fnBase+'%d.png' % i
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fn=fnBase+'%d.eps' % i
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figure.savefig(fn)
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figure.savefig(fn)
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#figure.savefig(fn.rsplit('.')[0]+'%d.eps' % i)
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#figure.savefig(fn.rsplit('.')[0]+'%d.eps' % i)
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@@ -566,7 +567,7 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
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#plt.ion()
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#plt.ion()
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#args.host='MOTTEST-CPPM-CRM0573'
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#args.host='MOTTEST-CPPM-CRM0573'
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#args.host=None
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args.host=None
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if args.host is None:
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if args.host is None:
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comm=gt=None
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comm=gt=None
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else:
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else:
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276
python/MXTuningDoc/fastStageTune.tex
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python/MXTuningDoc/fastStageTune.tex
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@@ -0,0 +1,276 @@
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\documentclass[10pt,a4paper]{article}
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\usepackage[margin=1.5cm]{geometry} %other geomentry
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\setlength{\parindent}{0cm} %other indent of paragraphs
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\usepackage[utf8]{inputenc}%needed for äöüàéè etc.
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\usepackage[T1]{fontenc} %needed for äöüàéè etc. read http://de.wikipedia.org/wiki/LaTeX
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\usepackage[bookmarks]{hyperref} %adds commands as \url for external links
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\usepackage{fancyvrb} %Verbatim
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\usepackage[abspath]{currfile} %%works only with PDFLaTeX-argument -recorder
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\usepackage{fancyhdr} %define new headers and footers
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\pagestyle{fancy}
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\fancyhead{} % sets header to nothing (instead of chapter)
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\renewcommand{\headrulewidth}{0pt}%remove header line
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\fancyfoot[R]{\currfilename}
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\input{|"/home/zamofing_t/Documents/doc-git/git2texInfo.sh"}%works only with PDFLaTeX-argument -shell-escape
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\usepackage{graphicx}
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\usepackage{hyperref}
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\usepackage{amsmath}
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\renewcommand{\deg}{$^\circ$}
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\title{Tuning/modeling fast stages of ESB-MX}
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\author{Thierry Zamofing}
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\usepackage{datetime}
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\date{\today, \currenttime\\
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\texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}}
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\begin{document}
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\maketitle
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\tableofcontents
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\section{Introduction}
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This document describes the tuning and modeling process of the ESB-MX fast stages.
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\section{Measurements}
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The tool used to record data of the fast stages is the bode plots is MXTuning.py, a script specially developed to record system responses. The main cal to collect all data was:\\
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\verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 64|\\
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The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp.\\
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This results in 50us PhaseTime and 0.2ms ServoTime.
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According to the amplifier specs (Power Brick LV User Manual.pdf p.19). a DAC Value of $32737=2^{15}$ corresponds to 33.85A current. So 1 \verb|curr_bit| is $33.85/32737A =1.034mA$.
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The Parker stages are configured to contCur=800mA ,peakCur=2400mA. Ste Specs of the D11 stage are 0.8Amp RMS (producing 4N force) and 2.4Amp peak.
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\subsection{Measure Current Step}
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\verb|MXTuning.py –mode 1| $\rightarrow$ \verb|identifyFxFyStage.m|\\
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\includegraphics[scale=.5]{../../matlab/figures/currstep_1.eps}
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\includegraphics[scale=.5]{/home/zamofing_t/Documents/doc-ext/DeltaTau/UsrMan257.png}
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The current step looks similar for both motors.
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The transfer function is: $k \cdot {w_0}^2/({w_0}^2+2 \cdot damp \cdot w_0 \cdot s+s^2)$\\
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rise time $(0\rightarrow 100\%)$ ca. 0.4ms\\
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rise time: \url{https://nptel.ac.in/courses/101108056/module7/lecture20.pdf}\\
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$\rightarrow$ \verb|1/(w0*np.sqrt(1-0.75**2))*(np.pi/2+np.arcsin(0.75))|\\
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The loop parameters are:\\
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IiGain=5, IpfGain=8, IpbGain=8
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\subsection{Measure Open Loop}
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The frequency response has been measured with chirps at different amplitudes and frequency regions. The yellow line is averaged measurement data. The black line is the approximated model. The diagram shows \verb|curr_bits| (ca.1mA) to \verb|ActPos| (in um) transfer function.\\
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The images have been generated with
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\verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 32|.\\
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\begin{figure}[h]
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/bode_model_plot0.eps}
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/bode_model_plot2.eps}
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\caption{open loop of motor 1 and 2}
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\end{figure}
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\emph{Motor 1 (fy) has a better response, as expected because it has less mass to move.}\\
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\hbox{
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\parbox[t]{5cm}{
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Motor 1:\\
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0dB at 20.28Hz\\
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10 Hz: 9.63 dB -134\deg \\
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100Hz: -28.5dB -191.7\deg\\
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resonances 198 Hz \\
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}
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\parbox[t]{6cm}{
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Motor 2\\
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0dB at 12.39Hz\\
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10 Hz: 4.68 dB -162\deg\\
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100 Hz: -38.15 dB -187.5\deg\\
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resonances 60Hz,142Hz,414Hz,231Hz\\
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}
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}
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\subsection{Closed Loop}
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\subsubsection{Deltatau schematics}
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\includegraphics[scale=.7]{../../../../../../doc-ext/DeltaTau/UsrMan290.png}
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\includegraphics[scale=.2]{../../../../../../doc-ext/DeltaTau/ServoBlockDiag.png}
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\\
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Closed loops have been measured with the following control loop settings.
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\begin{verbatim}
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motor_servo(mot=1,Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
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motor_servo(mot=2,Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
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\end{verbatim}
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\subsubsection{chirp sine closed loop}
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Bode plot and chirp input(blue) and output(green)
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The parameters for that sweep is:\\
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\verb| amp: 5, minFrq: 10, maxFrq: 220, ts: 0.0002, tSec: 20|
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\begin{figure}[h!]
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_1b0.eps}
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_1b1.eps}
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\caption{DesPos->ActPos of motor 1}
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\end{figure}
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\begin{figure}[h!]
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_2b0.eps}
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_2b1.eps}
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\caption{DesPos->ActPos of motor 2}
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\end{figure}
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\begin{figure}[h!]
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_1b2.eps}
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_1b3.eps}
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\caption{DesPos->IqCmd of motor 1}
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\end{figure}
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\begin{figure}[h!]
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_2b2.eps}
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\includegraphics[scale=.45]{../MXTuning/19_01_29/img/chirp_all_2b3.eps}
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\caption{DesPos->IqCmd of motor 2}
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\end{figure}
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Moving 5um with frequencies from 10 to 220Hz\\
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$\rightarrow$ at frequencies above 200 Hz, the current increses up to 2 amps, and the the following error kicks in\\
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$\rightarrow$ The response becomes bad above 15Hz (about 3dB)\\
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$\rightarrow$ Moving 1um at 1kHz seems to consume a current of about 2 amps.\\
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%→n times higher mass → n times lower frequency for same amplitude response
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%→n times higher frequency → n times higher velocity → n² times more acceleration==current
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%1um at 12Hz with 1 mA →with 2000mA → sqrt(2000)*12Hz=540Hz
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%
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%A very simplified transfer function of the system is G(s)=k/s²
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\newpage
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\section{Modeling the system}
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\subsection{Electrical model}
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\begin{figure}[h!]
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||||||
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\centering
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\includegraphics[scale=.45]{model1.eps}
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\includegraphics[scale=.6]{model2.eps}
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\caption{electrical model}
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\end{figure}
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|
Basic formulas: $U=R \cdot I$ \hspace{.5cm}
|
||||||
|
$U=L \cdot \frac{di}{dt}$\\
|
||||||
|
|
||||||
|
Solving in Laplace space:\\
|
||||||
|
$iqVolts=(R+Ls)\cdot iqMeas$\\
|
||||||
|
$s \cdot iqMeas =\frac{1}{L}iqVolts - \frac{R}{L}iqMeas$\\
|
||||||
|
|
||||||
|
|
||||||
|
\subsection{Mechanical model}
|
||||||
|
|
||||||
|
\begin{figure}[h!]
|
||||||
|
\centering
|
||||||
|
\includegraphics[scale=.45]{model3.eps}
|
||||||
|
\caption{mechanical model}
|
||||||
|
\end{figure}
|
||||||
|
|
||||||
|
Input: Force $u(t)=F$\\
|
||||||
|
Output: Position $y(t)=x_1(t)$\\
|
||||||
|
total mass $m=m_1+m_2+\ldots+m_n$\\
|
||||||
|
damping: $d_1 \ldots d_n$\\
|
||||||
|
springs: $k_1 \ldots k_n$\\
|
||||||
|
|
||||||
|
\eqref{mech1} shows the mechanical differential equations:
|
||||||
|
|
||||||
|
\begin{equation}
|
||||||
|
\begin{aligned}
|
||||||
|
m_1\ddot{x}_1 = & u(t) -k_1x_1-d_1\dot{x}_1\\
|
||||||
|
& + k_2x_2+d_2\dot{x}_2
|
||||||
|
+ k_3x_3+d_3\dot{x}_3
|
||||||
|
+ k_4x_4+d_4\dot{x}_4\\
|
||||||
|
m_2\ddot{x}_2= & -k_2x_2-d_2\dot{x}_2\\
|
||||||
|
m_3\ddot{x}_3= & -k_3x_3-d_3\dot{x}_3\\
|
||||||
|
m_4\ddot{x}_4= & -k_4x_4-d_4\dot{x}_4\\
|
||||||
|
\end{aligned}\label{mech1}
|
||||||
|
\end{equation}
|
||||||
|
|
||||||
|
\begin{equation}
|
||||||
|
\begin{aligned}
|
||||||
|
\dot{x} = Ax + Bu\\
|
||||||
|
y = Cx + Du
|
||||||
|
\end{aligned}\label{mech2}
|
||||||
|
\end{equation}
|
||||||
|
|
||||||
|
\eqref{mech2} are the general input output equations in matrix form with x and A defines as \eqref{mech3}:
|
||||||
|
|
||||||
|
\begin{equation}
|
||||||
|
x=
|
||||||
|
\begin{bmatrix}
|
||||||
|
x_1\\
|
||||||
|
\dot{x}_1\\
|
||||||
|
x_2\\
|
||||||
|
\dot{x}_2\\
|
||||||
|
x_3\\
|
||||||
|
\dot{x}_3\\
|
||||||
|
x_4\\
|
||||||
|
\dot{x}_4\\
|
||||||
|
\end{bmatrix},\quad
|
||||||
|
\dot{x}=
|
||||||
|
\begin{bmatrix}
|
||||||
|
\dot{x}_1\\
|
||||||
|
\ddot{x}_1\\
|
||||||
|
\dot{x}_2\\
|
||||||
|
\ddot{x}_2\\
|
||||||
|
\dot{x}_3\\
|
||||||
|
\ddot{x}_3\\
|
||||||
|
\dot{x}_4\\
|
||||||
|
\ddot{x}_4\\
|
||||||
|
\end{bmatrix},\quad
|
||||||
|
A=
|
||||||
|
\begin{bmatrix}
|
||||||
|
0 & 1 & 0 & 0 & 0 & 0 & 0 & 0\\
|
||||||
|
-\frac{k_1}{m_1} & -\frac{d_1}{m_1} & -\frac{k_2}{m_1} & -\frac{d_2}{m_1} & -\frac{k_3}{m_1} & -\frac{d_3}{m_1} & -\frac{k_4}{m_1} & -\frac{d_4}{m_1}\\
|
||||||
|
|
||||||
|
0 & 0 & 0 & 1 & 0 & 0 & 0 & 0\\
|
||||||
|
0 & 0 & -\frac{k_2}{m_1} & -\frac{d_2}{m_2} & 0 & 0 & 0 & 0 \\
|
||||||
|
|
||||||
|
0 & 0 & 0 & 0 & 0 & 1 & 0 & 0\\
|
||||||
|
0 & 0 & 0 & 0 & -\frac{k_3}{m_1} & -\frac{d_3}{m_3} & 0 & 0 \\
|
||||||
|
|
||||||
|
0 & 0 & 0 & 0 & 0 & 0 & 0 & 1\\
|
||||||
|
0 & 0 & 0 & 0 & 0 & 0 & -\frac{k_4}{m_1} & -\frac{d_4}{m_4} \\
|
||||||
|
\end{bmatrix},\quad
|
||||||
|
B=\begin{bmatrix}
|
||||||
|
\frac{1}{m} \\ 0 \\ 0 \\ 0 \\ 0 \\ 0 \\ 0 \\ 0\\
|
||||||
|
\end{bmatrix}
|
||||||
|
%,\quad
|
||||||
|
%C=\begin{bmatrix}
|
||||||
|
%\1 \\ 1 \\ 0 \\ 0 \\ 0 \\ 0 \\ 0 \\ 0\\
|
||||||
|
%\end{bmatrix},\quad
|
||||||
|
%D=0
|
||||||
|
\label{mech2}
|
||||||
|
\end{equation}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
\section{Simulink/MATLAB simulations}
|
||||||
|
|
||||||
|
Simulink simulation \verb|stage_closed_loop.slx| with \verb|ServoDeltaTau_z G(z)| showed similar response
|
||||||
|
Therefore the model seems good enough
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
%proces compiled as job \texttt{\jobname} from the file \texttt{\currfileabspath}\\
|
||||||
|
%\eject
|
||||||
|
%
|
||||||
|
%hyperref package sample
|
||||||
|
%\url{http://stackoverflow.com/questions/9845292/converting-matlab-to-python}\\
|
||||||
|
%
|
||||||
|
%fancyvrb package sample
|
||||||
|
%\begin{Verbatim}[frame=single]
|
||||||
|
%Verbatim Verbatim Verbatim
|
||||||
|
%Verbatim
|
||||||
|
% Verbatim
|
||||||
|
%\end{Verbatim}
|
||||||
|
\end{document}
|
||||||
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||||||
|
00c103230037053f00c906e700c904ec007104e7007b028b000005140071049a00c904bc003b
|
||||||
|
00000000000000440000009400000134000001cc000002900000032800000370000004100000
|
||||||
|
04a80000051800000564000006c40000075c000007dc00000a0000000af800000bd800000c7c
|
||||||
|
00000cb800000d3400000e5c00000f580000102c000011580000115800001220000012740000
|
||||||
|
13f800010000001c0354002b0068000c000200100099000800000415021600080004b8028040
|
||||||
|
fffbfe03fa1403f92503f83203f79603f60e03f5fe03f4fe03f32503f20e03f19603f02503ef
|
||||||
|
8a4105effe03ee9603ed9603ecfa03ebfa03eafe03e93a03e84203e7fe03e63203e5e45305e5
|
||||||
|
9603e48a4105e45303e3e22f05e3fa03e22f03e1fe03e0fe03df3203de1403dd9603dcfe03db
|
||||||
|
1203da7d03d9bb03d8fe03d68a4105d67d03d5d44705d57d03d44703d3d21b05d3fe03d21b03
|
||||||
|
d1fe03d0fe03cffe03cefe03cd9603cccb1e05ccfe03cb1e03ca3203c9fe03c6851105c61c03
|
||||||
|
c51603c4fe03c3fe03c2fe03c1fe03c0fe03bffe03befe03bdfe03bcfe03bbfe03ba1103b986
|
||||||
|
2505b9fe03b8b7bb05b8fe03b7b65d05b7bb03b78004b6b52505b65d40ff03b64004b52503b4
|
||||||
|
fe03b39603b2fe03b1fe03b0fe03affe03ae6403ad0e03acab2505ac6403abaa1205ab2503aa
|
||||||
|
1203a98a4105a9fa03a8fe03a7fe03a6fe03a51203a4fe03a3a20e05a33203a20e03a16403a0
|
||||||
|
8a4105a096039ffe039e9d0c059efe039d0c039c9b19059c64039b9a10059b19039a1003990a
|
||||||
|
0398fe0397960d0597fe03960d03958a410595960394930e05942803930e0392fa039190bb05
|
||||||
|
91fe03908f5d0590bb039080048f8e25058f5d038f40048e25038dfe038c8b2e058cfe038b2e
|
||||||
|
038a8625058a410389880b05891403880b03878625058764038685110586250385110384fe03
|
||||||
|
8382110583fe0382110381fe0380fe037ffe0340ff7e7d7d057efe037d7d037c64037b541505
|
||||||
|
7b25037afe0379fe03780e03770c03760a0375fe0374fa0373fa0372fa0371fa0370fe036ffe
|
||||||
|
036efe036c21036bfe036a1142056a530369fe03687d036711420566fe0365fe0364fe0363fe
|
||||||
|
0362fe03613a0360fa035e0c035dfe035bfe035afe0359580a0559fa03580a03571619055732
|
||||||
|
0356fe035554150555420354150353011005531803521403514a130551fe03500b034ffe034e
|
||||||
|
4d10054efe034d10034cfe034b4a13054bfe034a4910054a1303491d0d05491003480d0347fe
|
||||||
|
0346960345960344fe0343022d0543fa0342bb03414b0340fe033ffe033e3d12053e14033d3c
|
||||||
|
0f053d12033c3b0d053c40ff0f033b0d033afe0339fe033837140538fa033736100537140336
|
||||||
|
350b05361003350b03341e03330d0332310b0532fe03310b03302f0b05300d032f0b032e2d09
|
||||||
|
052e10032d09032c32032b2a25052b64032a2912052a25032912032827250528410327250326
|
||||||
|
250b05260f03250b0324fe0323fe03220f03210110052112032064031ffa031e1d0d051e6403
|
||||||
|
1d0d031c1142051cfe031bfa031a42031911420519fe031864031716190517fe031601100516
|
||||||
|
190315fe0314fe0313fe031211420512fe0311022d05114203107d030f64030efe030d0c1605
|
||||||
|
0dfe030c0110050c16030bfe030a100309fe0308022d0508fe030714030664030401100504fe
|
||||||
|
03401503022d0503fe0302011005022d0301100300fe0301b80164858d012b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b002b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b1d00>
|
||||||
|
] def
|
||||||
|
/f-0-0 currentdict end definefont pop
|
||||||
|
%%EndResource
|
||||||
|
%%BeginResource: font DejaVuSans
|
||||||
|
11 dict begin
|
||||||
|
/FontType 42 def
|
||||||
|
/FontName /DejaVuSans def
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
/Encoding 256 array def
|
||||||
|
0 1 255 { Encoding exch /.notdef put } for
|
||||||
|
Encoding 1 /uniFB01 put
|
||||||
|
/CharStrings 2 dict dup begin
|
||||||
|
/.notdef 0 def
|
||||||
|
/uniFB01 1 def
|
||||||
|
end readonly def
|
||||||
|
/sfnts [
|
||||||
|
<0001000000090080000300106376742000691d3900000184000001fe6670676d7134766a0000
|
||||||
|
0384000000ab676c7966aa72abf90000009c000000e868656164086b92ef0000043000000036
|
||||||
|
686865610d9f076f0000046800000024686d747809d700950000048c000000086c6f63610000
|
||||||
|
012c000004940000000c6d617870046f0671000004a000000020707265703b07f100000004c0
|
||||||
|
0000056800020066fe96046605a400030007001a400c04fb0006fb0108057f0204002fc4d4ec
|
||||||
|
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|
||||||
|
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|
||||||
|
3cc410fe3cec310040120803a90010870e18be16b10e970900bc05012f3ce632eefeee10ee10
|
||||||
|
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|
||||||
|
1d0101331523044ab9fe07b9b0b0adb3b9b0634d01f9b9b90460fba003d1fc2f03d18f4eb7af
|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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||||||
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||||||
|
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||||||
|
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|
||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
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|
||||||
|
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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|
||||||
|
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||||||
|
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||||||
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||||||
|
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||||||
|
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||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
032e2d09052e10032d09032c32032b2a25052b64032a2912052a250329120328272505284103
|
||||||
|
27250326250b05260f03250b0324fe0323fe03220f03210110052112032064031ffa031e1d0d
|
||||||
|
051e64031d0d031c1142051cfe031bfa031a42031911420519fe031864031716190517fe0316
|
||||||
|
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|
||||||
|
0d0c16050dfe030c0110050c16030bfe030a100309fe0308022d0508fe030714030664030401
|
||||||
|
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|
||||||
|
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|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b002b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||||
|
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b1d00>
|
||||||
|
] def
|
||||||
|
/f-0-1 currentdict end definefont pop
|
||||||
|
%%EndResource
|
||||||
|
%%BeginResource: font AbyssinicaSIL
|
||||||
|
11 dict begin
|
||||||
|
/FontType 42 def
|
||||||
|
/FontName /AbyssinicaSIL def
|
||||||
|
/PaintType 0 def
|
||||||
|
/FontMatrix [ 1 0 0 1 0 0 ] def
|
||||||
|
/FontBBox [ 0 0 0 0 ] def
|
||||||
|
/Encoding 256 array def
|
||||||
|
0 1 255 { Encoding exch /.notdef put } for
|
||||||
|
Encoding 46 /period put
|
||||||
|
/CharStrings 2 dict dup begin
|
||||||
|
/.notdef 0 def
|
||||||
|
/period 1 def
|
||||||
|
end readonly def
|
||||||
|
/sfnts [
|
||||||
|
<00010000000900800003001063767420024f10a4000001ac0000001a6670676d06599c370000
|
||||||
|
01c800000173676c7966576c884d0000009c000001106865616400ce5d4b0000033c00000036
|
||||||
|
686865610cd808450000037400000024686d74780a8d00e700000398000000086c6f63610000
|
||||||
|
0164000003a00000000c6d61787002230559000003ac0000002070726570181aca2d000003cc
|
||||||
|
000000720002006eff030792053d00030007002900b800062fb800004558b800042f1bb90004
|
||||||
|
00093e59b800004558b800002f1bb9000000073e59303113112111252111218706f2f8f50724
|
||||||
|
f8dc0524f9f8060819f9c60000010079000001b4013b00130079bb00000004000a00042b4107
|
||||||
|
0009000a0019000a0029000a00035d00b800004558b800052f1bb9000500053e59b8000fdc41
|
||||||
|
1b0007000f0017000f0027000f0037000f0047000f0057000f0067000f0077000f0087000f00
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
b800062a2db800082c4b20b003265358b0401bb000598a8a20b0032653582321b0808a8a1b8a
|
||||||
|
235920b0032653582321b800c08a8a1b8a235920b0032653582321b801008a8a1b8a235920b0
|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
000900020001000000000001000006c1fec102000b8ff8bcfdf20b5800010000000000000000
|
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100.719 l 177.027 89.379 l 179.863 100.719 l 182.699 89.379 l 184.117 95.051
|
||||||
|
l 194.039 95.051 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
182.699 114.891 m 194.039 114.891 l 171.359 110.641 m 171.359 119.145 l
|
||||||
|
168.523 109.223 m 182.699 109.223 l 182.699 120.562 l 168.523 120.562 l
|
||||||
|
157.188 114.891 m 171.359 114.891 l S Q
|
||||||
|
BT
|
||||||
|
12 0 0 12 170.270121 176.470757 Tm
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(k)Tj
|
||||||
|
7.8 0 0 7.8 177.231059 174.070757 Tm
|
||||||
|
(3)Tj
|
||||||
|
12 0 0 12 170.768217 128.28178 Tm
|
||||||
|
(d)Tj
|
||||||
|
7.8 0 0 7.8 178.385405 125.88178 Tm
|
||||||
|
(3)Tj
|
||||||
|
ET
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
157.188 170.168 m 167.109 170.168 l 168.523 175.836 l 171.359 164.5 l 174.195
|
||||||
|
175.836 l 177.027 164.5 l 179.863 175.836 l 182.699 164.5 l 184.117 170.168
|
||||||
|
l 194.039 170.168 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
182.699 190.012 m 194.039 190.012 l 171.359 185.758 m 171.359 194.262 l
|
||||||
|
168.523 184.34 m 182.699 184.34 l 182.699 195.68 l 168.523 195.68 l 157.188
|
||||||
|
190.012 m 171.359 190.012 l S Q
|
||||||
|
BT
|
||||||
|
12 0 0 12 170.270121 101.352613 Tm
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(k)Tj
|
||||||
|
7.8 0 0 7.8 177.231059 98.952613 Tm
|
||||||
|
(4)Tj
|
||||||
|
12 0 0 12 170.768217 53.163636 Tm
|
||||||
|
(d)Tj
|
||||||
|
7.8 0 0 7.8 178.385405 50.763636 Tm
|
||||||
|
(4)Tj
|
||||||
|
ET
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
28.895 115.414 m 38.816 115.414 l 40.234 121.086 l 43.066 109.746 l 45.902
|
||||||
|
121.086 l 48.738 109.746 l 51.57 121.086 l 54.406 109.746 l 55.824 115.414
|
||||||
|
l 65.746 115.414 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
54.406 135.258 m 65.746 135.258 l 43.066 131.004 m 43.066 139.508 l 40.234
|
||||||
|
129.59 m 54.406 129.59 l 54.406 140.926 l 40.234 140.926 l 28.895 135.258
|
||||||
|
m 43.066 135.258 l S Q
|
||||||
|
BT
|
||||||
|
12 0 0 12 41.97843 156.105685 Tm
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(k)Tj
|
||||||
|
7.8 0 0 7.8 48.939367 153.705685 Tm
|
||||||
|
(1)Tj
|
||||||
|
12 0 0 12 42.476525 107.916708 Tm
|
||||||
|
(d)Tj
|
||||||
|
7.8 0 0 7.8 50.093713 105.516708 Tm
|
||||||
|
(1)Tj
|
||||||
|
ET
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
28.895 93.32 m 28.895 186.281 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 87.07 m 28.895 101.242 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 87.07 m 28.895 101.242 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 98.98 m 28.895 113.152 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 110.891 m 28.895 125.062 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 122.801 m 28.895 136.977 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 134.711 m 28.895 148.887 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 146.625 m 28.895 160.797 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 158.535 m 28.895 172.707 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0.547 170.445 m 28.895 184.617 l S Q
|
||||||
|
1.421413 w
|
||||||
|
1 J
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
65.656 3.234 90.82 203.473 re S Q
|
||||||
|
1.6 w
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
194.836 6.777 48.191 53.855 re S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
194.836 73.887 48.191 53.859 re S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
194.836 149.004 48.191 53.859 re S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
194.836 149.004 48.191 53.859 re S Q
|
||||||
|
0.8 w
|
||||||
|
0 J
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
111.066 206.707 m 111.066 260.707 l S Q
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
0 48.539 m 65.656 48.539 l S Q
|
||||||
|
59.223 214.241 m 59.016 213.472 l 63.887 212.167 l 59.016 210.862 l 59.223
|
||||||
|
210.089 l 65.531 211.78 l 65.926 211.886 65.926 212.444 65.531 212.55 c
|
||||||
|
h
|
||||||
|
59.223 214.241 m f*
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
60.621 222.207 m 110.668 222.207 l S Q
|
||||||
|
104.234 40.573 m 104.027 39.804 l 108.895 38.499 l 104.027 37.194 l 104.234
|
||||||
|
36.421 l 110.543 38.112 l 110.934 38.218 110.934 38.776 110.543 38.886
|
||||||
|
c h
|
||||||
|
104.234 40.573 m f*
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
111.066 231.629 m 221.406 231.629 l S Q
|
||||||
|
214.973 31.151 m 214.766 30.382 l 219.633 29.077 l 214.766 27.772 l 214.973
|
||||||
|
26.999 l 221.281 28.69 l 221.672 28.796 221.672 29.354 221.281 29.46 c
|
||||||
|
h
|
||||||
|
214.973 31.151 m f*
|
||||||
|
q 1 0 0 -1 0 260.706024 cm
|
||||||
|
221.574 202.555 m 221.574 256.555 l S Q
|
||||||
|
BT
|
||||||
|
12 0 0 12 26.25318 216.363219 Tm
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(F)Tj
|
||||||
|
4.011008 -15.542008 Td
|
||||||
|
(x)Tj
|
||||||
|
7.8 0 0 7.8 81.486835 27.459117 Tm
|
||||||
|
(1)Tj
|
||||||
|
12 0 0 12 151.950616 18.314977 Tm
|
||||||
|
(x)Tj
|
||||||
|
7.8 0 0 7.8 159.052179 15.914977 Tm
|
||||||
|
(1)Tj
|
||||||
|
12 0 0 12 164.018585 18.314977 Tm
|
||||||
|
(, x)Tj
|
||||||
|
7.8 0 0 7.8 178.760773 15.914977 Tm
|
||||||
|
(2)Tj
|
||||||
|
12 0 0 12 183.727179 18.314977 Tm
|
||||||
|
(, x)Tj
|
||||||
|
7.8 0 0 7.8 198.469366 15.914977 Tm
|
||||||
|
(3)Tj
|
||||||
|
ET
|
||||||
|
Q Q
|
||||||
|
showpage
|
||||||
|
%%Trailer
|
||||||
|
end restore
|
||||||
|
%%EOF
|
||||||
BIN
python/MXTuningDoc/observer_statefeedback.png
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python/MXTuningDoc/observer_statefeedback.png
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@@ -4,12 +4,12 @@
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Reference in New Issue
Block a user