wip

Readme.md

@@ -983,8 +983,21 @@ left
 
 
 Y: -1.67
+```
+
+Motor 1,2 tuning
+----------------
+```
+Current loop:
+rise time: 0.25ms
+overshot 2.74%
+damping: 0.753
+natural frq:1487Hz
+
+=>system 2ter Ordnung
+
+k*1/(1+T1*s+t2*s^2)
+
+
+```
 
-B :
-T
-L
-R

python/PBTuning.py

@@ -99,7 +99,7 @@ class PBTuning:
       plt.pause(.05)
       return (res[1,0]/res[0,0],res[1,1]-res[0,1])
 
-    def bode_gather(self,motor=1,minFrq=1,maxFrq= 100,numFrq= 100,amp=10,file='/tmp/bode.npz'):
+    def bode_gather(self,motor=1,minFrq=1,maxFrq=300,numFrq= 150,amp=10,file='/tmp/bode.npz'):
       #amp= percentage of maximum amplitude
       fig = plt.figure()
       ax = fig.add_subplot(1, 1, 1)
@@ -122,20 +122,70 @@ class PBTuning:
         print('frq %g ampl %g phase %g'%tuple(bode[i,:]))
         plt.draw_all()
 
-      fig = plt.figure()
-      ax = fig.add_subplot(2, 1, 1)
-      ax.semilogx(frqLst, bode[:,0])  # Bode magnitude plot
-      #ax.loglog(frqLst, bode[:,0],'.-')  # Bode magnitude plot
-      ax = fig.add_subplot(2, 1, 2)
-      ax.semilogx(frqLst, bode[:,1])  # Bode phase plot
-      plt.show()
       meta={'motor':motor,'date':time.asctime()}
       np.savez_compressed(file, bode=bode, meta=meta)
 
+    def bode_gather2(self,motor=1,minFrq=5,maxFrq=150,tSec=15,amp=30,mode=1,file='/tmp/bode.npz'):
+      #amp= percentage of maximum amplitude
+      self.fnLoc='/tmp/gather.txt'
+      #self.fnLoc='/tmp/gather70.txt'
+      mode=1
+      data=self.do_command('openloopchirp',motor,amp,minFrq,maxFrq,tSec*1000,mode,0)
+      self.data = data= np.genfromtxt(self.fnLoc, delimiter=' ')
+      n = self.data.shape[0]
+      w=np.hamming(n)
+
+      #data[:,0]*=w
+      #data[:,1]=(data[:, 1]-data[0, 1])*w
+      #data[:, 1]-=np.convolve(data[:,1],np.ones(n),'same')/n
+      n=1000
+      d=np.concatenate((np.ones(n-1)*data[0, 1],data[:, 1]))
+      d=np.convolve(d,np.ones(n),'valid')/n
+      data[:, 1]-=d
+
+      fig = plt.figure()
+      ax = fig.add_subplot(1, 1, 1)
+      ax.plot(data[:, 0])
+
+      ax.plot(data[:, 1])
+      #d=np.concatenate((np.ones(n)*data[0, 1],data[:, 1],np.ones(n)*data[-1, 1]))
+
+      fig = plt.figure()
+      iFt = np.fft.fft(data[:, 0])
+      oFt= np.fft.fft(data[:, 1])
+      iPhase = np.angle(iFt)
+      iAmpl = np.absolute(iFt)
+      oPhase = np.angle(oFt)
+      oAmpl = np.absolute(oFt)
+      ax = fig.add_subplot(2, 1, 1)
+      ax.plot(iAmpl)
+      ax.plot(oAmpl)
+      ax = fig.add_subplot(2, 1, 2)
+      ax.plot(iPhase)
+      ax.plot(oPhase)
+
+      frq=np.arange(0,iAmpl.shape[0])
+      #bode=np.ndarray((n,3))
+      db_mag=20*np.log10(oAmpl-iAmpl)
+      phase=np.unwrap(oPhase-iPhase)# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
+      fig = plt.figure()
+      ax = fig.add_subplot(2, 1, 1)
+      ax.semilogx(frq, db_mag,'.-')  # Bode magnitude plot
+      ax.xaxis.set_label_text('dB Mag.')
+      #ax.loglog(frqLst, bode[:,0],'.-')  # Bode magnitude plot
+      ax = fig.add_subplot(2, 1, 2)
+      ax.semilogx(frq, phase,'.-')  # Bode phase plot
+      ax.xaxis.set_label_text('phase')
+      plt.show()
+
+
+      #meta={'motor':motor,'date':time.asctime()}
+      #np.savez_compressed(file, bode=bode, meta=meta)
+
     def bode_plot(self,file):
       f=np.load(file)
       bode=f['bode']
-      meta=f('meta')
+      meta=f['meta']
       frq=bode[:,0]
       db_mag=20*np.log10(bode[:,1])
       phase=np.unwrap(bode[:,2])# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
@@ -169,12 +219,14 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
     parser.add_argument('--dryrun', '-n', action='store_true', help='dryrun to stdout')
     args=parser.parse_args()
 
-    plt.ion()
+    #plt.ion()
     tune=PBTuning(args)
     base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'
-    file=sys.path.join(base,'bode1.npz')
-    tune.bode(file=file,motor=1)
-    tune.bode_plot(file)
+    for i in (1,):#(1,2):
+      file=os.path.join(base,'bode%d.npz'%i)
+      #tune.bode_gather(file=file,motor=i)
+      tune.bode_gather2(file=file,motor=i)
+      tune.bode_plot(file)
     #tune.do_command('stepmove',1,100,500,0,0)
   #------------------ Main Code ----------------------------------
   #ssh_test()