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work on tuning

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This commit is contained in:
zamofing_t
2018-11-08 14:23:43 +01:00
parent d7e0cf7764
commit 41a1fd3d38
7 changed files with 60 additions and 46 deletions
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3
Makefile
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@@ -3,7 +3,8 @@ MODULE = $(notdir $(shell pwd))
BUILDCLASSES = Linux
ARCH_FILTER = eldk42% SL6-x86_64
EXCLUDE_VERSIONS = 3.14.8
SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
#SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.py cfg/*.pbi python/*.py)
SCRIPTS+=$(wildcard add_EXPMX*.cmd cfg/*.cfg cfg/*.pbi)
#SOURCES+=src/DHVSaSub.cpp
#DBDS+=src/DHVSaSub.dbd
USR_CXXFLAGS+= -fno-operator-names

6
Readme.md
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@@ -1098,12 +1098,14 @@ Software esbMX deploy
zamofing_t@ganymede:~$ ll /sf/bernina/config/swissmx/zamofing_t/
/sf/bernina/config/swissmx/
ssh saresb-cons-01
ssh sf-cons-01
ssh sf-cons-01
source /opt/gfa/python
source activate /sf/bernina/config/swissmx/conda/envs/b440_clone
zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$
zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$
cp -rL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ~/Documents/prj/SwissFEL/PBTools/pbtools/ /sf/bernina/config/swissmx/zamofing_t/
scp -r ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py ganymede:~/Documents/prj/SwissFEL/PBTools/pbtools/ /sf/bernina/config/swissmx/zamofing_t/
```

42
matlab/StateSpaceControlDesign.m
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@@ -16,7 +16,6 @@ function [ssc]=StateSpaceControlDesign(mot)
%
% https://www.youtube.com/watch?v=Lax3etc837U
%ss_ol=mot.ssPlt;
ssPlt=mot.ssPlt; %real plant (model of real plant)
ssPlt.Name='open loop plant';
ssMdl=mot.ssMdl;%ssMdl; %simplified model (observable,controlable) for observer
@@ -93,6 +92,7 @@ function [ssc]=StateSpaceControlDesign(mot)
P=[p1 p1' p2 p2' p3 p3'];% p4 p4' p5 p5' p6 p6'];
end
end
%P=P*.1; % P was too aggressive
K = place(Am,Bm,P);
%K = acker(Am,Bm,Pm);
end %if lqr
@@ -118,29 +118,7 @@ function [ssc]=StateSpaceControlDesign(mot)
% *** observer controller ***
%
%observer poles-> 5 times farther left than system poles
if mot.id==1
op1=(p1*5);
op2=(p2*5);
if length(poles)>4
op3=(p3*5);
OP=[op1 op1' op2 op2' op3 op3'];
else
OP=[op1 op1' op2 op2'];
end
else
op1=(p1*2);
op2=(p2*2);
if length(poles)>4
op3=(p3*2);
op4=(p4*2);
op5=(p5*2);
op6=(p6*2);
OP=[op1 op1' op2 op2' op3 op3'];% op4 op4' op5 op5' op6 op6'];
else
OP=[op1 op1' op2 op2'];
end
end
OP=2*P;
L=place(Am',Cm',OP)';
%L=acker(A',C',OP)';
@@ -150,8 +128,9 @@ function [ssc]=StateSpaceControlDesign(mot)
zeros(size(Bm)) ];
Ct = [ Cm zeros(size(Cm)) ];
Dt=0;
% step answer on closed loop with observer controller:
ss_t = ss(At,Bt,Ct,0,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ssMdl.OutputName);
ss_t = ss(At,Bt,Ct,Dt,'Name','observer controller','InputName',{'desPos'},'OutputName',mot.ssMdl.OutputName);
figure();lsim(ss_t,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer');
@@ -159,12 +138,12 @@ function [ssc]=StateSpaceControlDesign(mot)
%
Ts=1/5000; % 5kHz
ss_tz = c2d(ss_t,Ts);
[Atz,Btz,Ctz,Dtz]=ssdata(ss_tz );
ss_tz .Name='discrete obsvr ctrl';
% step answer on closed loop with disctrete observer controller:
t = 0:Ts:.05;
figure();lsim(ss_tz ,ones(size(t)),t,[xm0 xm0]);title('step on closed loop with observer discrete');
%plot all bode diagrams of desPos->actPos
figure();
h=bodeplot(ss_cl(3),ss_t(3),ss_tz(3));
@@ -182,20 +161,23 @@ function [ssc]=StateSpaceControlDesign(mot)
Do=zeros(size(Co,1),size(Bo,2));
ss_o = ss(Ao,Bo,Co,Do,'Name','observer controller','InputName',{'desPos','iqMeas','iqVolts','actPos'},'OutputName',{'k*xt'});
%discrete plant
ssPltz = c2d(ssPlt,Ts);
[Apz,Bpz,Cpz,Dpz]=ssdata(ssPltz);
%discrete observer controller
ss_oz = c2d(ss_o,Ts);
[Aoz,Boz,Coz,Doz]=ssdata(ss_oz);
mdlName='observer';
open(mdlName);
ssPltz = c2d(ssPlt,Ts);
[Apz,Bpz,Cpz,Dpz]=ssdata(ssPltz);
%state space controller
ssc=struct();
for k=["Ts","Ap","Bp","Cp","Dp","Ao","Bo","Co","Do","Apz","Bpz","Cpz","Dpz","Aoz","Boz","Coz","Doz","V","K","L","ss_cl","ss_o","ss_oz","numV","denV"]
for k=["Ts","At","Bt","Ct","Dt","Atz","Btz","Ctz","Dtz","Ap","Bp","Cp","Dp","Am","Bm","Cm","Dm","Ao","Bo","Co","Do","Apz","Bpz","Cpz","Dpz","Aoz","Boz","Coz","Doz","V","K","L","ss_cl","ss_o","ss_oz","numV","denV"]
ssc=setfield(ssc,k,eval(k));
end
save(sprintf('/tmp/ssc%d.mat',mot.id),'-struct','ssc');

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matlab/observer.slx
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matlab/stage_closed_loop.slx
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49
python/MXTuning.py
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@@ -335,8 +335,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
args=parser.parse_args()
#plt.ion()
args.host='MOTTEST-CPPM-CRM0573'
args.host=None
#args.host='MOTTEST-CPPM-CRM0573'
#args.host=None
if args.host is None:
comm=gt=None
else:
@@ -412,7 +412,8 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
elif mode == 6: # plot all raw acquired data files
# display bode plots
for fn in args.plot:
import glob
for fn in glob.glob(os.path.join(base,'*.npz')):
if os.path.basename(fn).startswith('sine_ol_mot'):
tune.bode_sine(openloop=True, file=fn)
if os.path.basename(fn).startswith('chirp_ol_mot'):
@@ -421,14 +422,33 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
tune.bode_sine(openloop=False, file=fn)
if os.path.basename(fn).startswith('chirp_cl_mot'):
tune.bode_chirp(openloop=False, file=fn)
print('done')
elif mode==7: #further tests
#tune.init_stage();
plt.close('all')
#tune.custom_chirp()
tune.custom_chirp(motor=1,minFrq=100,maxFrq=3000,amp=10,tSec=5,mode=0,file='/tmp/cst_chirp0.npz')
#tune.custom_chirp(motor=2,minFrq=1,maxFrq=1000,tSec=5,mode=1,file='/tmp/cst_chirp1.npz')
#tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=2,file='/tmp/cst_chirp2.npz')
fn='/tmp/cst_chirp0.npz'
motLst=(1, 2)#(2,)#
init_stage=False
for mot in motLst:
fn=os.path.join(base, 'cst_chirp_s_ol_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=100,maxFrq=1000,amp=50,tSec=15,mode=0,file=fn)
init_stage=False
for mot in motLst:
fn=os.path.join(base, 'cst_chirp_s_cl1_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=100,amp=20,tSec=15,mode=1,file=fn)
init_stage=False
for mot in motLst:
fn=os.path.join(base, 'cst_chirp_s_cl2a_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=30,amp=100,tSec=30,mode=2,file=fn)
for mot in motLst:
fn=os.path.join(base, 'cst_chirp_s_cl2b_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=20,maxFrq=150,amp=10,tSec=30,mode=2,file=fn)
init_stage=False
for mot in motLst:
fn=os.path.join(base, 'cst_chirp_s_cl2c_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=100,maxFrq=300,amp=1,tSec=30,mode=2,file=fn)
elif mode==8: #generater code
#before this can be done, the observer controller has to be designed with matlab:
#s.a.ESB_MX/matlab/Readme.md
@@ -462,6 +482,15 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
fh.close()
print(fnc+' generated.')
print('now compile it looking at PBTools/pbtools/usr_servo_phase/usrServoSample')
elif mode==9: #SCRATCH
motLst=(1, 2)#(2,)#
init_stage=False
for mot in motLst:
fn=os.path.join(base, 'scratch_%d.npz' % mot)
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=20,amp=200,tSec=15,mode=2,file=fn)
print('done')
plt.show()
#------------------ Main Code ----------------------------------
#ssh_test()'/tmp/usrcode.c'

6
python/shapepath.py
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@@ -552,16 +552,16 @@ if __name__=='__main__':
#setup_gather(self, acq_per=1)
sp.setup_gather()
sp.setup_gather(acq_per=2)
#setup_sync(self, crdId=1, prgId=2, plcId=2, mode=0, **kwargs):
sp.setup_sync() #no sync at all
#sp.setup_sync(mode=1) #sync with timing system
#sp.gen_grid_points(w=2,h=2,pitch=50,rnd=.2);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_swissmx_points(scale=10);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
sp.gen_swissmx_points(scale=10);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=40,acq_per=1)
#sp.gen_grid_points(w=2,h=20,pitch=50,rnd=0);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#sp.gen_rand_points(n=500, scale=1000);sp.sort_points(xy);sp.setup_motion(fnPrg=fn+'.prg',mode=1,pt2pt_time=10,acq_per=1)
#>>>setup gather and sync<<<