work on tuning

Makefile

@@ -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

Readme.md

@@ -1105,5 +1105,7 @@ 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/
+
 
 ```

matlab/StateSpaceControlDesign.m

@@ -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
+  OP=2*P;
-    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
   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));
@@ -183,19 +162,22 @@ function [ssc]=StateSpaceControlDesign(mot)
 
   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');

python/MXTuning.py

@@ -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='MOTTEST-CPPM-CRM0573'
-    args.host=None
+    #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();
+      fn='/tmp/cst_chirp0.npz'
-      plt.close('all')
+      motLst=(1, 2)#(2,)#
-      #tune.custom_chirp()
+      init_stage=False
-      tune.custom_chirp(motor=1,minFrq=100,maxFrq=3000,amp=10,tSec=5,mode=0,file='/tmp/cst_chirp0.npz')
+      for mot in motLst:
-      #tune.custom_chirp(motor=2,minFrq=1,maxFrq=1000,tSec=5,mode=1,file='/tmp/cst_chirp1.npz')
+        fn=os.path.join(base, 'cst_chirp_s_ol_%d.npz' % mot)
-      #tune.custom_chirp(motor=1,minFrq=1,maxFrq=3000,tSec=5,mode=2,file='/tmp/cst_chirp2.npz')
+        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'

python/shapepath.py

@@ -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<<<