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@@ -22,6 +22,10 @@ function [mot1,mot2]=identifyFxFyStage()
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obj.phase=f.deg_phase*pi/180; %phase in rad
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response = obj.mag.*exp(1j*obj.phase);
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obj.meas= idfrd(response,obj.w,0);
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fMdl=load(strcat(path,sprintf('model%d.mat',motid)));
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obj.mdl=fMdl;
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end
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function tfc=currstep(obj)
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@@ -36,7 +40,11 @@ function [mot1,mot2]=identifyFxFyStage()
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[y,t]=step(tfc,t);
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f=figure();
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subplot(1,2,1);
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plot(t,y*1000,'r',t,obj.currstep.OutputData(11:210),'b');
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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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ylabel('curr\_bits')
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grid on
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legend('real signal','model','Location','southeast')
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title(s);
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subplot(1,2,2);
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h=bodeplot(tfc,'r');
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@@ -52,26 +60,6 @@ function [mot1,mot2]=identifyFxFyStage()
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s=sprintf('k:%g w0:%g damp:%g\n',k,w0,damp);
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end
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function tf=fyModel()
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num=[ 2.36527033e+11, 1.17108082e+13, 3.62387303e+17];
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den=[ 1.00000000e+00, 6.64495206e+03, 2.12777376e+07, ...
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1.23728427e+10, 3.07054470e+13, 1.72592127e+15, ...
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5.39888656e+17];
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tf=idtf(num,den);
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end
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function tf=fxModel()
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num=[ 1.23284092e+11, 4.14791803e+13, 1.18702926e+18, ...
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2.96296718e+20, 2.67179357e+24, 4.04662786e+26, ...
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1.59131515e+30, 1.02778572e+32, 1.64551888e+35];
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den=[ 1.00000000e+00, 6.93892369e+03, 3.17041055e+07, ...
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7.66104262e+10, 2.36504992e+14, 2.23054854e+17, ...
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5.12578678e+20, 2.04416512e+23, 3.27771400e+26, ...
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4.77145416e+28, 3.85452959e+31, 1.28911178e+33, ...
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9.52157664e+34];
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tf=idtf(num,den);
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end
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function mot=fyStage()
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',1);
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@@ -84,12 +72,26 @@ function [mot1,mot2]=identifyFxFyStage()
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figure();
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mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
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mot.tf_mdl= fyModel();
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mot.tf_mdl=idtf(mot.mdl.num,mot.mdl.den);
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g11=tf(mot.mdl.numc,mot.mdl.denc); % iqCmd->iqMeas
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g12=tf([1 0],mot.mdl.denc*12); % iqCmd->iqVolts : iqVolts= i_meas*R+i_meas'*L
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num=conv(conv(mot.mdl.num1,mot.mdl.num2),mot.mdl.numc);
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den=conv(conv(mot.mdl.den1,mot.mdl.den2),mot.mdl.denc);
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g13=tf(num,den); %iqCmd->ActPos
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%sys=ss([g11;g12])
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sys=ss([g11;g12;g13])
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%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
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h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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end
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function y=myNorm(y)
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%normalizes num and den by factor 1000
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%y.*10.^(3*(length(y):-1:1))
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end
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function mot=fxStage()
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',2);
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@@ -103,7 +105,65 @@ function [mot1,mot2]=identifyFxFyStage()
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figure();
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mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
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mot.tf13_9 = tfest(mot.meas, 13, 9, opt);
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mot.tf_mdl = fxModel();
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mot.tf_mdl=idtf(mot.mdl.num,mot.mdl.den);
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%create ss from tf MIMO:
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%https://ch.mathworks.com/matlabcentral/answers/37152-how-to-convert-tf2ss-for-mimo-system
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%Gspm=[tf_iqCmd_actVolts;tf_iqCmd_iqMeas;tf_iqCmd_actPos];
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%sys=ss(Gspm);
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%normalize: [1E6 1E3 1].*mot.mdl.denc
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numc=myNorm(mot.mdl.numc);
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denc=myNorm(mot.mdl.denc);
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num1=myNorm(mot.mdl.num1);
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den1=myNorm(mot.mdl.den1);
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num2=myNorm(mot.mdl.num2);
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den2=myNorm(mot.mdl.den2);
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num3=myNorm(mot.mdl.num3);
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den3=myNorm(mot.mdl.den3);
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num4=myNorm(mot.mdl.num4);
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den4=myNorm(mot.mdl.den4);
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num5=myNorm(mot.mdl.num5);
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den5=myNorm(mot.mdl.den5);
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num=myNorm(mot.mdl.num);
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den=myNorm(mot.mdl.den);
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%http://ch.mathworks.com/help/control/ug/conversion-between-model-types.html#f3-1039600
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%tf2ss MIMO
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%https://ch.mathworks.com/help/control/ref/append.html
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g1=tf(numc,denc); % iqCmd->iqMeas
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s1=ss(g1);
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s1.C=[s1.C; 1/s1.B(1) 0]; % add output iqVolts: iqVolts= i_meas*R+i_meas'*L
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tf(s1) % display all transfer functions
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num=conv(conv(conv(conv(num1,num2),num3),num4),num5);
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den=conv(conv(conv(conv(den1,den2),den3),den4),den5);
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g2=tf(num,den); %iqMeas->ActPos
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s2=ss(g2);
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s3=append(s1,s2);
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tf(s3)
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%connect iqMeas from s1 to iqMeas of s2
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s3.A(3,1)=1 %WHAT NUMBER ??? s3.B(3,2), s3.C2,:)?
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%remove the direct iqMeas input
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%s3.B(3,2)=0
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t_=tf(s3)
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t_(3,1)
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figure;
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bode(t_(3,1))
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%compare with tf iqCmd->ActPos
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num=conv(conv(conv(conv(conv(mot.mdl.num1,mot.mdl.num2),mot.mdl.num3),mot.mdl.num4),mot.mdl.num5),mot.mdl.numc);
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den=conv(conv(conv(conv(conv(mot.mdl.den1,mot.mdl.den2),mot.mdl.den3),mot.mdl.den4),mot.mdl.den5),mot.mdl.denc);
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g4=tf(num,den); %iqCmd->ActPos
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figure;
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bode(g4)
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%sys=ss([g11;g12])
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sys=ss([g11;g12;g13])
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sys=ss(g13)
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%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
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h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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@@ -115,106 +175,3 @@ function [mot1,mot2]=identifyFxFyStage()
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mot2=fxStage();
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end
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function f=SCRATCH()
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[m1,m2]=identifyFxFyStage();
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controlSystemDesigner(1,m2.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
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%identification toolbox
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systemIdentification
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%opt=tfestOptions('Display','off');
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%opt=tfestOptions('Display','on','initializeMethod','svf');
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%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
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%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[1,5;20,570]);
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%tf1 = tfest(mot1frq, 6, 4, opt);
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% Model refinement
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% Options = tf1.Report.OptionsUsed;
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% Options.WeightingFilter = 'prediction';
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% tf1_1 = pem(mot1frq, tf1, Options)
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bodeplot(mot1frq,tf1)
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mag,phase=bode(tf1,frq)
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figure(1)
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subplot(211)
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bodeplot(tf1)
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Opt = n4sidOptions('N4Horizon',[15 15 15]);
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n4s3 = n4sid(mot1frq, 3, Opt)
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%tf([1 2],[1 0 10])
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%specifies the transfer function (s+2)/(s^2+10) while
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sys=tf([1],[1,0,0])
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bode(sys)
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step(sys)
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sys=tf([1],[1,-1,2]) %instable
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sys=tf([1],[1,1,2]) %stable
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%0dB at 12 Hz=12*2*pi rad/s =75.4=k^2 -> k=8.6833
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sys=tf([10],[1,0,0])
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%1/s^2 -> 0dB at 1Hz -40dB/decade
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%10=+20dB
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sys=tf([1],[1,0,2]) %not damped constant sine after step
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sys=zpk([],[1,0,0],100) %stable
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sys=zpk([],[-10,-10],100)
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%parker stage 1
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%!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
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%!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
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%!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
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%!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
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Ts=2E-4 % discrete sample time (servo period)
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Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000
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Kp=25,Kvfb=0,Ki=0,Kvff=0,Kaff=0,MaxInt=0
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num=7.32
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den=[5.995e-04 4.897e-02 1.]
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open('stage_closed_loop.slx')
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%sim('stage_closed_loop.slx')
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sys=tf(num,den)
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bode(sys)
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G = tf(1.5,[1 14 40.02]);
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controlSystemDesigner('bode',sys);
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controlSystemDesigner
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linearSystemAnalyzer
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load ltiexamples
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linearSystemAnalyzer(sys_dc)
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controlSystemDesigner('bode',sys);
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controlSystemDesigner(1,sys); % <<<<<<<<< This opens a transferfiûnction that can be edited
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num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
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den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
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mot2=tf(num,den);
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controlSystemDesigner('bode',mot2);
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end
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