sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
zamofing_t
2019-02-12 16:52:55 +01:00
parent 3412e33595
commit 5a05b7355e
8 changed files with 306 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files

107
MXfastStageDoc/MXfastStage.tex
View File

@@ -194,12 +194,34 @@ $\rightarrow$ The closed loop response becomes bad above 20Hz (motor 1 ca. -10\%
\FloatBarrier
\subsubsection{Friction}
\begin{tcolorbox}[width=15cm,colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
Record the friction (=current) at a slow move from +lim to -lim.\\
Analyse the friction depending on the positions and motion directions.\\
Do the records and analysis at different speeds.
\end{tcolorbox}
To measure the friction, the stage is moved at slow speed from
+lim to -lim. The current is proportional to the force.
Additionally the friction is measured depending on the stage positions and motion directions. This is measured at different speed to see if at these velocities the viscose friction is visible.
\begin{figure}[h!]
\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/friction10.eps}
\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/friction11.eps}
\caption{position dependant friction of motor 1}
\label{fig:mot1_frict}
\end{figure}
\begin{figure}[h!]
\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/friction20.eps}
\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/friction21.eps}
\caption{position dependant friction of motor 2}
\label{fig:mot2_frict}
\end{figure}
Data recording is done with: \verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 16|.\\
The function parameters are: \verb|pMin=-10000, pMax=10000, speed=(5,10,20,30,60), cnt=2, period=10|.
The recorded data moves from -10000um to 10000um at speed of 5 to 60 mm/s.\\
Avg current forward: 111.7 Avg current backward: -105.3\\
Avg current forward: 95.3 Avg current backward: -130.7\\
These values should be used for the $K_{fff}$ parameter of the Servo loop:\\
Motor 1,2: $K_{fff}\approx100$\\
\FloatBarrier
\subsubsection{using advanced Deltatau Servo Loop}
@@ -311,8 +333,7 @@ The inductance of the stage is 2.4 mH.\\
Nevertheless simulations with \verb|current_loop.slx| showed, that the current loop only works in the discrete domain. In continous domain neither the amplification nor the shape mached.\\
Therefore the only approach is to use the second order transfer function as approximated in section \ref{sec:measCurStep}.\\
\begin{tcolorbox}[colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
A further test will be to 'remove' the current loop. This can be done by setting:$IiGain=0, IpfGain=1, IpbGain=-1$.
A further test is to 'turn of' the current loop. This can be done by setting:$IiGain=0, IpfGain=1, IpbGain=-1$.
The resulting transfer function is:
\[
\frac{Ipf}
@@ -323,8 +344,16 @@ The resulting transfer function is:
{\frac{L}{R} s +1}\\
\\
\]
This is a $PT_1$ element with a time constant of $\frac{L}{R}=\frac{2.4mH}{8.8\Omega}=0.27ms$. But probably due to additional cables etc. the resistance and therefore also the timeconstant is bigger.
\end{tcolorbox}
This is a $PT_1$ element with a time constant of $\frac{L}{R}=\frac{2.4mH}{8.8\Omega}=0.27ms$. Figures \ref{fig:curr_ol} shows a current step of 3000 \verb|curr_bit| resulting in a current of about 150 \verb|curr_bit|. The rise time matches roughly. So the cable resistance has not a major impact.
\begin{figure}[h!]
\centering
\includegraphics[scale=.25]{../python/MXTuning/19_01_29/img/curr_step_ol_10.eps}
\includegraphics[scale=.25]{../python/MXTuning/19_01_29/img/curr_step_ol_20.eps}
\caption{voltage step (current open loop)}
\label{fig:curr_ol}
\end{figure}
\subsection{Mechanical model}
@@ -610,8 +639,9 @@ Following code calculates parameters for a observer controller, does a simulatio
\begin{verbatim}
clear;clear global;close all;
mot=identifyFxFyStage(7);
sscType=0
for k =1:2
[ssc]=StateSpaceControlDesign(mot{k});sim('observer');
[ssc]=StateSpaceControlDesign(mot{k},sscType);sim('observer');
f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
print(f,sprintf('figures/sim_cl_observer_%d',mot{k}.id),'-depsc');
@@ -629,10 +659,10 @@ end
\begin{figure}[h!]
\center
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_0_1.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_bode0_1.eps}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_0_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_bode0_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_1.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_bode1.eps}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_bode2.eps}
\caption{Observer sim: Motor 1 Motor 2}
\label{fig:mot_observer_sim}
\end{figure}
@@ -673,11 +703,56 @@ Finally the real time servo code is compliled for the DeltaTau with:\\
\verb|/epics_ioc_modules/ESB_MX/python/usr_code$ make|\\
Following lines in gpasciiCommander will activate the user servo loop code:
Following lines in gpasciiCommander will activate the user servo loop code.
\vspace{1pc}
\begin{tcolorbox}[width=15cm,colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
Here the full process:
\begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=MATLAB]
\begin{verbatim}
clear;clear global;close all;
mot=identifyFxFyStage(7);
sscType=0;
for k =1:2
[ssc]=StateSpaceControlDesign(mot{k},sscType);
end
\end{verbatim}
\end{tcolorbox}
\begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=Shell]
\begin{verbatim}
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python
./MXTuning.py -m512
cd /home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/usr_code
make
cd /home/zamofing_t/Documents/prj/SwissFEL/PBTools/pbtools/usr_servo_phase
scp userservo_util userphase_util usrServoSample/usralgo.ko root@SAR-CPPM-EXPMX1:/tmp
\end{verbatim}
\end{tcolorbox}
\begin{tcolorbox}[width=15cm,colback=yellow!5!white,colframe=yellow!75!black,colbacktitle=yellow!50,coltitle=black,title=DeltaTau Shell]
\begin{verbatim}
root@:/opt/ppmac#
LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -d 1
rmmod usralgo
insmod /tmp/usralgo.ko
LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -l 1 usr_servo_ctrl_2
LD_LIBRARY_PATH=/opt/ppmac/libppmac/ /tmp/userservo_util -e 1
gpascii:
Motor[1].Ctrl =UserAlgo.ServoCtrlAddr[1]
\end{verbatim}
\end{tcolorbox}
\vspace{1pc}
\begin{appendix}

5
MXfastStageDoc/Scratch.tex
View File

@@ -1,6 +1,11 @@
\newpage
\section{SCRATCH}
\begin{tcolorbox}[colback=red!5!white,colframe=red!75!black,colbacktitle=red!50,coltitle=black,title=TODO]
Here is still work to do...
\end{tcolorbox}
\begin{verbatim}
clear;
clear global;