wip

matlab/StateSpaceControlDesign.m

@@ -41,6 +41,7 @@ function [ssc]=StateSpaceControlDesign(mot,mode)
   %use_lqr: use lqr instead of pole placement
   verb=1;
   use_lqr=0;
+  MaxDac=2011.968;
   filt_pos_err=Prefilt(mot,2);
   %locate poles: 2500rad/s = 397Hz, 6300rad/s = 1027Hz
   switch mode
@@ -214,10 +215,19 @@ function [ssc]=StateSpaceControlDesign(mot,mode)
 
   %state space controller
   ssc=struct();
-  for k=["Ts","ss_plt","ss_o","ss_oz","filt_pos_err","filt_pos_err_z","V"]
+  for k=["Ts","ss_plt","ss_o","ss_oz","filt_pos_err","filt_pos_err_z","V","MaxDac"]
     ssc=setfield(ssc,k,eval(k));
   end
-  save(sprintf('/tmp/ssc%d.mat',mot.id),'-struct','ssc');
+  
+  mat2py=struct();
+  [ozA,ozB,ozC,ozD]=ssdata(ss_oz);
+  [pos_err_num,pos_err_den]=tfdata(filt_pos_err_z);
+  for k=["Ts","V","MaxDac","ozA","ozB","ozC","ozD","pos_err_num","pos_err_den"]
+    mat2py=setfield(mat2py,k,eval(k));
+  end
+  fn=sprintf('/tmp/ssc%d.mat',mot.id);
+  save(fn,'-struct','mat2py');
+  disp(['saved ' fn]);
 end
 
 function pf=Prefilt(mot,mode)

matlab/documentFunctions.m

@@ -2,7 +2,7 @@
 baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/matlab/figures';
 
 clear;clear global;
-close all;disp('löoad identification data...');
+close all;disp('load identification data...');
 mot=identifyFxFyStage(7);
 
 close all;disp('simulate stage closed loop...');
@@ -16,21 +16,9 @@ for k =1:2
 end
 
 close all;disp('simulate observer...');
-for k =1:2
-  [ssc]=StateSpaceControlDesign(mot{k});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');
-  f=bodeSamples(desPos_actPos);
-  print(f,sprintf('figures/sim_cl_observer_bode%d',mot{k}.id),'-depsc');
-end
-disp('document figure generation done');close all;
-
-
-close all;disp('simulate observer with prefilter...');
-for m =0%0:1
-  for k =1:2
-    [ssc]=StateSpaceControlDesign(mot{k},m);sim('observer');
+for sscType=0%0:1
+  for k=1:2
+    [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_obs_%d_%d',m,mot{k}.id),'-depsc');