optimized parameters

2019-02-27 14:47:37 +01:00
parent 952925d25f
commit 6ac4915925
8 changed files with 104 additions and 528 deletions
--- a/MXfastStageDoc/MXfastStage.tex
+++ b/MXfastStageDoc/MXfastStage.tex
@@ -824,9 +824,13 @@ k=(11.84 \ccdot 2 \ccdot \pi)^2\\

 To correct errors, posErrFB is increased. But in a discrete system, the regulation becomes instable, because the actPos always lags the desPos for one sample. To avoid instability, a fiter can attenuate this problem.\\

-The Standard Delta Tau controller (figure \ref{fig:deltatau_std_ctrl}), shows avery similar feed forward and feedback loop structure with additional filters. So after all the measurements, we can calculate the optimal Kfff and Kaff values.
+The Standard Delta Tau controller (figure \ref{fig:deltatau_std_ctrl}), shows a very similar feed forward and feedback loop structure with additional filters. So after all the measurements, we can calculate the optimal Kfff and Kaff values.
 Kp and Ki values will attenuate the errors. Kvff=Kvfb makes the system stable at higher Kp values, but setting the filter B seems to be more appropriate.\\

+MATLAB simulations and real test showed similar behaviour and the following error could be reduced roughly by factor 2 with first tests.\\
+
+This should be good enough for the beam time in March 2019 but further improvements still should be possible.
+


 %   Motor 2:11.84Hz 0dB
@@ -846,6 +850,41 @@ Kp and Ki values will attenuate the errors. Kvff=Kvfb makes the system stable at
 \begin{appendix}
 \section{Appendix}

+\begin{verbatim}
+amp: 5, minFrq: 10, maxFrq: 220, ts: 0.0002, tSec: 20
+
+***ORIG***
+Motor[1] Kp=25 Kvfb=400 Ki=0.02 Kvff=350 Kaff=5000 MaxInt=1000 Kfff=0
+Motor[2] Kp=22 Kvfb=350 Ki=0.02 Kvff=240 Kaff=1500 MaxInt=1000 Kfff=0
+(spiral motion 25 Hz)
+motion average error x 1.54099 um, y 1.04259 um, 2.0391 um
+shot average error x 1.68984 um, y 1.42837 um, 2.47304 um
+
+**OPTIMIZED***
+Motor[1] Kp=25 Kvfb=350 Ki=0.02 Kvff=350 Kaff=1615. MaxInt=1000 Kfff=10
+Motor[2] Kp=22 Kvfb=450 Ki=0.02 Kvff=450 Kaff=4517. MaxInt=1000 Kfff=10
+motion average error x 0.663518 um, y 0.585719 um, 1.01806 um
+shot average error x 0.865708 um, y 0.965126 um, 1.49323 um
+
+\end{verbatim}
+
+
+\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/chirp_all_1b0.eps} 
+\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/chirp_all_1b1.eps} 
+
+\includegraphics[scale=.45]{../python/MXTuning/opt1/img/chirp_all_1b0.eps} 
+\includegraphics[scale=.45]{../python/MXTuning/opt1/img/chirp_all_1b1.eps}
+
+\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/chirp_all_2b0.eps} 
+\includegraphics[scale=.45]{../python/MXTuning/19_01_29/img/chirp_all_2b1.eps} 
+
+\includegraphics[scale=.45]{../python/MXTuning/opt1/img/chirp_all_2b0.eps} 
+\includegraphics[scale=.45]{../python/MXTuning/opt1/img/chirp_all_2b1.eps} 
+
+
+
+
+
 \textbf{Overview of code:}\\

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--- a/Readme.md
+++ b/Readme.md
@@ -1138,11 +1138,14 @@ source activate /sf/bernina/config/swissmx/conda/envs/b440_clone
 zamofing_t@ganymede:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python$


-cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \
+cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py \
        ~/Documents/prj/SwissFEL/PBTools/pbtools/ \
        /sf/bernina/config/swissmx/zamofing_t/
-cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/*.py \
-        /sf/bernina/config/swissmx/zamofing_t/PBMotionAnalyzer/
+cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/ShapePathAnalyser/*.py \
+        /sf/bernina/config/swissmx/zamofing_t/ShapePathAnalyser/
+
+scp -r pc9477:~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/*.py /sf/bernina/config/swissmx/zamofing_t/
+


 >alternatives but not recommanded
--- a/matlab/Readme.md
+++ b/matlab/Readme.md
@@ -57,6 +57,9 @@ OTHER VERSION DO NOT YET HAVE WX


 ********** ORIG **************
+motion average error x 1.54099 um, y 1.04259 um, 2.0391 um
+shot average error x 1.68984 um, y 1.42837 um, 2.47304 um
+
 Motor[1].Servo.Kp=25
 Motor[1].Servo.Kvfb=400
 Motor[1].Servo.Ki=0.02
@@ -77,13 +80,19 @@ Motor[2].Servo.Kfff=0


 ********** OPTIMIZED **************
+
+motion average error x 0.663518 um, y 0.585719 um, 1.01806 um
+shot average error x 0.865708 um, y 0.965126 um, 1.49323 um
+
+
+
 Motor[1].Servo.Kp=25
 Motor[1].Servo.Kvfb=350
 Motor[1].Servo.Ki=0.02
 Motor[1].Servo.Kvff=350
 Motor[1].Servo.Kaff=1615. // 1/(1.548e04*(pb.Ts^2))
 Motor[1].Servo.MaxInt=1000
-Motor[1].Servo.Kfff=100
+Motor[1].Servo.Kfff=10 //try on real system to optimize

 Motor[2].Servo.Kp=22
 Motor[2].Servo.Kvfb=450
@@ -91,7 +100,7 @@ Motor[2].Servo.Ki=0.02
 Motor[2].Servo.Kvff=450
 Motor[2].Servo.Kaff=4517
 Motor[2].Servo.MaxInt=1000
-Motor[2].Servo.Kfff=100
+Motor[2].Servo.Kfff=10 //try on real system to optimize



--- a/python/MXTuning.py
+++ b/python/MXTuning.py
@@ -24,6 +24,9 @@ bit 9=512: generate observer code (after files generated with matlab)
        phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather
     BUT data acquired and stored in: /media/zamofing_t/DataUbuHD/VirtualBox/shared/data
 '''
+from __future__ import print_function
+try: raw_input;input=raw_input
+except NameError: pass

 import os, sys, json, time
 import numpy as np
@@ -503,7 +506,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
      #hl+=ax1.plot(p,c,'b.',label='vel<0')
      #FfricLut=np.array([p,c]).T
      Ffric=np.array([c1.mean(),c2.mean()])
-      print 'Avg current forward:',Ffric[0],'Avg current backward:',Ffric[1]
+      print('Avg current forward:',Ffric[0],'Avg current backward:',Ffric[1])
      #print 'FfricLut',FfricLut
      #print '//positions '+'%g,%g,%g'%tuple(p[0:3]),'...%g,%g,%g'%tuple(p[-3:])
      #print 'float lutCur[%d]={'%len(p)
@@ -742,9 +745,9 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
            bm+=32 #amplitude linear (not dB)
          self.bode_plot(data, mode=bm, kwargs=meta)
          plt.show(block=False)
-          #save_figs(fn)
+          save_figs(fn)
          #wait_key()
-          raw_input('press return')
+          input('press return')


      if mode&256: #custom plots
@@ -770,7 +773,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
        ax.plot(t,y)
        ax.grid(True)
        plt.show(block=False)
-        raw_input('press return')
+        input('press return')

        plt.close('all')
        fn=os.path.join(self.baseDir,'chirp_all_1a.npz')
@@ -833,7 +836,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)

      if mode&~512: # show and block only if not code generation
        plt.show(block=False)
-        raw_input('press return')
+        input('press return')


 def save_figs(fn):
@@ -910,9 +913,14 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
    args=parser.parse_args()

    #plt.ion()
-    #args.host='MOTTEST-CPPM-CRM0573'
-    args.host=None
-    if args.host is None:
+    import socket
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)  # create an INET, STREAMing socket
+    s.settimeout(.1)
+    try:
+      port=22 #ssh port
+      s.connect((args.host, port))  # try to connect to port
+      s.close()
+    except (socket.error, socket.gaierror) as e:
      comm=gt=None
    else:
      comm = PPComm(host=args.host)
--- a/python/ShapePathAnalyser/MAxyPlot.py
+++ b/python/ShapePathAnalyser/MAxyPlot.py
@@ -339,7 +339,7 @@ class MPLCanvasImg(FigureCanvas):

    M=np.mat(trf0).I
    trfPtsImgI=M*np.vstack((trfPts[:,(0,1)].T,np.ones((1,n))))
-    trfPtsImgO=M*np.vstack((trfPts[:,(02,3)].T,np.ones((1,n))))
+    trfPtsImgO=M*np.vstack((trfPts[:,(2,3)].T,np.ones((1,n))))
    trfPtsImg=np.hstack((trfPtsImgI[0:2,:].T,trfPtsImgO[0:2,:].T))

    A=np.zeros((n*2, 6))
--- a/python/helicalscan.py
+++ b/python/helicalscan.py
@@ -64,6 +64,9 @@ verbose bits:
 #dx,dz,w,fy -> pb coord. be aware of inverted dx,dz signs
 from __future__ import print_function
 #from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
+try: raw_input;input=raw_input
+except NameError: pass
+
 import os, sys, json,re
 import numpy as np
 import matplotlib as mpl
@@ -76,8 +79,6 @@ from utilities import *
 import telnetlib

 sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
-#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t')
-#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/')
 from  pbtools.misc.pp_comm import PPComm
 from  pbtools.misc.gather import Gather
 from MXMotion import MotionBase
@@ -1207,14 +1208,23 @@ close
 if __name__=='__main__':
  def run_test(args):
    mode=args.mode
-    #args.host=None
-
-    if args.host is None or mode in(3,4):
+    if mode in(3,4):
      comm=gather=None
    else:
-      comm = PPComm(host=args.host)
-      gather = Gather(comm)
-      gpascii = comm.gpascii
+      import socket
+      s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)  # create an INET, STREAMing socket
+      s.settimeout(.1)
+      try:
+        port=22 #ssh port
+        s.connect((args.host, port))  # try to connect to port
+        s.close()
+      except (socket.error, socket.gaierror) as e:
+        comm=gather=None
+      else:
+        comm = PPComm(host=args.host)
+        gather = Gather(comm)
+
+

    # direct start
    #hs=HelicalScan(comm, gather, args.verbose,sync_mode=0,pt2pt_time=20)
--- a/python/shapepath.py
+++ b/python/shapepath.py
@@ -42,6 +42,9 @@ Enc 7: Interferometer X
 '''
 from __future__ import print_function
 #from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement
+try: raw_input;input=raw_input
+except NameError: pass
+
 import os, sys, time
 import numpy as np
 import matplotlib as mpl
@@ -49,8 +52,6 @@ import matplotlib.pyplot as plt
 import subprocess as sprc

 sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
-#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t')
-#sys.path.insert(0,'/sf/bernina/config/swissmx/zamofing_t/pbtools/misc/')
 from  pbtools.misc.pp_comm import PPComm
 from  pbtools.misc.gather import Gather
 from MXMotion import MotionBase
@@ -802,8 +803,14 @@ if __name__=='__main__':

  def run_test(args):
    #dp=DebugPlot();dp.plot_gather();return
-    #args.host=None
-    if args.host is None:
+    import socket
+    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)  # create an INET, STREAMing socket
+    s.settimeout(.1)
+    try:
+      port=22 #ssh port
+      s.connect((args.host, port))  # try to connect to port
+      s.close()
+    except (socket.error, socket.gaierror) as e:
      comm=gather=None
    else:
      comm = PPComm(host=args.host)
@@ -879,7 +886,7 @@ if __name__=='__main__':

    print('done')
    plt.show(block=False)
-    raw_input('press return')
+    input('press return')


    #sp.plot_points(sp.points);plt.show()