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optimized parameters

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zamofing_t
2019-02-27 14:47:37 +01:00
parent 952925d25f
commit 6ac4915925
8 changed files with 104 additions and 528 deletions
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13
matlab/Readme.md
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@@ -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