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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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41
MXfastStageDoc/MXfastStage.tex
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@@ -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.\\ 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.\\ 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 % 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} \begin{appendix}
\section{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:}\\ \textbf{Overview of code:}\\
\begin{tabular}{ll} \begin{tabular}{ll}

500
MXfastStageDoc/model5.eps
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9
Readme.md
View File

@@ -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$ 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/ \ ~/Documents/prj/SwissFEL/PBTools/pbtools/ \
/sf/bernina/config/swissmx/zamofing_t/ /sf/bernina/config/swissmx/zamofing_t/
cp -arL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBMotionAnalyzer/*.py \ cp -farL ~/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/ShapePathAnalyser/*.py \
/sf/bernina/config/swissmx/zamofing_t/PBMotionAnalyzer/ /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 >alternatives but not recommanded

13
matlab/Readme.md
View File

@@ -57,6 +57,9 @@ OTHER VERSION DO NOT YET HAVE WX
********** ORIG ************** ********** 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.Kp=25
Motor[1].Servo.Kvfb=400 Motor[1].Servo.Kvfb=400
Motor[1].Servo.Ki=0.02 Motor[1].Servo.Ki=0.02
@@ -77,13 +80,19 @@ Motor[2].Servo.Kfff=0
********** OPTIMIZED ************** ********** 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.Kp=25
Motor[1].Servo.Kvfb=350 Motor[1].Servo.Kvfb=350
Motor[1].Servo.Ki=0.02 Motor[1].Servo.Ki=0.02
Motor[1].Servo.Kvff=350 Motor[1].Servo.Kvff=350
Motor[1].Servo.Kaff=1615. // 1/(1.548e04*(pb.Ts^2)) Motor[1].Servo.Kaff=1615. // 1/(1.548e04*(pb.Ts^2))
Motor[1].Servo.MaxInt=1000 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.Kp=22
Motor[2].Servo.Kvfb=450 Motor[2].Servo.Kvfb=450
@@ -91,7 +100,7 @@ Motor[2].Servo.Ki=0.02
Motor[2].Servo.Kvff=450 Motor[2].Servo.Kvff=450
Motor[2].Servo.Kaff=4517 Motor[2].Servo.Kaff=4517
Motor[2].Servo.MaxInt=1000 Motor[2].Servo.MaxInt=1000
Motor[2].Servo.Kfff=100 Motor[2].Servo.Kfff=10 //try on real system to optimize

24
python/MXTuning.py
View File

@@ -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 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 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 os, sys, json, time
import numpy as np 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') #hl+=ax1.plot(p,c,'b.',label='vel<0')
#FfricLut=np.array([p,c]).T #FfricLut=np.array([p,c]).T
Ffric=np.array([c1.mean(),c2.mean()]) 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 'FfricLut',FfricLut
#print '//positions '+'%g,%g,%g'%tuple(p[0:3]),'...%g,%g,%g'%tuple(p[-3:]) #print '//positions '+'%g,%g,%g'%tuple(p[0:3]),'...%g,%g,%g'%tuple(p[-3:])
#print 'float lutCur[%d]={'%len(p) #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) bm+=32 #amplitude linear (not dB)
self.bode_plot(data, mode=bm, kwargs=meta) self.bode_plot(data, mode=bm, kwargs=meta)
plt.show(block=False) plt.show(block=False)
#save_figs(fn) save_figs(fn)
#wait_key() #wait_key()
raw_input('press return') input('press return')
if mode&256: #custom plots if mode&256: #custom plots
@@ -770,7 +773,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
ax.plot(t,y) ax.plot(t,y)
ax.grid(True) ax.grid(True)
plt.show(block=False) plt.show(block=False)
raw_input('press return') input('press return')
plt.close('all') plt.close('all')
fn=os.path.join(self.baseDir,'chirp_all_1a.npz') 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 if mode&~512: # show and block only if not code generation
plt.show(block=False) plt.show(block=False)
raw_input('press return') input('press return')
def save_figs(fn): def save_figs(fn):
@@ -910,9 +913,14 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
args=parser.parse_args() args=parser.parse_args()
#plt.ion() #plt.ion()
#args.host='MOTTEST-CPPM-CRM0573' import socket
args.host=None s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # create an INET, STREAMing socket
if args.host is None: 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 comm=gt=None
else: else:
comm = PPComm(host=args.host) comm = PPComm(host=args.host)

2
python/ShapePathAnalyser/MAxyPlot.py
View File

@@ -339,7 +339,7 @@ class MPLCanvasImg(FigureCanvas):
M=np.mat(trf0).I M=np.mat(trf0).I
trfPtsImgI=M*np.vstack((trfPts[:,(0,1)].T,np.ones((1,n)))) 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)) trfPtsImg=np.hstack((trfPtsImgI[0:2,:].T,trfPtsImgO[0:2,:].T))
A=np.zeros((n*2, 6)) A=np.zeros((n*2, 6))

26
python/helicalscan.py
View File

@@ -64,6 +64,9 @@ verbose bits:
#dx,dz,w,fy -> pb coord. be aware of inverted dx,dz signs #dx,dz,w,fy -> pb coord. be aware of inverted dx,dz signs
from __future__ import print_function from __future__ import print_function
#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement #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 os, sys, json,re
import numpy as np import numpy as np
import matplotlib as mpl import matplotlib as mpl
@@ -76,8 +79,6 @@ from utilities import *
import telnetlib import telnetlib
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/')) 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.pp_comm import PPComm
from pbtools.misc.gather import Gather from pbtools.misc.gather import Gather
from MXMotion import MotionBase from MXMotion import MotionBase
@@ -1207,14 +1208,23 @@ close
if __name__=='__main__': if __name__=='__main__':
def run_test(args): def run_test(args):
mode=args.mode mode=args.mode
#args.host=None if mode in(3,4):
if args.host is None or mode in(3,4):
comm=gather=None comm=gather=None
else: else:
comm = PPComm(host=args.host) import socket
gather = Gather(comm) s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # create an INET, STREAMing socket
gpascii = comm.gpascii 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 # direct start
#hs=HelicalScan(comm, gather, args.verbose,sync_mode=0,pt2pt_time=20) #hs=HelicalScan(comm, gather, args.verbose,sync_mode=0,pt2pt_time=20)

17
python/shapepath.py
View File

@@ -42,6 +42,9 @@ Enc 7: Interferometer X
''' '''
from __future__ import print_function from __future__ import print_function
#from __future__ import absolute_import,division,generators,nested_scopes,print_function,unicode_literals,with_statement #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 os, sys, time
import numpy as np import numpy as np
import matplotlib as mpl import matplotlib as mpl
@@ -49,8 +52,6 @@ import matplotlib.pyplot as plt
import subprocess as sprc import subprocess as sprc
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/')) 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.pp_comm import PPComm
from pbtools.misc.gather import Gather from pbtools.misc.gather import Gather
from MXMotion import MotionBase from MXMotion import MotionBase
@@ -802,8 +803,14 @@ if __name__=='__main__':
def run_test(args): def run_test(args):
#dp=DebugPlot();dp.plot_gather();return #dp=DebugPlot();dp.plot_gather();return
#args.host=None import socket
if args.host is None: 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 comm=gather=None
else: else:
comm = PPComm(host=args.host) comm = PPComm(host=args.host)
@@ -879,7 +886,7 @@ if __name__=='__main__':
print('done') print('done')
plt.show(block=False) plt.show(block=False)
raw_input('press return') input('press return')
#sp.plot_points(sp.points);plt.show() #sp.plot_points(sp.points);plt.show()