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first rewrite of ovserver

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This commit is contained in:
zamofing_t
2019-02-08 09:47:46 +01:00
parent 3e83b82a5d
commit 6b5b8750d1
6 changed files with 70 additions and 163 deletions
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17
matlab/simFxFyStage.m
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@@ -13,25 +13,18 @@ function [pb]=simFxFyStage(mot)
%!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
%!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
Kp=25;Kvfb=400;Ki=0.02;Kvff=350;Kaff=5000;MaxInt=1000;
mot_num=mot.tf_mdl.Numerator;
mot_den=mot.tf_mdl.Denominator;
else
%!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
%!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
%Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=3500;MaxInt=1000;
mot_num=mot.tf_mdl.Numerator;
mot_den=mot.tf_mdl.Denominator;
end
mdlName='stage_closed_loop';
%open(mdlName)
%ServoDeltaTau_z(motid)
[A,B,C,D]=tf2ss(mot_num,mot_den);
ss_plt=mot.ss_plt;
pb=struct();
for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr","A","B","C","D"]
for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","Ts","MaxDac","MaxPosErr","ss_plt"]
pb=setfield(pb,k,eval(k));
end
%mdlName='stage_closed_loop';
%open(mdlName)
%sim(mdlName)
end