From 842dc878606a75219df502545eb4e48f4a70b874 Mon Sep 17 00:00:00 2001 From: Thierry Zamofing Date: Fri, 1 Mar 2019 14:48:44 +0100 Subject: [PATCH] towards pole placement --- MXfastStageDoc/MXfastStage.tex | 2 +- matlab/DeltaTauOptimizer.m | 69 +++++++++++++++++++---- matlab/DeltaTauParam.m | 48 +++++++++++++++- matlab/DeltaTauSim.slx | Bin 39663 -> 43327 bytes matlab/Readme.md | 12 ---- matlab/SCRATCH2.m | 99 +++++++++++++++++++++++++++++++++ matlab/SCRATCH3.m | 89 +++++++++++++++++++++++++++++ matlab/identifyFxFyStage.m | 9 +++ matlab/sample.slx | Bin 37519 -> 41861 bytes 9 files changed, 300 insertions(+), 28 deletions(-) create mode 100644 matlab/SCRATCH2.m create mode 100644 matlab/SCRATCH3.m diff --git a/MXfastStageDoc/MXfastStage.tex b/MXfastStageDoc/MXfastStage.tex index c26cce6..063d28b 100644 --- a/MXfastStageDoc/MXfastStage.tex +++ b/MXfastStageDoc/MXfastStage.tex @@ -827,7 +827,7 @@ To correct errors, posErrFB is increased. But in a discrete system, the regulati 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.\\ +MATLAB simulations \verb|(tool: DeltaTauOptimizer.m)| 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. diff --git a/matlab/DeltaTauOptimizer.m b/matlab/DeltaTauOptimizer.m index 3af9d1a..59da7aa 100644 --- a/matlab/DeltaTauOptimizer.m +++ b/matlab/DeltaTauOptimizer.m @@ -9,32 +9,76 @@ function DeltaTauOptimizer() if isempty(mot) mot=identifyFxFyStage(7); end - SIM1=[1 1; 1 2; 8 2; 9 2]; - SIM2=[1 1; 1 2; 8 2; 9 2]; - if isempty(simData1) + %SIM1=[1 1; 1 2; 8 2; 9 2]; + %SIM2=[1 1; 1 2; 8 2; 9 2]; + SIM1=[10 0;7 3]; + SIM1=[10 0]; + %SIM2=[9 0]; + if 1 || isempty(simData1) close all; simData1=ExecSim(mot{1},SIM1); end - if isempty(simData2) - close all; - simData2=ExecSim(mot{2},SIM2); - end + %if isempty(simData2) + % close all; + % simData2=ExecSim(mot{2},SIM2); + %end close all; %test() bodeSim(simData1); - bodeSim(simData2); + %bodeSim(simData2); end function test() global pb mot simData1 simData2; - %pb=DeltaTauParam(mot{2},7,0); + %pb=DeltaTauParam(mot{2},8,0); pb=DeltaTauParam(mot{2},9,0); + %pb.C=[0.04877]; + %pb.D=[1 -0.9512]; + %pb.C=[1 -1.3236 6.2472 -11.8555 11.3067 -5.4188 1.0440]; + %pb.D=[1.0000 -6.6330 17.6945 -24.5314 18.7409 -7.5020 1.2309]; + global tfs + tfz=c2d(tf(tfs),1/5000) + h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on'); + pb.C=tfz.Numerator{1}; + pb.D=tfz.Denominator{1}; sim('DeltaTauSim'); - i=6; + i=2; %simData2(i).mot_mdl_param=SIM(i,:); simData2(i).pb=pb; simData2(i).desPos_actPos=desPos_actPos; - bodeSim(simData2); + simData2=bodeSim(simData2); + + opt=tfestOptions; + opt.Display='off'; +% %tfa=tfest(simData2(i).tfEst, 6, 5,opt); + tfa=tfest(simData2(i).tfEst, 6, 6,opt); +% tfb=1/tfa +% tfc=c2d(tfb,1/5000) +% +% tfs=tf([1],[.001 1]) +% tfz=c2d(tfs,1/5000) +% h=bodeplot(tfs,tfz) +% setoptions(h,'FreqUnits','Hz','Grid','on'); + + + %C=num=0 -1.3236 6.2472 -11.8555 11.3067 -5.4188 1.0440 + %D=den=1.0000 -6.6330 17.6945 -24.5314 18.7409 -7.5020 1.2309 + % controlSystemDesigner('bode',1,tf(1,1)) + % controlSystemDesigner( 1/simData2(2).tfEst2) + % controlSystemDesigner(tfa) + + %C = + % 1035.3 (s+217.8) + % ------------------- + % (s+845.3) (s+266.8) + + % 0.18956 (z-0.9574) + % -------------------- + % (z-0.948) (z-0.8444) + +% 0.1896 z - 0.1815 +% ---------------------- +% z^2 - 1.792 z + 0.8006 end @@ -55,7 +99,7 @@ function simData=ExecSim(mot,SIM) end end -function bodeSim(simData) +function simData=bodeSim(simData) fig=figure(); ax1=subplot(2,1,1); hold(ax1,'on') ax2=subplot(2,1,2); hold(ax2,'on') @@ -83,6 +127,7 @@ function bodeSim(simData) h=plot(ax1,frq,abs(tfn), 'DisplayName',simData(i).pb.desc); p=unwrap(phase(tfn))/(2*pi)*360; h=plot(ax2,frq,p, 'DisplayName',simData(i).pb.desc); + simData(i).tfEst=idfrd(tfn,frq*2*pi,0); end grid(ax1,'on');grid(ax2,'on'); set(ax1, 'XScale', 'log'); diff --git a/matlab/DeltaTauParam.m b/matlab/DeltaTauParam.m index 79e613e..c6e2757 100644 --- a/matlab/DeltaTauParam.m +++ b/matlab/DeltaTauParam.m @@ -9,7 +9,9 @@ function [pb]=DeltaTauParam(mot,mdl,param) pb=struct(... 'Ts', 2E-4, ... % 0.2ms=5kHz 'MaxDac' ,2011.968, ... - 'MaxPosErr', 10000); + 'MaxPosErr', 10000, ... + 'A',1,'B',1,'C',1,'D',1,'E',1,'F',1, ... + 'Kafb',0); desc=sprintf('mot:%d mdl:',mot.id); switch mdl case 1 @@ -30,9 +32,9 @@ function [pb]=DeltaTauParam(mot,mdl,param) pb.ss_plt=mot.ss_cq;desc=desc+"cq"; pb.sel={3,[3]}; case 9 pb.ss_plt=mot.ss_cqr;desc=desc+"cqr"; pb.sel={3,[3]}; + case 10 + pb.ss_plt=mot.ss_dq;desc=desc+"dq"; pb.sel={3,[3]}; end - pb.A=[1];pb.B=[1];pb.C=[1];pb.D=[1];pb.E=[1];pb.F=[1]; - desc=desc+" param:"; if mot.id==1 %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000) @@ -40,12 +42,52 @@ function [pb]=DeltaTauParam(mot,mdl,param) switch param case 0 %scratch desc=desc+"scratch"; + pl=[-300+550i -300-550i -2513]; + [Am,Bm,Cm,Dm]=ssdata(mot.ss_dq); + K = place(Am,Bm,pl); + V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 ) + V=V(end); + Kfb=K*(Cm^-1); + pb.V=V; + pb.Kfb=Kfb; + + pb.Kp=V; + pb.B=Kfb(3)/V; + pb.Kvfb=Kfb(2)/pb.Ts; + fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb); + + pb.Kvff=1*pb.Kvfb; + pb.Kafb=0;%Kfb(1)/(pb.Ts^2); + pb.Kaff=1*1/(1.548e04*(pb.Ts^2)); + pb.Ki=0.02; + pb.MaxInt=1000; case 1 %origin parameters desc=desc+"orig"; pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000; case 2%enhances first step desc=desc+"2"; pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000; + case 3%pole placement on simplified motion tf + pl=[-1400 -1440]; + pl=[-300+350i -300-350i]; + [Am,Bm,Cm,Dm]=ssdata(mot.ss_q); + K = place(Am,Bm,pl); + V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 ) + V=V(end); + Kfb=K*(Cm^-1); + pb.V=V; + pb.Kfb=Kfb; + + pb.Kp=V; + pb.B=Kfb(2)/V; + pb.Kvfb=Kfb(1)/pb.Ts; + fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb); + + pb.Kvff=pb.Kvfb; + pb.Kafb=0; + pb.Kaff=1/(1.548e04*(pb.Ts^2)); + pb.Ki=0.01; % lower + pb.MaxInt=1000; end 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