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adding optimizer tool and found better parameters

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This commit is contained in:
zamofing_t
2019-02-26 16:48:48 +01:00
parent 966134a06d
commit 952925d25f
7 changed files with 218 additions and 28 deletions
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67
matlab/DeltaTauParam.m
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@@ -1,4 +1,4 @@
function [pb]=DeltaTauParam(mot)
function [pb]=DeltaTauParam(mot,mdl,param)
% !!! first it need to run: [mot1,mot2]=identifyFxFyStage() tobuild a motor object !!!
%
%loads the current (11.10.2018) controller settings of the
@@ -10,45 +10,70 @@ function [pb]=DeltaTauParam(mot)
'Ts', 2E-4, ... % 0.2ms=5kHz
'MaxDac' ,2011.968, ...
'MaxPosErr', 10000);
%pb.ss_plt=mot.ss_plt; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_plt0; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_c1; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_d1; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_1; pb.sel={2,[2]};
%pb.ss_plt=mot.ss_p; pb.sel={2,[2]};
%pb.ss_plt=mot.ss_q; pb.sel={2,[2]};
%pb.ss_plt=mot.ss_cq; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_cqr; pb.sel={3,[3]};
desc=sprintf('mot:%d mdl:',mot.id);
switch mdl
case 1
pb.ss_plt=mot.ss_plt;desc=desc+"plt"; pb.sel={3,[3]};
case 2
pb.ss_plt=mot.ss_plt0;desc=desc+"plt0"; pb.sel={3,[3]};
case 3
pb.ss_plt=mot.ss_c1;desc=desc+"c1"; pb.sel={3,[3]};
case 4
pb.ss_plt=mot.ss_d1;desc=desc+"d1"; pb.sel={3,[3]};
case 5
pb.ss_plt=mot.ss_1;desc=desc+"1"; pb.sel={2,[2]};
case 6
pb.ss_plt=mot.ss_p;desc=desc+"p"; pb.sel={2,[2]};
case 7
pb.ss_plt=mot.ss_q;desc=desc+"q"; pb.sel={2,[2]};
case 8
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]};
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)
%!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')
%pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000;
pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
switch param
case 0 %scratch
desc=desc+"scratch";
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;
end
%pb.Kp=0.1;pb.Kvfb=0;pb.Ki=0.00;pb.Kvff=0;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
%filter [z^0 z^-1 ... z^-n];
pb.A=[1];
pb.B=[1];
pb.C=[1];
pb.D=[1];
pb.E=[1];
pb.F=[1];
%19.8Hz 0dB K=(19.8*2*np.pi)**2=15477.1 Ts=5kHz=.2ms
%Kaff = 1/(Ts*Ts*K) = 1/((19.8*2*np.pi)**2/5000**2) = 1615.2877200403302
%Kfff=100
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')
%pb.Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=3500;pb.MaxInt=1000;
switch param
case 0 %scratch
desc=desc+"scratch";
pb.Kp=22;pb.Kvfb=450;pb.Ki=0.02;pb.Kvff=450;pb.Kaff=4517;pb.MaxInt=1000;
case 1 %origin parameters
desc=desc+"orig";
pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=1500;pb.MaxInt=1000;
case 2%enhances first step
desc=desc+"2";
pb.Kp=22;pb.Kvfb=450;pb.Ki=0.02;pb.Kvff=450;pb.Kaff=4517;pb.MaxInt=1000;
%pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=3500;pb.MaxInt=1000;
end
%11.84Hz 0dB K=(11.84*2*np.pi)**2=5534.3 Ts=5kHz=.2ms
%Kaff = 1/(Ts*Ts*K) = 1/((11.84*2*np.pi)**2/5000**2) = 4517.278506241803
%Kfff=100
%pb.MaxInt=200 %200mA should be enought to fix static errors
end
pb.desc=desc;
%mdlName='stage_closed_loop';
%open(mdlName)
%sim(mdlName)