wip

matlab/DeltaTauParam.m

@@ -10,11 +10,30 @@ 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]};
+  pb.A=[1];pb.B=[1];pb.C=[1];pb.D=[1];pb.E=[1];pb.F=[1];
+
   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;
+    %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
@@ -29,13 +48,6 @@ function [pb]=DeltaTauParam(mot)
     %pb.MaxInt=200 %200mA should be enought to fix static errors
 
   end
-  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]};
   
   %mdlName='stage_closed_loop';
   %open(mdlName)