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using new optimized control parameters

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This commit is contained in:
zamofing_t
2019-03-06 10:32:08 +01:00
parent 0b677bdd23
commit 9eda474e61
12 changed files with 14890 additions and 543 deletions
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15
cfg/MX1_setup.cfg
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@@ -45,7 +45,7 @@
//use um as motor unit
!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=350,Ki=0.02,Kvff=350,Kaff=1615,MaxInt=1000,Kfff=10)
!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')
@@ -59,14 +59,9 @@
!encoder_sim(enc=2,tbl=10,mot=10,posSf=13000./2048)
!encoder_inc(enc=2,tbl=2,mot=2,posSf=13000./650000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=450,Ki=0.02,Kvff=450,Kaff=4517,MaxInt=1000,Kfff=10)
!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')
//Tweaks:
//Motor[1].Servo.Kfff=100
//Motor[2].Servo.Kfff=100
//rot stage
//---------
@@ -76,12 +71,14 @@
//Motor[1].pPhaseEnc=EncTable[1].pEnc=Acc84B[0].Chan[0].SerialEncDataA.a
// -> PhasePosSf is calculated as follows: (2048*pole_cycle)/(256*enc_step) = 8*pole_cycle/enc_step
//PhasePosSf = (2048*pole_cycle)/(SerialEncDataA)=8*16/1048576=1/32
// Motor 3: 0dB at 18.8Hz Friction 70curr_bits
// Kaff= 1/((18.8*2*np.pi)**2/5000**2 ) = 1791.6970285327388
!encoder_sim(enc=3,tbl=11,mot=11,posSf=360000./32768)
!encoder_biss(enc=3,tbl=3,mot=3,numBits=20,posSf=360000./1048576)
Motor[3].pPhaseEnc=Acc84B[0].Chan[2].SerialEncDataA.a
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=0.8,Kvfb=20,Ki=0.001,Kvff=40,Kaff=0,MaxInt=1000)
!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=1.5,IpfGain=0,IpbGain=3,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
!motor_servo(mot=3,ctrl='ServoCtrl',Kp=10,Kvfb=220,Ki=0.001,Kvff=220,Kaff=1792,MaxInt=1000,Kfff=5)
!motor(mot=3,dirCur=0,contCur=1000,peakCur=2000,timeAtPeak=1,IiGain=2,IpfGain=12,IpbGain=12,JogSpeed=180.,numPhase=3,invDir=False,servo=None,PhasePosSf=1./8192,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=3000,WarnFeLimit=1000,InPosBand=10, HomeOffset=228987)
//Stada stage