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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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9
python/MXTuning.py
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@@ -594,7 +594,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
self.homed=0
if mode&1: # full recording current step
plt.close('all')
for mot in (1, 2):
for mot in (1, 2):#, 3):
fn=os.path.join(self.baseDir, 'curr_step%d.npz' % mot)
self.init_stage(mot,fn)
plt.close('all')
@@ -634,7 +634,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
save_figs(fn)
if mode&2:
motLst = (1, 2) # (2,)#
motLst = (1, 2) # (3,)#
#recType:
# IA 0 IqCmd,ActPos (for plant transfer function)
# DA 1 DesPos,ActPos (for regulation transfer function)
@@ -667,7 +667,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
if mode&4:
plt.close('all')
motLst = (1, 2) #(2,)#
motLst = (1, 2) #(3,)#
#>>>>> desPos->actPos transfer function (regulation) using closed loop
#motor1: 0dB at 20.4 Hz
#motor2: 0dB at 11.3 Hz
@@ -709,7 +709,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
save_figs(fn)
if mode&16: #record/plot friction
for mot in (1, 2):
for mot in (1, 2):#(3,)#
plt.close('all')
fn=os.path.join(self.baseDir, 'friction%d.npz' % mot)
self.init_stage(mot,fn)
@@ -721,6 +721,7 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
plt.close('all')
self.bode_full_plot(mot=1,base=self.baseDir)
self.bode_full_plot(mot=2,base=self.baseDir)
#self.bode_full_plot(mot=3,base=self.baseDir)
plt.show(block=False)
save_figs(os.path.join(self.baseDir,'bode_full_plot'))