sf-mx/PBSwissMX
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
zamofing_t
2018-08-21 14:28:13 +02:00
parent 1e9f80ca14
commit a47064de0a
1 changed files with 186 additions and 90 deletions
Download Patch File Download Diff File Expand all files Collapse all files

276
python/PBTuning.py
View File

@@ -28,6 +28,12 @@ other available tuning progs on the powerbrick are:
user_gantry_crosscoupled.h
usertrajectory
Modes:
1: sine bode open loop
2: chirp bode open loop
3: sine bode closed loop
4: chirp bode closed loop
TODO:
use openloopsine to create a bode diagram of the 'strecke'
'''
@@ -51,6 +57,7 @@ class PBTuning:
args=self.args
host=args.host
cmd=('ssh','root@'+host, self.tuneDir+cmd)+tuple(map(str,param))
print(' '.join(cmd))
p=sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
res=p.wait()
print(res)
@@ -86,7 +93,10 @@ class PBTuning:
col=('b-','g-')
for i in (0,1):
data=self.data[:,i]
data=(data-data[0])*w
avg=data.mean(0)
#data=data-data[0]
data=data-avg
data*=w
ax1.plot(data, col[i])
f = np.fft.fft(data)
ax2.plot(np.absolute(f) , col[i])
@@ -99,105 +109,155 @@ class PBTuning:
plt.pause(.05)
return (res[1,0]/res[0,0],res[1,1]-res[0,1])
def bode_gather(self,motor=1,minFrq=1,maxFrq=300,numFrq= 150,amp=10,file='/tmp/bode.npz'):
#amp= percentage of maximum amplitude
def bode_sine(self,openloop=True,motor=1,minFrq=1,maxFrq=300,numFrq=150,amp=10,file='/tmp/bode.npz'):
if os.path.isfile(file):
f=np.load(file)
bode=f['bode']
meta=f['meta'].item()
meta['file']=file
else:
#motor 1 maximum: 13750
#amp= percentage of maximum amplitude
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
frqLst=np.logspace(np.log10(minFrq),np.log10(maxFrq),numFrq)
n=len(frqLst)
#frqLst=(10,15,20,25,30)
bode=np.ndarray((n,3))
bode[:, 0]=frqLst
#for i in range(n):
for i in range(n-1,-1,-1):
frq=frqLst[i]
t=1
rep=max(1,frq*t)
self.fnLoc='/tmp/gather%d.txt'%i
if openloop:
data=self.do_command('openloopsine',motor,amp,frq,rep,0)
else:
data=self.do_command('sinusoidal',motor,amp,frq,rep,0)
data=data[:,(1,2)]
ax.clear()
avg=data.mean(0)
print(avg)
ax.plot(data[:, 0]-avg[0] , 'b-', label='input')
ax.plot(data[:, 1]-avg[1], 'g-', label='output')
plt.pause(.05)
bode[i,1:]=self.phase_amp(frq, rep)
print('frq %g ampl %g phase %g'%tuple(bode[i,:]))
plt.draw_all()
meta={'motor':motor,'date':time.asctime()}
np.savez_compressed(file, bode=bode, meta=meta)
meta['file']=file
self.bode_sine_plot(bode, meta)
def bode_sine_plot(self,bode,meta):
frq=bode[:,0]
db_mag=20*np.log10(bode[:,1])
phase=np.degrees(np.unwrap(bode[:,2]))# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
if phase[0]>0: phase-=360
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
frqLst=np.logspace(np.log10(minFrq),np.log10(maxFrq),numFrq)
n=len(frqLst)
#frqLst=(10,15,20,25,30)
bode=np.ndarray((n,3))
bode[:, 0]=frqLst
for i in range(n):
frq=frqLst[i]
t=1
rep=max(1,frq*t)
self.fnLoc='/tmp/gather%d.txt'%i
data=self.do_command('openloopsine',motor,amp,frq,rep,0)
ax.clear()
ax.plot(data[:, 0]-data[0, 0] , 'b-', label='input')
ax.plot(data[:, 1]-data[0, 1], 'g-', label='output')
plt.pause(.05)
bode[i,1:]=self.phase_amp(frq, rep)
print('frq %g ampl %g phase %g'%tuple(bode[i,:]))
plt.draw_all()
fig.canvas.set_window_title(os.path.basename(meta['file']))
ax = fig.add_subplot(2, 1, 1)
ax.semilogx(frq, db_mag,'.-') # Bode magnitude plot
ax.xaxis.set_label_text('dB Mag.')
plt.grid(True)
#ax.loglog(frqLst, bode[:,0],'.-') # Bode magnitude plot
ax = fig.add_subplot(2, 1, 2)
ax.semilogx(frq, phase,'.-') # Bode phase plot
ax.xaxis.set_label_text('phase')
plt.grid(True)
meta={'motor':motor,'date':time.asctime()}
np.savez_compressed(file, bode=bode, meta=meta)
def bode_chirp(self,openloop=True,motor=1,minFrq=10,maxFrq=150,tSec=30.,amp=10,mode=1,file='/tmp/gather.npz'):
#amp= percentage of maximum amplitud
if os.path.isfile(file):
f=np.load(file)
data=f['data']
#try:
meta=f['meta'].item()
#except KeyError:
# meta={'motor': motor, 'date': time.asctime(), 'minFrq': 10, 'maxFrq': 150, 'tSec': 30, 'amp': amp}
# np.savez_compressed(file, data=data, meta=meta)
meta['file']=file
else:
mode=1
if openloop:
data=self.do_command('openloopchirp',motor,amp,minFrq,maxFrq,tSec*1000,mode,0)
else:
#sinesweep, chirpmove?
data=self.do_command('sinesweep', motor, amp, minFrq, maxFrq, tSec*1000, mode, 0)
data = data[:, (1, 2)]
def bode_gather2(self,motor=1,minFrq=5,maxFrq=150,tSec=15,amp=30,mode=1,file='/tmp/bode.npz'):
#amp= percentage of maximum amplitude
self.fnLoc='/tmp/gather.txt'
#self.fnLoc='/tmp/gather70.txt'
mode=1
data=self.do_command('openloopchirp',motor,amp,minFrq,maxFrq,tSec*1000,mode,0)
self.data = data= np.genfromtxt(self.fnLoc, delimiter=' ')
n = self.data.shape[0]
w=np.hamming(n)
meta={'motor':motor,'date':time.asctime(),'minFrq':minFrq,'maxFrq':maxFrq,'tSec':tSec,'amp':amp}
np.savez_compressed(file, data=data, meta=meta)
meta['file'] = file
self.bode_chirp_plot(data, meta)
def bode_chirp_plot(self, data, meta):
tSec=meta['tSec']
minFrq=meta['minFrq']
maxFrq=meta['maxFrq']
#data[:,0]*=w
#data[:,1]=(data[:, 1]-data[0, 1])*w
#data[:, 1]-=np.convolve(data[:,1],np.ones(n),'same')/n
n=1000
d=np.concatenate((np.ones(n-1)*data[0, 1],data[:, 1]))
d=np.convolve(d,np.ones(n),'valid')/n
data[:, 1]-=d
fig = plt.figure()
ax = fig.add_subplot(1, 1, 1)
ax.plot(data[:, 0])
#5..150 Hz
#15 sec
c = data[:,0]
o=data[:,1]
o-=o[0]
t = np.linspace(0, tSec, data.shape[0], endpoint=True)
n=data.shape[0]/2
fig=plt.figure()
fig.canvas.set_window_title(os.path.basename(meta['file']+' raw'))
plt.plot(t, c)
plt.plot(t, o)
#bode_plot(o)
#plt.show()
ax.plot(data[:, 1])
#d=np.concatenate((np.ones(n)*data[0, 1],data[:, 1],np.ones(n)*data[-1, 1]))
#n samples
#t1 seconds
#ts=t1/(2*n)#samplingperiode =t[1]-t[0]
#w_k=2*pi*k/T
#w=2*np.pi*np.arange(n+1)/t1*(2*n)
i=int(minFrq*tSec); j=int(maxFrq*tSec); #print(w[i],w[j])
w=np.arange(n+1)/tSec #Hz
w=w[i:j+1]
#w*=2.*np.pi #rad/sec
fig=plt.figure()
fig.canvas.set_window_title(os.path.basename(meta['file']+' bode'))
ftX=np.fft.rfft(c)
ftY=np.fft.rfft(o)
ft=ftY/ftX
phase=np.angle(ft)
phase=np.degrees(np.unwrap(phase[i:j+1]))
fig = plt.figure()
iFt = np.fft.fft(data[:, 0])
oFt= np.fft.fft(data[:, 1])
iPhase = np.angle(iFt)
iAmpl = np.absolute(iFt)
oPhase = np.angle(oFt)
oAmpl = np.absolute(oFt)
ax = fig.add_subplot(2, 1, 1)
ax.plot(iAmpl)
ax.plot(oAmpl)
ax = fig.add_subplot(2, 1, 2)
ax.plot(iPhase)
ax.plot(oPhase)
#magDb=10*np.log10(np.abs(ft)) #in decibel
mag=np.abs(ftY)/np.abs(ftX)
magDb=20*np.log10(mag[i:j+1]) #in decibel (20=10*2: factor 2 because rfft only half)
#magDb=np.abs(ftY)/np.abs(ftX)
ax=plt.subplot(2,1,1)
ax.semilogx(w,magDb,'b') # Bode magnitude plot
#ax.plot(w,magDb) # Bode magnitude plot
ax.axvline(minFrq,c='k');ax.axvline(maxFrq,c='k')
ax.grid(True)
ax=plt.subplot(2,1,2)
frq=np.arange(0,iAmpl.shape[0])
#bode=np.ndarray((n,3))
db_mag=20*np.log10(oAmpl-iAmpl)
phase=np.unwrap(oPhase-iPhase)# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
fig = plt.figure()
ax = fig.add_subplot(2, 1, 1)
ax.semilogx(frq, db_mag,'.-') # Bode magnitude plot
ax.xaxis.set_label_text('dB Mag.')
#ax.loglog(frqLst, bode[:,0],'.-') # Bode magnitude plot
ax = fig.add_subplot(2, 1, 2)
ax.semilogx(frq, phase,'.-') # Bode phase plot
ax.xaxis.set_label_text('phase')
plt.show()
ax.semilogx(w,phase,'b') # Bode phase plot
ax.yaxis.set_label_text('Amplitude [dB]')
#ax.set_ylim(phase[i],phase[j])
ax.grid(True)
ax.xaxis.set_label_text('Frequency [Hz]')
ax.yaxis.set_label_text('Phase [degree]')
#plt.axvline(x=0.22058956)
#plt.show()
#meta={'motor':motor,'date':time.asctime()}
#np.savez_compressed(file, bode=bode, meta=meta)
def bode_plot(self,file):
f=np.load(file)
bode=f['bode']
meta=f['meta']
frq=bode[:,0]
db_mag=20*np.log10(bode[:,1])
phase=np.unwrap(bode[:,2])# numpy.unwrap(p, discont=3.141592653589793, axis=-1)
fig = plt.figure()
ax = fig.add_subplot(2, 1, 1)
ax.semilogx(frq, db_mag,'.-') # Bode magnitude plot
ax.xaxis.set_label_text('dB Mag.')
#ax.loglog(frqLst, bode[:,0],'.-') # Bode magnitude plot
ax = fig.add_subplot(2, 1, 2)
ax.semilogx(frq, phase,'.-') # Bode phase plot
ax.xaxis.set_label_text('phase')
plt.show()
if __name__=='__main__':
@@ -214,20 +274,56 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
parser=ArgumentParser(epilog=epilog,formatter_class=RawDescriptionHelpFormatter)
parser.add_argument('--host', help='hostname', metavar='HOST', required=True)
parser.add_argument('--plot', nargs='*')
parser.add_argument('--host', help='hostname', metavar='HOST')
parser.add_argument('--verbose', '-v', type=int, help='verbosity bits (see below)', default=0)
parser.add_argument('--dryrun', '-n', action='store_true', help='dryrun to stdout')
parser.add_argument('--mode', '-m', type=int, help='modes (see below)', default=1)
parser.add_argument('--mot', type=int, help='motor', default=1)
parser.add_argument('--tag', help='tag', default='')
args=parser.parse_args()
#plt.ion()
tune=PBTuning(args)
base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data/'
for i in (1,):#(1,2):
file=os.path.join(base,'bode%d.npz'%i)
#tune.bode_gather(file=file,motor=i)
tune.bode_gather2(file=file,motor=i)
tune.bode_plot(file)
base='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/PBTuning/'
if args.plot:
#display bode plots
for fn in args.plot:
if os.path.basename(fn).startswith('sine_ol_mot'):
tune.bode_sine(openloop=True,file=fn)
if os.path.basename(fn).startswith('chirp_ol_mot'):
tune.bode_chirp(openloop=True,file=fn)
if os.path.basename(fn).startswith('sine_cl_mot'):
tune.bode_sine(openloop=False, file=fn)
if os.path.basename(fn).startswith('chirp_cl_mot'):
tune.bode_chirp(openloop=False, file=fn)
plt.show()
return
mode=args.mode
tag=args.tag
mot=args.mot
if mode==1:
ol=True
file=os.path.join(base,'sine_ol_mot%d_%s.npz'%(mot,tag))
#def bode_sine(self, openloop=True, motor=1, minFrq=1, maxFrq=300, numFrq=150, amp=10, file='/tmp/bode.npz'):
tune.bode_sine(openloop=True,file=file,motor=mot)
elif mode==2:
file=os.path.join(base,'chirp_ol_mot%d_%s.npz'%(mot,tag))
tune.bode_chirp(openloop=True,file=file,motor=mot,maxFrq=500)
elif mode==3:
ol=True
file=os.path.join(base,'sine_cl_mot%d_%s.npz'%(mot,tag))
tune.bode_sine(openloop=False,file=file,motor=mot)
elif mode==4:
file=os.path.join(base,'chirp_cl_mot%d_%s.npz'%(mot,tag))
tune.bode_chirp(openloop=False,file=file,motor=mot)
#tune.do_command('stepmove',1,100,500,0,0)
plt.show()
#------------------ Main Code ----------------------------------
#ssh_test()
ret=parse_args()