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generate data to analyse MXTuning/19_01_29

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zamofing_t
2019-01-29 17:40:06 +01:00
parent 38888e02fd
commit ad5e162d73
2 changed files with 76 additions and 46 deletions
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120
python/MXTuning.py
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@@ -9,13 +9,14 @@
tuning functions for ESB-MX tuning functions for ESB-MX
Modes: Modes:
bit 0=1: record/plot current step bit 0=1: record/plot current step
bit 1=2: custom chirp record/plot for IdCmd->ActPos transfer function bit 1=2: custom chirp record/plot for IdCmd->ActPos transfer function
bit 1=4: custom chirp record/plot for DesPos->ActPos transfer function bit 2=4: custom chirp record/plot for DesPos->ActPos transfer function
bit 2=8: plot the full bode recording bit 3=8: custom chirp record/plot for various transfer function
bit 3=16: plot the full bode recording with an approximation model bit 4=16: plot the full bode recording
bit 4=32: plot all raw acquired data files bit 5=32: plot the full bode recording with an approximation model
bit 5=64: generate observer code (after files generated with matlab) bit 6=64: plot all raw acquired data files
bit 7=128: generate observer code (after files generated with matlab)
-> check https://github.com/klauer/ppmac for fast data gathering server which supports -> check https://github.com/klauer/ppmac for fast data gathering server which supports
phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather
@@ -44,9 +45,10 @@ class MXTuning(Tuning):
self.homed=False self.homed=False
def init_stage(self,fn=''): def init_stage(self,mot=3,fn=''):
print(fn)
comm=self.comm comm=self.comm
if comm is None or self.homed or os.path.isfile(fn): if comm is None or (self.homed&mot)==mot or os.path.isfile(fn):
return return
gpascii=comm.gpascii gpascii=comm.gpascii
@@ -60,7 +62,7 @@ class MXTuning(Tuning):
break break
sys.stdout.write('.');sys.stdout.flush() sys.stdout.write('.');sys.stdout.flush()
time.sleep(.2) time.sleep(.2)
self.homed=True self.homed=3
def bode_model_plot(self, mot): def bode_model_plot(self, mot):
self.bode_full_plot(mot,self.baseDir) self.bode_full_plot(mot,self.baseDir)
@@ -347,14 +349,17 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
def run(self,mode): def run(self,mode):
#plt.ion() #plt.ion()
self.homed=0
if mode&1: # full recording current step if mode&1: # full recording current step
plt.close('all') plt.close('all')
self.homed=False
for mot in (1, 2): for mot in (1, 2):
fn=os.path.join(self.baseDir, 'curr_step%d.npz' % mot) fn=os.path.join(self.baseDir, 'curr_step%d.npz' % mot)
self.init_stage(fn) self.init_stage(mot,fn)
plt.close('all')
self.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn) self.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn)
self.homed&=~mot
plt.show(block=False) plt.show(block=False)
save_figs(fn)
f=np.load(fn) f=np.load(fn)
fn=fn[:-3]+'mat' fn=fn[:-3]+'mat'
import scipy.io import scipy.io
@@ -362,8 +367,6 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
print('save to matlab file:'+fn) print('save to matlab file:'+fn)
if mode&2: if mode&2:
plt.close('all')
self.homed=False
motLst = (1, 2) # (2,)# motLst = (1, 2) # (2,)#
#recType: #recType:
# IA 0 IqCmd,ActPos (for plant transfer function) # IA 0 IqCmd,ActPos (for plant transfer function)
@@ -374,25 +377,30 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
#>>>>> IqCmd->ActPos transfer function (plant) using closed loop for low frequencies #>>>>> IqCmd->ActPos transfer function (plant) using closed loop for low frequencies
for mot in motLst: for mot in motLst:
fn = os.path.join(self.baseDir, 'chirp_IA_%da.npz' % mot) fn = os.path.join(self.baseDir, 'chirp_IA_%da.npz' % mot)
self.init_stage(fn) self.init_stage(mot,fn)
self.custom_chirp(motor=mot, minFrq=1, maxFrq=15, amp=1000, tSec=15, recType=0,openLoop=False, file=fn) plt.close('all')
self.homed=False self.custom_chirp(motor=mot, minFrq=1, maxFrq=15, amp=1000, tSec=15, recType=0,mode=1, file=fn)
self.homed &= ~mot
plt.show(block=False)
save_figs(fn)
#>>>>> IqCmd->ActPos transfer function (plant) using open loop for high frequencies #>>>>> IqCmd->ActPos transfer function (plant) using open loop for high frequencies
for ext,amp,minFrq,maxFrq,tSec in (('b', 10, 10, 100*1.5, 30), for ext,amp,minFrq,maxFrq,tSec in (('b', 10, 10, 100*1.5, 30),
('c', 50, 100, 300*1.5, 30), ('c', 50, 100, 300*1.5, 30),
('d', 50, 300, 1000*1.5, 10), ('d', 50, 300, 1000*1.5, 10),
('e', 100, 1000, 2000, 10)): ('e', 100, 1000, 2000, 10)):
self.homed=False
for mot in motLst: for mot in motLst:
fn = os.path.join(self.baseDir, 'chirp_IA_%d%s.npz' % (mot,ext)) fn = os.path.join(self.baseDir, 'chirp_IA_%d%s.npz' % (mot,ext))
self.init_stage(fn) self.init_stage(mot,fn)
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=0,openLoop=True, file=fn) plt.close('all')
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=0,mode=0, file=fn)
self.homed&=~mot
plt.show(block=False)
save_figs(fn)
if mode&4: if mode&4:
plt.close('all') plt.close('all')
self.homed = False motLst = (1, 2) #(2,)#
motLst = (1, 2) # (2,)#
#>>>>> desPos->actPos transfer function (regulation) using closed loop #>>>>> desPos->actPos transfer function (regulation) using closed loop
#motor1: 0dB at 20.4 Hz #motor1: 0dB at 20.4 Hz
#motor2: 0dB at 11.3 Hz #motor2: 0dB at 11.3 Hz
@@ -408,49 +416,59 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
('b', 20, 30, 75*1.5, 15), ('b', 20, 30, 75*1.5, 15),
('c', 5, 75, 150*1.5, 5), ('c', 5, 75, 150*1.5, 5),
('d', 1, 150, 750, 5)): ('d', 1, 150, 750, 5)):
self.homed=False
for mot in motLst: for mot in motLst:
fn = os.path.join(self.baseDir, 'chirp_DA_%d%s.npz' % (mot,ext)) fn = os.path.join(self.baseDir, 'chirp_DA_%d%s.npz' % (mot,ext))
self.init_stage(fn) self.init_stage(mot,fn)
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=1,openLoop=False, file=fn) plt.close('all')
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=1,mode=1, file=fn)
self.homed&=~mot
plt.show(block=False)
save_figs(fn)
if mode & 8:
#>>>>> all data for different transfer function #>>>>> all data for different transfer function
for ext,amp,minFrq,maxFrq,tSec in (('a', 5, 10, 250, 10),): #using closed loop with 1/w^2 lower amplitude
self.homed=False for ext,amp,minFrq,maxFrq,tSec,crpMd,mot in (('a', 800, 10, 250, 20, 2, 1),
for mot in motLst: ('a', 800, 10, 250, 20, 2, 2),
fn = os.path.join(self.baseDir, 'chirp_all_%d%s.npz' % (mot,ext)) ('b', 5, 10, 220, 20, 1, 1),
self.init_stage(fn) ('b', 5, 10, 220, 20, 1, 2),
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=2,openLoop=False, file=fn) ):
fn = os.path.join(self.baseDir, 'chirp_all_%d%s.npz' % (mot,ext))
self.init_stage(mot,fn)
plt.close('all')
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=2,mode=crpMd, file=fn)
self.homed&=~mot
plt.show(block=False)
save_figs(fn)
if os.path.isfile(fn): if mode&16: #plot the full bode recording
f = np.load(fn)
data = f['data']
meta = f['meta'].item()
meta['file'] = file
if len(meta['address']) == 4:
for xy in ((0, 1), (0, 3), (2, 3)):
self.bode_plot(data, xy=xy, mode=25, **meta)
if mode&8: #plot the full bode recording
plt.close('all') plt.close('all')
self.bode_full_plot(mot=1,base=self.baseDir) self.bode_full_plot(mot=1,base=self.baseDir)
self.bode_full_plot(mot=2,base=self.baseDir) self.bode_full_plot(mot=2,base=self.baseDir)
plt.show(block=False)
save_figs(os.path.join(self.baseDir,'bode_full_plot'))
if mode&16: #plot the full bode recording with an approximation model if mode&32: #plot the full bode recording with an approximation model
plt.close('all') plt.close('all')
self.bode_model_plot(mot=1) self.bode_model_plot(mot=1)
self.bode_model_plot(mot=2) self.bode_model_plot(mot=2)
plt.show(block=False)
save_figs(os.path.join(self.baseDir,'bode_model_plot'))
if mode&32: # plot all raw acquired data files if mode&64: # plot all raw acquired data files
# display bode plots # display bode plots
import glob import glob
for fn in glob.glob(os.path.join(self.baseDir,'*.npz')): for fn in glob.glob(os.path.join(self.baseDir,'*.npz')):
print(fn)
fh = np.load(fn) fh = np.load(fn)
meta = fh['meta'].item() meta = fh['meta'].item()
data = fh['data'] data = fh['data']
self.bode_plot(data, mode=25, **meta) plt.close('all')
self.bode_plot(data, mode=25, kwargs=meta)
plt.show(block=False)
save_figs(fn)
if mode&64: #generater code if mode&128: #generater code
#before this can be done, the observer controller has to be designed with matlab: #before this can be done, the observer controller has to be designed with matlab:
#s.a.ESB_MX/matlab/Readme.md #s.a.ESB_MX/matlab/Readme.md
#clear; #clear;
@@ -487,6 +505,18 @@ EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
print('done') print('done')
plt.show() plt.show()
def save_figs(fn):
figures = [manager.canvas.figure
for manager in mpl._pylab_helpers.Gcf.get_all_fig_managers()]
#print(figures)
fnBase=fn.rsplit('.')[0]
(a,b)=os.path.split(fnBase)
fnBase=os.path.join(a,'img',b)
for i, figure in enumerate(figures):
#figure.savefig('figure%d.png' % i)
fn=fnBase+'%d.png' % i
figure.savefig(fn)
#figure.savefig(fn.rsplit('.')[0]+'%d.eps' % i)
def bode(mdl): def bode(mdl):

2
src/triggerSync/triggerSync.layout
View File

@@ -4,7 +4,7 @@
<ActiveTarget name="Debug" /> <ActiveTarget name="Debug" />
<File name="triggerSync.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="triggerSync.c" open="1" top="1" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
<Cursor> <Cursor>
<Cursor1 position="2887" topLine="63" /> <Cursor1 position="1460" topLine="10" />
</Cursor> </Cursor>
</File> </File>
<File name="Makefile" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0"> <File name="Makefile" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">