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towards simple prefilters

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zamofing_t
2019-02-08 16:46:38 +01:00
parent cc582d1bf8
commit af732b313e
4 changed files with 64 additions and 35 deletions
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MXfastStageDoc/MXfastStage.tex
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@@ -466,11 +466,11 @@ Figures \ref{fig:mot_chirp_sim} showed similar response as the real stages (Figu
\begin{figure}[h!]
\center
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz.png}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_1.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_bode1.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_2.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_bode2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz.png}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz_1.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz_bode1.eps}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz_bode2.eps}
\caption{Motor 1 sim Motor 2 sim}
\label{fig:mot_chirp_sim}
\end{figure}
@@ -562,27 +562,46 @@ end
\begin{figure}[h!]
\center
\includegraphics[scale=.35]{../matlab/figures/sim_cl_observer.png}
\caption{Observer flow chart}
\label{fig:mot_observer_sim}
\end{figure}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer.png}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_1.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_bode1.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_2.eps}
\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_bode2.eps}
\caption{Motor 1 sim Motor 2 sim}
\label{fig:mot_chirp_sim}
\begin{figure}[h!]
\center
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_1.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_bode1.eps}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer_bode2.eps}
\caption{Observer sim: Motor 1 Motor 2}
\label{fig:mot_observer_sim}
\end{figure}
Comparing figures \ref{fig:mot_chirp_sim} and \ref{fig:mot_observer_sim} shows the better behavious of the observer model.
With an additional prefilter resonance and reductions can be suppressed a bit.\\
\begin{figure}[h!]
\center
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_pf_1.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_pf_bode1.eps}\\
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_pf_2.eps}
\includegraphics[scale=.45]{../matlab/figures/sim_cl_obs_pf_bode2.eps}
\caption{Observer with prefilter sim: Motor 1 Motor 2}
\label{fig:mot_observer_sim}
\end{figure}
The system was simulated with 5kHz servo loop frequency.
Higher servo loop frequency does not help, because a continious state space controller behaves not relevantly better than a sampled state space controller at 5kHz.\\
Now the controller must be implemented on deltatau to check the performance on the real stage.
\FloatBarrier
\subsection{Implementing state space controller on Deltatau}
In MATLAB the function \verb|StateSpaceControlDesign()| produces files \verb%/tmp/ssc[1|2].mat%.\\