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good approx model

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This commit is contained in:
zamofing_t
2018-10-04 15:19:34 +02:00
parent fa00a1ef25
commit c19f588450
2 changed files with 102 additions and 59 deletions
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73
matlab/identifyFxFyStage.m
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@@ -14,23 +14,21 @@ function [mot1,mot2]=identifyFxFyStage()
obj.currstep=iddata([zeros(10,1); obj.currstep.data(:,2)],[zeros(10,1); obj.currstep.data(:,3)],50E-6);
f=load(strcat(path,sprintf('full_bode_mot%d.mat',motid)));
obj.frq=f.frq*2*pi; %convert from Hz to rad/s
obj.w=f.frq*2*pi; %convert from Hz to rad/s
if motid==2
f.db_mag(1:224)=f.db_mag(225); % reset bad values at low frequencies
end
obj.mag=10.^(f.db_mag/20); %mag not in dB
obj.phase=f.deg_phase*pi/180; %phase in rad
response = obj.mag.*exp(1j*obj.phase);
obj.meas= idfrd(response,obj.frq,0);
obj.meas= idfrd(response,obj.w,0);
end
function tfc=currstep(obj)
opt=tfestOptions;
opt.Display='off';
tfc = tfest(obj.currstep, 2, 0,opt);
den=tfc.Denominator;
num=tfc.Numerator;
k=num(1);
w0=sqrt(num(1));
damp=den(2)/2/w0;
s=sprintf('k:%g w0:%g damp:%g\n',k,w0,damp);
s=str2ndOrd(tfc);
%disp(s);
%h = stepplot(tf1);
%l=obj.currstep.OutputData
@@ -45,6 +43,36 @@ function [mot1,mot2]=identifyFxFyStage()
setoptions(h,'FreqUnits','Hz','Grid','on');
end
function s=str2ndOrd(tf)
den=tf.Denominator;
num=tf.Numerator;
k=num(1)/den(3);
w0=sqrt(den(3));
damp=den(2)/2/w0;
s=sprintf('k:%g w0:%g damp:%g\n',k,w0,damp);
end
function tf=fyModel()
num=[ 2.36527033e+11, 1.17108082e+13, 3.62387303e+17];
den=[ 1.00000000e+00, 6.64495206e+03, 2.12777376e+07, ...
1.23728427e+10, 3.07054470e+13, 1.72592127e+15, ...
5.39888656e+17];
tf=idtf(num,den);
end
function tf=fxModel()
num=[ 1.23284092e+11, 4.14791803e+13, 1.18702926e+18, ...
2.96296718e+20, 2.67179357e+24, 4.04662786e+26, ...
1.59131515e+30, 1.02778572e+32, 1.64551888e+35];
den=[ 1.00000000e+00, 6.93892369e+03, 3.17041055e+07, ...
7.66104262e+10, 2.36504992e+14, 2.23054854e+17, ...
5.12578678e+20, 2.04416512e+23, 3.27771400e+26, ...
4.77145416e+28, 3.85452959e+31, 1.28911178e+33, ...
9.52157664e+34];
tf=idtf(num,den);
end
function mot=fyStage()
mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',1);
mot.tfc=currstep(mot);
@@ -52,12 +80,13 @@ function [mot1,mot2]=identifyFxFyStage()
opt=tfestOptions;
opt.Display='off';
opt.initializeMethod='iv';
opt.WeightingFilter=[1,5;20,670]*(2*pi); % Hz->rad/s conversion
opt.WeightingFilter=[1,5;30,670]*(2*pi); % Hz->rad/s conversion
figure();
mot.tf4_2 = tfest(mot.meas, 4, 2, opt);
mot.tf6_4 = tfest(mot.meas, 6, 4, opt);
h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
mot.tf_mdl= fyModel();
%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
setoptions(h,'FreqUnits','Hz','Grid','on');
end
@@ -69,16 +98,14 @@ function [mot1,mot2]=identifyFxFyStage()
opt=tfestOptions;
opt.Display='off';
opt.initializeMethod='iv';
opt.WeightingFilter=[1,5;20,670]*(2*pi); % Hz->rad/s conversion
opt.WeightingFilter=[1,4;10,670]*(2*pi); % Hz->rad/s conversion
figure();
mot.tf4_2 = tfest(mot.meas, 4, 2, opt);
mot.tf6_4 = tfest(mot.meas, 6, 4, opt);
mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
mot.tf13_9 = tfest(mot.meas, 13, 9, opt);
num=[5.42637491e-24 1.45926254e-21 5.20861422e-17 9.92527094e-15 1.16707977e-10 1.31240975e-08 7.03191689e-05 3.08626613e-03 7.32824533e+00];
den=[2.01035570e-35,2.33560078e-31,9.14767135e-28,2.52369732e-24,7.42150891e-21,6.89695386e-18,1.65017156e-14,5.77522779e-12,1.08386286e-08,1.13336206e-06,1.27552247e-03,2.19776479e-02,1.00000000e+00];
mot.tf_py = idtf(num,den);
h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
mot.tf_mdl = fxModel();
%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
setoptions(h,'FreqUnits','Hz','Grid','on');
%controlSystemDesigner('bode',1,mot.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
@@ -91,10 +118,16 @@ end
function f=SCRATCH()
[m1,m2]=identifyFxFyStage();
controlSystemDesigner(1,m2.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
%identification toolbox
systemIdentification
%opt=tfestOptions('Display','off');
%opt=tfestOptions('Display','on','initializeMethod','svf');
%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
@@ -183,7 +216,5 @@ function f=SCRATCH()
controlSystemDesigner('bode',mot2);
[m1,m2]=identifyFxFyStage();
controlSystemDesigner(1,m2.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
end