diff --git a/python/MXTuningDoc/fastStageTune.tex b/python/MXTuningDoc/fastStageTune.tex index 2117ef1..708f7e0 100644 --- a/python/MXTuningDoc/fastStageTune.tex +++ b/python/MXTuningDoc/fastStageTune.tex @@ -23,7 +23,6 @@ \date{\today, \currenttime\\ \texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}} - \begin{document} \maketitle \tableofcontents @@ -31,14 +30,25 @@ This document describes the tuning and modeling process of the ESB-MX fast stages. \section{Measurements} -The tool used to record data of the fast stages is the bode plots is MXTuning.py, a script specially developed to record system responses. The main cal to collect all data was:\\ +The tool used to record data of the fast stages is the bode plots is MXTuning.py, a script specially developed to record system responses. The main call to collect all data was:\\ \verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 64|\\ -The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp.\\ -This results in 50us PhaseTime and 0.2ms ServoTime. -According to the amplifier specs (Power Brick LV User Manual.pdf p.19). a DAC Value of $32737=2^{15}$ corresponds to 33.85A current. So 1 \verb|curr_bit| is $33.85/32737A =1.034mA$. +The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp. This results in 50us PhaseTime and 0.2ms ServoTime.\\ +According to the amplifier specs \cite[19]{PMAClv} a DAC Value of $32737=2^{15}$ corresponds to 33.85A current. So 1 \verb|curr_bit| is $33.85/32737A =1.034mA$.\\ -The Parker stages are configured to contCur=800mA ,peakCur=2400mA. Ste Specs of the D11 stage are 0.8Amp RMS (producing 4N force) and 2.4Amp peak. +\cite[245-259]{PMACusr} Shows how the PwmSf works and is explained with some calculation examples.\\ +This is set in the gpasciiCommander templates: +\begin{verbatim} +PwmSf=15134.8909 # =.95*16384. PMAC3-style DSPGATE3 ASIC is being used for the output, +the counter moves between +/- 16384. PwmSf is typically set to 95% of 16384 +\end{verbatim} +Nerverless the documentation is confusing. Therefore PwmSf will measure to convert idCmd bits values to idVolts bits at a DC value. + +In steady state an idMeas=... results in idVolts=... +(TO BE DONE)\\ + +The Parker stages are configured to contCur=800mA ,peakCur=2400mA. Specs of the D11 stage are 0.8Amp RMS (producing 4N force) and 2.4Amp RMS peak.\\ +It should be save to set 0.92Amp DC and 2.8Amp DC. \subsection{Measure Current Step} \verb|MXTuning.py –mode 1| $\rightarrow$ \verb|identifyFxFyStage.m|\\ @@ -106,7 +116,7 @@ motor_servo(mot=2,Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000) \subsubsection{chirp sine closed loop} -Bode plot and chirp input(blue) and output(green) +Chirp plot with input(blue) and output(green) and its bode plots. The parameters for that sweep is:\\ \verb| amp: 5, minFrq: 10, maxFrq: 220, ts: 0.0002, tSec: 20| @@ -166,6 +176,44 @@ Solving in Laplace space:\\ $iqVolts=(R+Ls)\cdot iqMeas$\\ $s \cdot iqMeas =\frac{1}{L}iqVolts - \frac{R}{L}iqMeas$\\ +Transferfunction open loop of $G_1(s)=iqVolts \rightarrow iqCmd$ +\\ +using Masons rule: +\url{https://en.wikipedia.org/wiki/Mason's_gain_formula}: + +\[ +G_1(s)=\frac{y_{out}}{y_{in}}=\frac{iqCmd}{iqVolts}= +\frac{\frac{1}{Ls}}{1+ \frac{R}{Ls}} = \frac{1}{Ls+R} = \frac{k}{1+Ts} = \frac{\frac{1}{R}}{1+\frac{L}{R}s} +\] + +\vspace{1pc} + +Transferfunction closed loop of $G_2(s)=iqCmd \rightarrow iqMeas$: +\[ +\begin{aligned} +&\text{with}\quad +a=Ipf+\frac{Li}{s} \quad +b=PwmSF \cdot G(s) \quad +c=Ipb \quad +d=1\\ +&\text{using Masons rule:} \quad G_2(s)=\frac{ab}{1+bc+abd}\\ +\\ +&\text{extending:} \quad =\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot G_1(s)} +{1+PwmSF \cdot G_1(s) \cdot Ipb +(Ipf+\frac{Ii}{s}) +\cdot PwmSF \cdot G_1(s)}\\ +\\ +&=\left.\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}} +{1+PwmSF \cdot \frac{1}{Ls+R} \cdot Ipb +(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}} \right| \cdot (Ls+R) \cdot s\\ +\\ +&=\frac{(Ipf \cdot s+Ii) \cdot PwmSF } +{(Ls+R)s+PwmSF \cdot Ipb \cdot s +(Ipf \cdot s+Ii) \cdot PwmSF }\\ +\\ +&=\frac{Ipf \cdot s+Ii } +{\frac{L}{PwmSF}s^2 +(\frac{R}{PwmSF}+ Ipb+Ipf)s +Ii}\\ +\\ +\end{aligned} +\] + \subsection{Mechanical model} @@ -302,6 +350,24 @@ Therefore the model seems good enough + + + + + + +\newpage +\section{HelicalScan coordinates} + + +\begin{figure}[h!] +\includegraphics[scale=.4]{../helicalscanDoc/helicalscan1a.eps} +\includegraphics[scale=.4]{../helicalscanDoc/helicalscan2a.eps} +\includegraphics[scale=.4]{../helicalscanDoc/helicalscan3a.eps} +\caption{coordinate transformation} +\end{figure} + + %proces compiled as job \texttt{\jobname} from the file \texttt{\currfileabspath}\\ %\eject % @@ -314,4 +380,9 @@ Therefore the model seems good enough %Verbatim % Verbatim %\end{Verbatim} -\end{document} \ No newline at end of file +\newpage +\bibliographystyle{alpha} +\bibliography{myBib} +%\printbibliography +\end{document} + diff --git a/python/MXTuningDoc/model.svg b/python/MXTuningDoc/model.svg index 3f8d24a..04e1608 100644 --- a/python/MXTuningDoc/model.svg +++ b/python/MXTuningDoc/model.svg @@ -485,10 +485,10 @@ inkscape:pageopacity="0.0" inkscape:pageshadow="2" inkscape:zoom="1.9795908" - inkscape:cx="227.4925" - inkscape:cy="145.89617" + inkscape:cx="236.80936" + inkscape:cy="676.66651" inkscape:document-units="mm" - inkscape:current-layer="g4751" + inkscape:current-layer="g4662" showgrid="true" inkscape:snap-grids="false" inkscape:snap-nodes="true" @@ -936,15 +936,15 @@ r="3.5433071" /> iqCmd + x="96.052124" + y="245.78323">iqCmd PwmSf Ipf + y="289.12241">1/L Ipf + y="324.84225">R/L . + + + - + + + + + - + + + - diff --git a/python/MXTuningDoc/model2.eps b/python/MXTuningDoc/model2.eps index aa224d3..ff83edc 100644 --- a/python/MXTuningDoc/model2.eps +++ b/python/MXTuningDoc/model2.eps @@ -1,6 +1,6 @@ %!PS-Adobe-3.0 EPSF-3.0 %%Creator: cairo 1.14.6 (http://cairographics.org) -%%CreationDate: Thu Jan 31 11:13:24 2019 +%%CreationDate: Fri Feb 1 08:12:43 2019 %%Pages: 1 %%DocumentData: Clean7Bit %%LanguageLevel: 2 @@ -70,14 +70,18 @@ save /Encoding 256 array def 0 1 255 { Encoding exch /.notdef put } for Encoding 32 /space put +Encoding 43 /plus put +Encoding 45 /hyphen put Encoding 47 /slash put Encoding 49 /one put Encoding 67 /C put Encoding 70 /F put Encoding 73 /I put Encoding 75 /K put +Encoding 76 /L put Encoding 77 /M put Encoding 80 /P put +Encoding 82 /R put Encoding 83 /S put Encoding 86 /V put Encoding 97 /a put @@ -96,7 +100,7 @@ Encoding 115 /s put Encoding 116 /t put Encoding 119 /w put Encoding 120 /x put -/CharStrings 28 dict dup begin +/CharStrings 32 dict dup begin /.notdef 0 def /i 1 def /q 2 def @@ -113,24 +117,28 @@ Encoding 120 /x put /P 13 def /w 14 def /S 15 def -/V 16 def -/o 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{Power PMAC Users Manual.pdf}, +} + +@online{PMACref, +author = {DELTA TAU}, +title = {Power PMAC Software Reference Manual}, +year = {2015}, +url = {Power PMAC Software Reference Manual.pdf}, +} + + +@online{PMAClv, +author = {DELTA TAU}, +title = {Power Brick LV: Low Voltage Programmable Servo Amplifier}, +year = {2015}, +url = {Power Brick LV User Manual.pdf}, +} + diff --git a/python/helicalscanDoc/helicalscan1a.eps b/python/helicalscanDoc/helicalscan1a.eps new file mode 100644 index 0000000..5338773 --- /dev/null +++ b/python/helicalscanDoc/helicalscan1a.eps @@ -0,0 +1,553 @@ +%!PS-Adobe-3.0 EPSF-3.0 +%%Creator: cairo 1.14.6 (http://cairographics.org) +%%CreationDate: Fri Feb 1 13:52:12 2019 +%%Pages: 1 +%%DocumentData: Clean7Bit +%%LanguageLevel: 2 +%%BoundingBox: 0 -1 455 334 +%%EndComments +%%BeginProlog +save +50 dict begin +/q { gsave } bind def +/Q { grestore } bind def +/cm { 6 array astore concat } bind def +/w { setlinewidth } bind def +/J { setlinecap } bind def +/j { 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