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@@ -23,7 +23,6 @@
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\date{\today, \currenttime\\
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\texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}}
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\begin{document}
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\maketitle
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\tableofcontents
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@@ -31,14 +30,25 @@
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This document describes the tuning and modeling process of the ESB-MX fast stages.
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\section{Measurements}
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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:\\
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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:\\
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\verb|./MXTuning.py --dir MXTuning/19_01_29 --mode 64|\\
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The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp.\\
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This results in 50us PhaseTime and 0.2ms ServoTime.
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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 $33.85/32737A =1.034mA$.
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The used frequencies are: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp. This results in 50us PhaseTime and 0.2ms ServoTime.\\
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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 $33.85/32737A =1.034mA$.\\
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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.
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\cite[245-259]{PMACusr} Shows how the PwmSf works and is explained with some calculation examples.\\
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This is set in the gpasciiCommander templates:
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\begin{verbatim}
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PwmSf=15134.8909 # =.95*16384. PMAC3-style DSPGATE3 ASIC is being used for the output,
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the counter moves between +/- 16384. PwmSf is typically set to 95% of 16384
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\end{verbatim}
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Nerverless the documentation is confusing. Therefore PwmSf will measure to convert idCmd bits values to idVolts bits at a DC value.
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In steady state an idMeas=... results in idVolts=...
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(TO BE DONE)\\
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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.\\
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It should be save to set 0.92Amp DC and 2.8Amp DC.
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\subsection{Measure Current Step}
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\verb|MXTuning.py –mode 1| $\rightarrow$ \verb|identifyFxFyStage.m|\\
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@@ -106,7 +116,7 @@ motor_servo(mot=2,Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
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\subsubsection{chirp sine closed loop}
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Bode plot and chirp input(blue) and output(green)
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Chirp plot with input(blue) and output(green) and its bode plots.
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The parameters for that sweep is:\\
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\verb| amp: 5, minFrq: 10, maxFrq: 220, ts: 0.0002, tSec: 20|
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@@ -166,6 +176,44 @@ Solving in Laplace space:\\
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$iqVolts=(R+Ls)\cdot iqMeas$\\
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$s \cdot iqMeas =\frac{1}{L}iqVolts - \frac{R}{L}iqMeas$\\
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Transferfunction open loop of $G_1(s)=iqVolts \rightarrow iqCmd$
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\\
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using Masons rule:
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\url{https://en.wikipedia.org/wiki/Mason's_gain_formula}:
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\[
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G_1(s)=\frac{y_{out}}{y_{in}}=\frac{iqCmd}{iqVolts}=
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\frac{\frac{1}{Ls}}{1+ \frac{R}{Ls}} = \frac{1}{Ls+R} = \frac{k}{1+Ts} = \frac{\frac{1}{R}}{1+\frac{L}{R}s}
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\]
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\vspace{1pc}
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Transferfunction closed loop of $G_2(s)=iqCmd \rightarrow iqMeas$:
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\[
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\begin{aligned}
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&\text{with}\quad
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a=Ipf+\frac{Li}{s} \quad
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b=PwmSF \cdot G(s) \quad
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c=Ipb \quad
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d=1\\
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&\text{using Masons rule:} \quad G_2(s)=\frac{ab}{1+bc+abd}\\
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\\
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&\text{extending:} \quad =\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot G_1(s)}
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{1+PwmSF \cdot G_1(s) \cdot Ipb +(Ipf+\frac{Ii}{s})
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\cdot PwmSF \cdot G_1(s)}\\
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\\
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&=\left.\frac{(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}}
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{1+PwmSF \cdot \frac{1}{Ls+R} \cdot Ipb +(Ipf+\frac{Ii}{s}) \cdot PwmSF \cdot \frac{1}{Ls+R}} \right| \cdot (Ls+R) \cdot s\\
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\\
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&=\frac{(Ipf \cdot s+Ii) \cdot PwmSF }
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{(Ls+R)s+PwmSF \cdot Ipb \cdot s +(Ipf \cdot s+Ii) \cdot PwmSF }\\
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\\
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&=\frac{Ipf \cdot s+Ii }
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{\frac{L}{PwmSF}s^2 +(\frac{R}{PwmSF}+ Ipb+Ipf)s +Ii}\\
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\\
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\end{aligned}
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\]
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\subsection{Mechanical model}
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@@ -302,6 +350,24 @@ Therefore the model seems good enough
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\newpage
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\section{HelicalScan coordinates}
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\begin{figure}[h!]
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan1a.eps}
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan2a.eps}
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\includegraphics[scale=.4]{../helicalscanDoc/helicalscan3a.eps}
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\caption{coordinate transformation}
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\end{figure}
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%\eject
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%
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@@ -314,4 +380,9 @@ Therefore the model seems good enough
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%Verbatim
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% Verbatim
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%\end{Verbatim}
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\end{document}
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\newpage
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\bibliographystyle{alpha}
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\bibliography{myBib}
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%\printbibliography
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\end{document}
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||||
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||||
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||||
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||||
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||||
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|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b002b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b002b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b
|
||||
2b2b2b2b2b2b2b2b2b2b2b1d00>
|
||||
2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b2b1d00>
|
||||
] def
|
||||
/f-0-0 currentdict end definefont pop
|
||||
%%EndResource
|
||||
@@ -490,7 +511,7 @@ q 1 0 0 -1 0 293.870575 cm
|
||||
6.07 24.676 6.07 26.242 c h
|
||||
6.07 26.242 m S Q
|
||||
BT
|
||||
12 0 0 12 24.086217 273.93537 Tm
|
||||
12 0 0 12 15.909886 272.199896 Tm
|
||||
/f-0-0 1 Tf
|
||||
(iqCmd)Tj
|
||||
ET
|
||||
@@ -524,9 +545,9 @@ BT
|
||||
2.095565 6.161664 Td
|
||||
[(PwmSf)]TJ
|
||||
12.882957 -2.232481 Td
|
||||
(Ipf)Tj
|
||||
[(1/L)]TJ
|
||||
-5.500854 -2.381323 Td
|
||||
(Ipf)Tj
|
||||
[(R/L)]TJ
|
||||
ET
|
||||
0.741123 w
|
||||
q 1 0 0 -1 0 293.870575 cm
|
||||
@@ -725,6 +746,21 @@ BT
|
||||
/f-1-0 1 Tf
|
||||
-11.574451 0.719521 Td
|
||||
[(..)-5665(.)]TJ
|
||||
/f-0-0 1 Tf
|
||||
17.623283 8.085714 Td
|
||||
(+)Tj
|
||||
-1.334782 0.0226176 Td
|
||||
(-)Tj
|
||||
-18.113196 9.057024 Td
|
||||
(+)Tj
|
||||
0.743213 -1.886716 Td
|
||||
(+)Tj
|
||||
2.044824 0.639854 Td
|
||||
(-)Tj
|
||||
-14.29163 1.246724 Td
|
||||
(+)Tj
|
||||
0.674384 -1.598279 Td
|
||||
(-)Tj
|
||||
ET
|
||||
Q Q
|
||||
showpage
|
||||
|
||||
29
python/MXTuningDoc/myBib.bib
Normal file
29
python/MXTuningDoc/myBib.bib
Normal file
@@ -0,0 +1,29 @@
|
||||
@BOOK{DUMMY:1,
|
||||
AUTHOR="John Doe",
|
||||
TITLE="The Book without Title",
|
||||
PUBLISHER="Dummy Publisher",
|
||||
YEAR="2100",
|
||||
}
|
||||
|
||||
@online{PMACusr,
|
||||
author = {DELTA TAU},
|
||||
title = {Power PMAC User’s Manual},
|
||||
year = {2015},
|
||||
url = {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},
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user