wip
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@@ -23,7 +23,6 @@
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\date{\today, \currenttime\\
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\date{\today, \currenttime\\
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\texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}}
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\texttt{git:\gitAbrHash, ver:\gitVerNo{ }\gitStatus}}
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\begin{document}
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\begin{document}
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\maketitle
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\maketitle
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\tableofcontents
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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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This document describes the tuning and modeling process of the ESB-MX fast stages.
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\section{Measurements}
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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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\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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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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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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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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\subsection{Measure Current Step}
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\verb|MXTuning.py –mode 1| $\rightarrow$ \verb|identifyFxFyStage.m|\\
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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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\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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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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\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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$iqVolts=(R+Ls)\cdot iqMeas$\\
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$s \cdot iqMeas =\frac{1}{L}iqVolts - \frac{R}{L}iqMeas$\\
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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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\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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%proces compiled as job \texttt{\jobname} from the file \texttt{\currfileabspath}\\
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%proces compiled as job \texttt{\jobname} from the file \texttt{\currfileabspath}\\
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%\eject
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%\eject
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%
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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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% Verbatim
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% Verbatim
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%\end{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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y="255.63519">PwmSf</tspan></text>
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||||
2b2b2b2b2b2b2b2b2b2b2b1d00>
|
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|
||||||
] def
|
] def
|
||||||
/f-0-0 currentdict end definefont pop
|
/f-0-0 currentdict end definefont pop
|
||||||
%%EndResource
|
%%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 24.676 6.07 26.242 c h
|
||||||
6.07 26.242 m S Q
|
6.07 26.242 m S Q
|
||||||
BT
|
BT
|
||||||
12 0 0 12 24.086217 273.93537 Tm
|
12 0 0 12 15.909886 272.199896 Tm
|
||||||
/f-0-0 1 Tf
|
/f-0-0 1 Tf
|
||||||
(iqCmd)Tj
|
(iqCmd)Tj
|
||||||
ET
|
ET
|
||||||
@@ -524,9 +545,9 @@ BT
|
|||||||
2.095565 6.161664 Td
|
2.095565 6.161664 Td
|
||||||
[(PwmSf)]TJ
|
[(PwmSf)]TJ
|
||||||
12.882957 -2.232481 Td
|
12.882957 -2.232481 Td
|
||||||
(Ipf)Tj
|
[(1/L)]TJ
|
||||||
-5.500854 -2.381323 Td
|
-5.500854 -2.381323 Td
|
||||||
(Ipf)Tj
|
[(R/L)]TJ
|
||||||
ET
|
ET
|
||||||
0.741123 w
|
0.741123 w
|
||||||
q 1 0 0 -1 0 293.870575 cm
|
q 1 0 0 -1 0 293.870575 cm
|
||||||
@@ -725,6 +746,21 @@ BT
|
|||||||
/f-1-0 1 Tf
|
/f-1-0 1 Tf
|
||||||
-11.574451 0.719521 Td
|
-11.574451 0.719521 Td
|
||||||
[(..)-5665(.)]TJ
|
[(..)-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
|
ET
|
||||||
Q Q
|
Q Q
|
||||||
showpage
|
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},
|
||||||
|
}
|
||||||
|
|
||||||
553
python/helicalscanDoc/helicalscan1a.eps
Normal file
553
python/helicalscanDoc/helicalscan1a.eps
Normal file
@@ -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
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||||||
|
%%DocumentData: Clean7Bit
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||||||
|
%%LanguageLevel: 2
|
||||||
|
%%BoundingBox: 0 -1 455 334
|
||||||
|
%%EndComments
|
||||||
|
%%BeginProlog
|
||||||
|
save
|
||||||
|
50 dict begin
|
||||||
|
/q { gsave } bind def
|
||||||
|
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|
||||||
|
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|
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|
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|
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||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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||||||
|
{ globaldict begin /?pdfmark /pop load def /pdfmark
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||||||
|
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||||||
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||||||
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||||||
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|
||||||
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%%EndProlog
|
||||||
|
%%BeginSetup
|
||||||
|
%%BeginResource: font DejaVuSans
|
||||||
|
11 dict begin
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||||||
|
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||||||
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
|
Encoding 101 /e put
|
||||||
|
Encoding 108 /l put
|
||||||
|
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|
||||||
|
Encoding 114 /r put
|
||||||
|
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|
||||||
|
Encoding 116 /t put
|
||||||
|
Encoding 120 /x put
|
||||||
|
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|
||||||
|
Encoding 122 /z put
|
||||||
|
/CharStrings 14 dict dup begin
|
||||||
|
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|
||||||
|
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||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
end readonly def
|
||||||
|
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||||||
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x="255.26669"
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y="334.23395">x<tspan
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style="font-size:;baseline-shift:baseline;"
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id="tspan5452">o</tspan></tspan></text>
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<text
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y="-3.2517097"
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<path
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style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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d="m 298.49701,138.18081 0,171.36273"
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<path
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inkscape:connector-curvature="0"
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id="path5714"
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d="m 215.5918,328.4959 0,-125.76114"
|
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|
style="fill:none;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
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sodipodi:nodetypes="cc" />
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<text
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xml:space="preserve"
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|
style="font-style:normal;font-weight:normal;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;baseline-shift:baseline;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
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|
x="436.01334"
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|
y="109.567"
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id="text3406"
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sodipodi:linespacing="125%"><tspan
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|
sodipodi:role="line"
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x="436.01334"
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|
y="109.567"
|
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|
id="tspan8394"
|
||||||
|
style="font-size:11.25px">with one point (or with small ω):</tspan><tspan
|
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|
sodipodi:role="line"
|
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|
x="436.01334"
|
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|
y="123.6295"
|
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|
id="tspan8390"
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||||||
|
style="font-size:11.25px" /><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="137.692"
|
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|
id="tspan8455"
|
||||||
|
style="font-size:11.25px">r=sqrt(x<tspan
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|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8402">0</tspan><tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:super"
|
||||||
|
id="tspan8400">2</tspan>+z<tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8405">0</tspan><tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:super"
|
||||||
|
id="tspan8407">2</tspan>)</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="151.7545"
|
||||||
|
id="tspan8421"
|
||||||
|
style="font-size:11.25px">φ=arctan(z<tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8425">0</tspan>/x<tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8427">0</tspan>)</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="165.817"
|
||||||
|
id="tspan8423"
|
||||||
|
style="font-size:11.25px" /><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="179.8795"
|
||||||
|
id="tspan8433"
|
||||||
|
style="font-size:11.25px" /><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="193.942"
|
||||||
|
id="tspan8435"
|
||||||
|
style="font-size:11.25px">with two points (and with big ω):</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="208.0045"
|
||||||
|
id="tspan8443"
|
||||||
|
style="font-size:11.25px" /><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="222.067"
|
||||||
|
id="tspan8451"
|
||||||
|
style="font-size:11.25px">x<tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8447">1</tspan>/x<tspan
|
||||||
|
style="font-size:11.25px;baseline-shift:sub"
|
||||||
|
id="tspan8449">0</tspan>=cos(φ+ω)/cos(φ)</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="236.1295"
|
||||||
|
id="tspan8437"
|
||||||
|
style="font-size:11.25px">using: cos(α+β)=cosαcosβ-sinαsinβ</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="250.192"
|
||||||
|
id="tspan8463"
|
||||||
|
style="font-size:11.25px">and solving to φ:</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="264.25452"
|
||||||
|
id="tspan8467"
|
||||||
|
style="font-size:11.25px" /><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="278.31702"
|
||||||
|
id="tspan8469"
|
||||||
|
style="font-size:11.25px">φ=arctan( )</tspan><tspan
|
||||||
|
sodipodi:role="line"
|
||||||
|
x="436.01334"
|
||||||
|
y="292.37952"
|
||||||
|
id="tspan8471"
|
||||||
|
style="font-size:11.25px" /><tspan
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||||||
|
sodipodi:role="line"
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||||||
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x="436.01334"
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||||||
|
y="306.44202"
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||||||
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style="font-size:11.25px"
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||||||
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id="tspan8495">r=x<tspan
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||||||
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style="font-size:64.99999762%;baseline-shift:sub"
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||||||
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id="tspan8497">0</tspan>/cosφ</tspan><tspan
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||||||
|
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||||||
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y="320.50452"
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id="tspan8491" /><tspan
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id="tspan8493">with small ω this is unstable.</tspan><tspan
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||||||
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id="tspan3416"
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||||||
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style="font-size:11.25px">Best results at ω = 90°</tspan></text>
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<text
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id="tspan8481">sinω</tspan></text>
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After Width: | Height: | Size: 22 KiB |
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665
python/helicalscanDoc/helicalscan3a.eps
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<02>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(\):)Tj
|
||||||
|
0 -2.5 Td
|
||||||
|
[(r=sqrt)-3(\(x)]TJ
|
||||||
|
4.193359 -0.2 Td
|
||||||
|
(0)Tj
|
||||||
|
0.636719 0.6 Td
|
||||||
|
(2)Tj
|
||||||
|
0.636719 -0.4 Td
|
||||||
|
(+z)Tj
|
||||||
|
1.363281 -0.2 Td
|
||||||
|
(0)Tj
|
||||||
|
0.636719 0.6 Td
|
||||||
|
(2)Tj
|
||||||
|
0.636719 -0.4 Td
|
||||||
|
(\))Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
-8.103516 -1.25 Td
|
||||||
|
<01>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(=ar)20(ctan)-3(\(z)]TJ
|
||||||
|
5.609375 -0.2 Td
|
||||||
|
(0)Tj
|
||||||
|
0.636719 0.2 Td
|
||||||
|
(/x)Tj
|
||||||
|
0.929688 -0.2 Td
|
||||||
|
(0)Tj
|
||||||
|
0.636719 0.2 Td
|
||||||
|
(\))Tj
|
||||||
|
-7.8125 -3.75 Td
|
||||||
|
[(with tw)-3(o points \(an)-3(d with )-3(big )]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<02>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(\):)Tj
|
||||||
|
0 -2.5 Td
|
||||||
|
(x)Tj
|
||||||
|
0.591797 -0.2 Td
|
||||||
|
(1)Tj
|
||||||
|
0.636719 0.2 Td
|
||||||
|
(/x)Tj
|
||||||
|
0.929688 -0.2 Td
|
||||||
|
(0)Tj
|
||||||
|
0.636719 0.2 Td
|
||||||
|
(=cos\()Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<01>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(+)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<02>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(\))-3(/cos\()]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<01>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[()-3(\))]TJ
|
||||||
|
-2.794922 -1.25 Td
|
||||||
|
[(using:)-3( cos\()]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<03>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[()-3(+)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<04>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(\)=cos)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<03>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[()-3(cos)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<04>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(-sin)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<>-3<03>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(sin)]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
[<04>]TJ
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
0 -1.25 Td
|
||||||
|
[(and solving t)-3(o )]TJ
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<01>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
(:)Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
0 -2.5 Td
|
||||||
|
<01>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(=ar)20(ctan)-3(\( )-3( )-3( )-3( \))]TJ
|
||||||
|
9.6 0 0 9.6 95.537488 22.427407 Tm
|
||||||
|
(zo)Tj
|
||||||
|
8.235751 3.00141 Td
|
||||||
|
(z1)Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
2.140361 -2.934188 Td
|
||||||
|
<02>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
-0.434845 5.208247 Td
|
||||||
|
(r)Tj
|
||||||
|
9 0 0 9 331.534827 21.043521 Tm
|
||||||
|
(-x)Tj
|
||||||
|
5.85 0 0 5.85 340.112952 19.243521 Tm
|
||||||
|
(1)Tj
|
||||||
|
9 0 0 9 343.837757 21.043521 Tm
|
||||||
|
(/x)Tj
|
||||||
|
5.85 0 0 5.85 352.204944 19.243521 Tm
|
||||||
|
(0)Tj
|
||||||
|
9 0 0 9 355.929749 21.043521 Tm
|
||||||
|
(+cos)Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<02>Tj
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
-0.811328 -1.5 Td
|
||||||
|
(sin)Tj
|
||||||
|
/f-0-1 1 Tf
|
||||||
|
<02>Tj
|
||||||
|
ET
|
||||||
|
0.8 w
|
||||||
|
q 1 0 0 -1 0 210.279022 cm
|
||||||
|
329.617 192.77 m 387.18 192.77 l S Q
|
||||||
|
Q Q
|
||||||
|
showpage
|
||||||
|
%%Trailer
|
||||||
|
end restore
|
||||||
|
%%EOF
|
||||||
Reference in New Issue
Block a user