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major renaming of transfer functions

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zamofing_t
2019-02-15 10:46:29 +01:00
parent f3c5fafe5f
commit e792d0b028
11 changed files with 592 additions and 580 deletions
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23
matlab/simFxFyStage.m
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@@ -6,24 +6,27 @@ function [pb]=simFxFyStage(mot)
%the returned variable pb contains varous parameters:
% Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D
Ts=2E-4; % 0.2ms=5kHz
MaxDac=2011.968;
MaxPosErr=10000;
pb=struct(...
'Ts', 2E-4, ... % 0.2ms=5kHz
'MaxDac' ,2011.968, ...
'MaxPosErr', 10000);
if mot.id==1
%!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
%!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
Kp=25;Kvfb=400;Ki=0.02;Kvff=350;Kaff=5000;MaxInt=1000;
pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000;
else
%!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
%!motor(mot=2,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
%Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=3500;MaxInt=1000;
end
ss_plt=mot.ss_plt;
pb=struct();
for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","Ts","MaxDac","MaxPosErr","ss_plt"]
pb=setfield(pb,k,eval(k));
pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=3500;pb.MaxInt=1000;
end
pb.ss_plt=mot.ss_plt; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_plt0; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_c1; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_d1; pb.sel={3,[3]};
%pb.ss_plt=mot.ss_1; pb.sel={2,[2]};
%pb.ss_plt=mot.ss_p; pb.sel={2,[2]};
%mdlName='stage_closed_loop';
%open(mdlName)
%sim(mdlName)