tuning Servo Parameters of XY stage without load and horizontal on the table

2017-02-03 11:40:31 +01:00
parent 3fafe53c39
commit ebad56c0d1
12 changed files with 1219 additions and 15 deletions
--- a/logbook.md
+++ b/logbook.md
@@ -487,3 +487,115 @@ fn='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/data
 fh=np.load(fn)
 scipy.io.savemat(fn[:-3]+'mat',mdict=dict(fh.iteritems()))

+
+compensate position depenmdent friction 1.2.2017
+------------------------------------------------
+
+Git tag: 3fafe53
+gpasciiCommander --host SAROP11-CPPM-MOT6871 -i
+!mx-stage()
+&1 #1->0
+&1 #2->0
+#3$
+an anschlag (kabel) bewegen
+#3hmz
+Motor[3].PhasePos=1200
+#3j/
+
+./move_record.py
+abs average pos Error 2.1890901307
+
+Motor[3].Servo.Kp=10
+Motor[3].Servo.Kvfb=100
+Motor[3].Servo.Kvff=100
+abs average pos Error 1.89392140871
+
+/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/src/usrServo/usrcode.c
+line 100: c=0.f; //no friction compensation at all
+abs average pos Error 1.82212631688
+
+line 85: c=0.f; //do not use friction lut
+abs average pos Error 1.47794399154
+
+using friction lut:
+abs average pos Error 0.893315213359
+
+But if it  is put vertically, the value becomes bad again.
+check friction on vertical stage
+
+average PosError to P3000 2.2.2017
+----------------------------------
+
+modify programm generated by ./move_record.py:
+
+open prog 2
+N0:
+linearabs
+X505.488Y7.15189
+dwell10
+pvt10abs
+X505.488:2526.97Y7.15189:-85.15309999999999
+X556.028:4937.42Y5.44883:-34.6476
+...
+X508.588:0Y954.585:0
+X508.588Y954.585
+dwell10
+goto 0
+close
+
+
+
+
+modify user servo to average PosError to P3000 2.2.2017
+tweak parameters:
+Motor[3].Servo.Kp
+Motor[3].Servo.Kvfb
+Motor[3].Servo.Ki
+Motor[3].Servo.Kvff
+Motor[3].Servo.Kaff
+
+Kp   = 10     10   10       10    10    10   20                    
+Kvfb = 220    220  220      220   220   220  220                   
+Ki   = 0.001  0.01 0.02     0.01  0     0    0.02                  
+Kvff = 240    240  240      240   240   240  240                   
+Kaff = 0      0    0        20    1500  1500 1500                  
+       1.3    .53  .43      0.52  1.88  0.7  0.1                   
+                    A
+
+A: Higher Ki than 0.02 do not help
+
+Set Ki to 0 and seek optimal Kvff
+Kvff =240 local minimum
+Kvfb =220 local minimum
+Kaff =1500 Kaff does not change the error amount, but makes the error smoother at 1500
+Kp   =20 average error becomes smaller
+
+
+Motor[3].Servo.Kvff
+
+commit after: 3fafe53
+./move_record.py 
+>>>>>>>> abs average pos Error 0.353193239442 <<<<<<<
+
+./shapepath.py gen_rand_points(n=400, scale=1000)
+Random path at speed:
+%100 average error x 1.32075 um, y 0.940694 um, 1.84578 um
+%50  average error x 0.336186 um, y 0.259554 um, 0.478149 um
+%25  average error x 0.177138 um, y 0.077619 um, 0.209937 um
+
+
+./shapepath.py gen_grid_points(w=20,h=20,pitch=50,rnd=0.2)
+Grid path at speed:
+%100 average error x 0.363065 um, y 0.314149 um, 0.536246 um
+%50  average error x 0.246374 um, y 0.0985771 um, 0.283925 um
+%25  average error x 0.150303 um, y 0.0429124 um, 0.163468 um
+
+
+
+>
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