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add EVR subs file

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zamofing_t
2018-09-18 11:05:44 +02:00
parent 0e306f41f2
commit eea3f10d98
4 changed files with 583 additions and 25 deletions
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81
python/PBTuning.py
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@@ -80,6 +80,23 @@ class PBTuning:
self.data = np.genfromtxt(fnLoc, delimiter=' ')
return self.data
def init_stage(self):
args=self.args
host=args.host
gpasciiCommander='/home/zamofing_t/scripts/gpasciiCommander'
cmd=(gpasciiCommander ,'--host',host,'--cmd','enable plc1')
p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
retval = p.wait()
print(p.stderr.read());print(p.stdout.read())
time.sleep(5)
cmd=(gpasciiCommander ,'--host',host,'--cmd','#1..2j=10000')
p = sprc.Popen(cmd, shell=False, stdin=sprc.PIPE, stdout=sprc.PIPE, stderr=sprc.PIPE)
retval = p.wait()
print(p.stderr.read());print(p.stdout.read())
time.sleep(5)
def phase_amp(self,frq,rep):
try:
ax1=self.ax1
@@ -375,8 +392,8 @@ class PBTuning:
den1 = np.poly1d([T1**2,2*T1*d1,1])
#first resonance frequency
f2=np.array([191,198])
d2=np.array([.05,.05])#daempfung
f2=np.array([197,199])
d2=np.array([.02,.02])#daempfung
w2=f2*2*np.pi #rad/sec
T2=1/w2
num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
@@ -412,8 +429,8 @@ class PBTuning:
den1 = np.poly1d([T1**2,2*T1*d1,1])
#first resonance frequency
f2=np.array([57.8,63.8])
d2=np.array([.06,.1])#daempfung
f2=np.array([57.8,61.8])
d2=np.array([.05,.055])#daempfung
w2=f2*2*np.pi #rad/sec
T2=1/w2
num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
@@ -422,8 +439,8 @@ class PBTuning:
#bode(mdl)
#second resonance frequency
f3=np.array([130,141])
d3=np.array([.05,.07])#daempfung
f3=np.array([138,151])
d3=np.array([.04,.03])#daempfung
w3=f3*2*np.pi #rad/sec
T3=1/w3
num3 = np.poly1d([T3[0]**2,2*T3[0]*d3[0],1])
@@ -432,8 +449,8 @@ class PBTuning:
#bode(mdl)
#second resonance frequency
f4=np.array([405,415])
d4=np.array([.02,.02])#daempfung
f4=np.array([410,417])
d4=np.array([.015,.02])#daempfung
w4=f4*2*np.pi #rad/sec
T4=1/w4
num4 = np.poly1d([T4[0]**2,2*T4[0]*d4[0],1])
@@ -441,6 +458,12 @@ class PBTuning:
#mdl= signal.lti(num3, den3) #num denum
#bode(mdl)
f5=np.array([228,230])
d5=np.array([.03,.03])#daempfung
w5=f5*2*np.pi #rad/sec
T5=1/w5
num5 = np.poly1d([T5[0]**2,2*T5[0]*d5[0],1])
den5 = np.poly1d([T5[1]**2,2*T5[1]*d5[1],1])
#current loop 2nd order approx
@@ -453,8 +476,8 @@ class PBTuning:
#mdl= signal.lti(num4, den4) #num denum
#bode(mdl)
num=num1*num2*num3*num4*numc
den=den1*den2*den3*den4*denc
num=num1*num2*num3*num4*num5*numc
den=den1*den2*den3*den4*den5*denc
mdl= signal.lti(num, den) #num denum
bode(mdl)
w=np.logspace(0,3,1000)*2*np.pi
@@ -571,7 +594,6 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
mode=args.mode
mot=args.mot
if mode==1:
ol=True
file=os.path.join(base,'sine_ol_mot%d.npz'%(mot))
#def bode_sine(self, openloop=True, motor=1, minFrq=1, maxFrq=300, numFrq=150, amp=10, file='/tmp/bode.npz'):
tune.bode_sine(openloop=True,file=file,motor=mot)
@@ -584,18 +606,25 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
tune.bode_chirp(openloop=True,file=file[:-4]+'c.npz',motor=mot,amp=50,minFrq=300,maxFrq=1500,tSec=10)
tune.bode_chirp(openloop=True,file=file[:-4]+'d.npz',motor=mot,amp=100,minFrq=300,maxFrq=2000,tSec=10)
elif mode==3:
ol=True
file=os.path.join(base,'sine_cl_mot%d.npz'%(mot))
tune.bode_sine(openloop=False,file=file,motor=mot)
elif mode==4:
file=os.path.join(base,'chirp_cl_mot%d.npz'%(mot))
tune.bode_chirp(openloop=False,file=file,motor=mot)
elif mode==100: #testing
file=os.path.join(base,'chirp_ol_mot%d.npz'%(mot))
#def bode_chirp(self,openloop=True,motor=1,minFrq=10,maxFrq=150,tSec=30.,amp=10,mode=1,file='/tmp/gather.npz'):
#tune.bode_chirp(openloop=True,file=file,motor=mot, minFrq=10, maxFrq=300, tSec=30)
tune.bode_chirp(openloop=True,file=file[:-4]+'TEST.npz',motor=mot,amp=100,minFrq=300,maxFrq=2000,tSec=10)
#tune.do_command('stepmove',1,100,500,0,0)
elif mode==5: #full recording open loop
for mot in (1,2):
tune.init_stage()
file=os.path.join(base,'sine_ol_mot%d.npz'%(mot))
tune.bode_sine(openloop=True,file=file,motor=mot)
file=os.path.join(base,'chirp_ol_mot%d.npz'%(mot))
tune.init_stage()
tune.bode_chirp(openloop=True,file=file[:-4]+'a.npz',motor=mot, minFrq=10, maxFrq=300, tSec=30)
tune.init_stage()
tune.bode_chirp(openloop=True,file=file[:-4]+'b.npz',motor=mot,amp=50,minFrq=100,maxFrq=500, tSec=30)
tune.init_stage()
tune.bode_chirp(openloop=True,file=file[:-4]+'c.npz',motor=mot,amp=50,minFrq=300,maxFrq=1500,tSec=10)
tune.init_stage()
tune.bode_chirp(openloop=True,file=file[:-4]+'d.npz',motor=mot,amp=100,minFrq=300,maxFrq=2000,tSec=10)
plt.show()
#------------------ Main Code ----------------------------------
#ssh_test()
@@ -604,11 +633,13 @@ Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
#enable plc1
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 1 --mot 1 --dir tmp
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 1 --mot 2 --dir tmp
#-> at low frequencied the speed is too high and encoder looses steps
#enable plc1
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 2 --mot 1 --tag tmp
#enable plc1
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 1 --mot 2 --tag tmp
#enable plc1
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 2 --mot 2 --tag tmp
#enable plc1
#./PBTuning.py --host SAR-CPPM-EXPMX1 --plot ext
#AFTER each chirp measurement do enable plc1 again!
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 2 --mot 1 --dir tmp
#./PBTuning.py --host SAR-CPPM-EXPMX1 --mode 2 --mot 2 --dir tmp
#./PBTuning.py --host SAR-CPPM-EXPMX1 --plot tmp