matlab identification code

matlab/Readme.md

@@ -0,0 +1,98 @@
+Matlab Simulink start
+---------------------
+```
+[gfa-lc6-64 ~]
+[-bash INSTBASE=/prod]$
+cd /afs/psi.ch/user/z/zamofing_t/ESB-MX/
+module load matlab/2018a
+matlab&
+or start directly: /afs/psi.ch/sys/psi.x86_64_slp6/Programming/matlab/2018a/bin/matlab&
+this works also on my linux computers
+```
+
+Files overview
+--------------
+```
+identifyFxFyStage.m:   a transferfunction is optimized with the acquires bode data from: MXTuning.py --mode 4 (which generates: full_bode_mot[1|2].mat)
+
+
+
+```
+
+
+
+
+
+
+OLD STUFF
+=========
+
+Matlab Simulink up to 11.7.2018
+-------------------------------
+```
+Open and run ESB_stage.m (takes very long to open simulink...)
+
+// default frq: 20 kHz Phase, 5 kHz Servo, 6.25MHz AdcAmp
+
+Values for current loop:
+PwmSf-> User MAnual page 245
+PwmSf=15134.8909 # =.95*16384. PMAC3-style DSPGATE3 ASIC is being used for the output, the counter moves between +/- 16384. PwmSf is typically set to 95% of 16384
+
+scale = 1 for 2 phase motors
+      = cos(30)=0.866 for 3 phase motors
+
+ Amplifier specs (Power Brick LV User Manual.pdf p.19)
+ 5A_rms continous current
+ 15A_rms peak current
+ 14 bit ADC resolution
+ 2us PWM deadBand
+ 33.85A Maximum ADC Current (corresponds to a DAC Value 32737 ==2^15)
+
+Tested values from IDE:
+ 3 Phase, 1A_rms  -> MaxDac=1184.895    =   np.sqrt(2)*np.sqrt(3)/2*32767/33.850
+ 3 Phase, 1A_peak -> MaxDac=837.8478    =   np.sqrt(3)/2*32767/33.850
+
+ A_peak=A_rms*sqrt(2)
+ np.sqrt(3)/2 because of 3 phase (the coil has not always current)
+ A_peak is used. (A_rms is more dangerous to burn the motor)
+ if not kw.has_key('IdCmd'):
+   kw['IdCmd']   = dirCur*scale
+ kw['MaxDac']  = peakCur*scale;
+
+gpasciiCommander --host MOTTEST-CPPM-CRM0573 -i
+
+$$$***
+!common()
+!encoder_inc(enc=1,tbl=9,mot=9)
+!encoder_sim(enc=1)
+!motor(mot=1,dirCur=200,JogSpeed=1024,invDir=False,InPosBand=1)
+Defaut:
+IiGain=.2
+IpfGain=6
+IpbGain=6
+
+Current loop:
+-> Monitor idMead, idVolts
+idVolts: -32768..32,767 Value that goes to the PWM
+
+out{constant} specifying the output magnitude as a percentage of
+ the maximum output parameter for the motor: Motor[x].MaxDac.
+
+Motor[1].MaxDac=580.80603
+#1out1
+-> 1 % of 580.8 -> Motor[1].ServoOut=5.808
+-> idVolts= 1500
+-> idMeas = 155
+
+https://ch.mathworks.com/de/products/simcontrol.html
+https://ch.mathworks.com/help/slcontrol/ug/design-compensator-in-simulink-using-automated-pid-tuning.html#responsive_offcanvas
+https://ch.mathworks.com/help/slcontrol/ug/analyze-designs-using-response-plots.html
+https://ch.mathworks.com/help/control/ug/bode-diagram-design.html
+https://ch.mathworks.com/help/control/ug/edit-compensator-dynamics.html
+https://ch.mathworks.com/help/control/ug/root-locus-design.html
+
+controlSystemDesigner(1,sys);
+
+controlSystemDesigner('bode',sys);
+
+```