566 lines
20 KiB
Python
Executable File
566 lines
20 KiB
Python
Executable File
#!/usr/bin/env python
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# *-----------------------------------------------------------------------*
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# | |
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# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
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# | |
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# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
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# *-----------------------------------------------------------------------*
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'''
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tuning functions for ESB-MX
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Modes:
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bit 0=1: record/plot current step
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bit 1=2: custom chirp record/plot for IdCmd->ActPos transfer function
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bit 1=4: custom chirp record/plot for DesPos->ActPos transfer function
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bit 2=8: plot the full bode recording
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bit 3=16: plot the full bode recording with an approximation model
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bit 4=32: plot all raw acquired data files
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bit 5=64: generate observer code (after files generated with matlab)
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-> check https://github.com/klauer/ppmac for fast data gathering server which supports
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phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather
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BUT data acquired and stored in: /media/zamofing_t/DataUbuHD/VirtualBox/shared/data
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'''
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import os, sys, json, time
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import numpy as np
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import matplotlib as mpl
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#mpl.use('GTKAgg')
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import matplotlib.pyplot as plt
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from scipy import signal
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sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
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#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
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from pbtools.misc.pp_comm import PPComm,GpasciiChannel
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from pbtools.misc.gather import Gather
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from pbtools.misc.tuning import Tuning
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class MXTuning(Tuning):
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tuneDir='/opt/ppmac/tune/'
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def __init__(self,comm,gather):
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Tuning.__init__(self,comm,gather)
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self.homed=False
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def init_stage(self,fn=''):
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comm=self.comm
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if comm is None or self.homed or os.path.isfile(fn):
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return
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gpascii=comm.gpascii
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sys.stdout.write('homing stage');sys.stdout.flush()
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gpascii.send_line('enable plc1')
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time.sleep(.2)
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while True:
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act=gpascii.get_variable('Plc[1].Active',type_=int)
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if act==0:
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sys.stdout.write('\n')
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break
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sys.stdout.write('.');sys.stdout.flush()
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time.sleep(.2)
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self.homed=True
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def bode_model_plot(self, mot):
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self.bode_full_plot(mot,self.baseDir)
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fig=plt.gcf()
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_N=1.#E-3 # normalization factor: -> moves 3 decades to right but has factors around 1
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# s -> ms
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# Hz -> kHz
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# rad/s -> rad/ms
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if mot==1:
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#identify matlab: k:0.671226 w0:134.705 damp:0.191004
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mag1=0.671226 #10**(db_mag1/20)
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db_mag1=20*np.log10(mag1)#dB
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w1=134.705*_N #rad/sec
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f1=w1/2/np.pi; # ca. 6.5Hz
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T1=1/w1
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d1=0.19 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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num1=np.poly1d([mag1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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#reiner integrator: 30Hz=0dB -> k=30*2*pi=180
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#num1=np.poly1d([120*120])
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#den1 = np.poly1d([1,0,0])
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#first resonance frequency
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f2=np.array([197,199])
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d2=np.array([.02,.02])#daempfung
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w2=f2*2*np.pi*_N #rad/sec
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T2=1/w2
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num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
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den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
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mdl= signal.lti(num2, den2) #num denum
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#bode(mdl)
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#current loop 2nd order approx
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#identification with matlab: k=1, w0=8725, d=0.75
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dc=.75 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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wc=8725.*_N # rad/sec
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#...but phase lag seems to have earlier effect -> reduce wc
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wc*=.5 # rad/sec
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fc=wc/2/np.pi # ca 1388Hz
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Tc=1/wc
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numc = np.poly1d([1.])
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denc = np.poly1d([Tc**2,2*Tc*dc,1])
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num=num1*num2*numc#*num3
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den=den1*den2*denc#*den3
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mdl= signal.lti(num, den) #num denum
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print(num)
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print(den)
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print(mdl)
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d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'numc':numc.coeffs,
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'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'denc':denc.coeffs}
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fn=os.path.join(self.baseDir,'model%d.mat'%mot)
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import scipy.io
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scipy.io.savemat(fn, mdict=d)
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print('save to matlab file:'+fn)
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elif mot==2:
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#identify matlab: k:1.7282 w0:51.069 damp:0.327613
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mag1=1.7282 #10**(db_mag1/20)
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db_mag1=20*np.log10(mag1)#dB
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w1=51.069*_N #rad/sec
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f1=w1/2/np.pi; # ca. 6.5Hz
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T1=1/w1
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d1=0.32 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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num1=np.poly1d([mag1])
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den1 = np.poly1d([T1**2,2*T1*d1,1])
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#resonance frequency
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f2=np.array([57.8,61.8])
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d2=np.array([.08,.095])#daempfung
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w2=f2*2*np.pi #rad/sec
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T2=1/w2
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num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
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den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
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mdl= signal.lti(num2, den2) #num denum
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#bode(mdl)
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#resonance frequency
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f3=np.array([136,148])
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d3=np.array([.05,.05])#daempfung
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w3=f3*2*np.pi #rad/sec
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T3=1/w3
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num3 = np.poly1d([T3[0]**2,2*T3[0]*d3[0],1])
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den3 = np.poly1d([T3[1]**2,2*T3[1]*d3[1],1])
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#mdl= signal.lti(num3, den3) #num denum
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#bode(mdl)
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#resonance frequency
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f4=np.array([410,417])
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d4=np.array([.015,.015])#daempfung
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w4=f4*2*np.pi #rad/sec
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T4=1/w4
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num4 = np.poly1d([T4[0]**2,2*T4[0]*d4[0],1])
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den4 = np.poly1d([T4[1]**2,2*T4[1]*d4[1],1])
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#mdl= signal.lti(num3, den3) #num denum
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#bode(mdl)
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#resonance frequency
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f5=np.array([230,233])
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d5=np.array([.04,.04])#daempfung
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w5=f5*2*np.pi #rad/sec
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T5=1/w5
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num5 = np.poly1d([T5[0]**2,2*T5[0]*d5[0],1])
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den5 = np.poly1d([T5[1]**2,2*T5[1]*d5[1],1])
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#current loop 2nd order approx
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#identification with matlab: k=1, w0=8725, d=0.75
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dc=.75 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
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wc=8725.*_N # rad/sec
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#...but phase lag seems to have earlier effect -> reduce wc
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wc*=.5 # rad/sec
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fc=wc/2/np.pi # ca 1388Hz
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Tc=1/wc
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numc = np.poly1d([1.])
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denc = np.poly1d([Tc**2,2*Tc*dc,1])
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num=num1*num2*num3*num4*num5*numc
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den=den1*den2*den3*den4*den5*denc
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mdl= signal.lti(num, den) #num denum
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print(num)
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print(den)
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print(mdl)
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d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'num3':num3.coeffs,'num4':num4.coeffs,'num5':num5.coeffs,'numc':numc.coeffs,
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'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'den3':den3.coeffs,'den4':den4.coeffs,'den5':den5.coeffs,'denc':denc.coeffs}
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fn=os.path.join(self.baseDir,'model%d.mat'%mot)
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import scipy.io
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scipy.io.savemat(fn, mdict=d)
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print('save to matlab file:'+fn)
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bode(mdl)
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w=np.logspace(0,np.log10(2000),1000)*2*np.pi
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w,mag,phase = signal.bode(mdl,w)
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f=w/(2*np.pi)
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ax=fig.axes[0]
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ax.semilogx(f, mag,'-k',lw=1) # Bode magnitude plot
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ax=fig.axes[1]
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ax.semilogx(f, phase,'-k',lw=1) # Bode phase plot
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# tp print see also: print(np.poly1d([1,2,3], variable='s')), print(np.poly1d([1,2,3], r=True, variable='s'))
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def usr_servo_gen_code(self,fn='/tmp/ssc1.mat'):
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import scipy.io,re
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#the file ssc[1|2].mat has been generated with matlab:
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#[mot1, mot2]=identifyFxFyStage();
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#[pb]=simFxFyStage(mot1);
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#[ssc]=StateSpaceControlDesign(mot1);
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mat=scipy.io.loadmat(fn)
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motid=int(re.search('(\d)\.mat',fn).group(1))
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A=mat['Aoz']
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B=mat['Boz']
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C=mat['Coz']
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D=mat['Doz']
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V=mat['V']
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u=('DesPos','IqMeas','IqVolts','ActPos')
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y=('obsvOut',)
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progSample='''double usr_servo_ctrl_{motid}(MotorData *Mptr)
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{{
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pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001; //lowpass of Position error
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return pshm->ServoCtrl(Mptr);
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}}'''.format(motid=motid)
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prog='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr)
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{{
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//x[n+1]=A*x[n]+B*u
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//y=C*x[n]+D*x[n]
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//u=[{u}].T
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double x[{A.shape[0]}]; //new state
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static double _x[{A.shape[0]}]={{0,0,0,0}}; //old state
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//double {u}; // input values
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double {y},iqCmd; // output values
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double maxDac=Mptr->MaxDac;
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'''.format(motid=motid,A=A,xInit=','.join('0'*A.shape[0]),u=', '.join(u),y=', '.join(y))
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s=' //input values\n'
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for i in range(len(u)):
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s+=' double {u}=Mptr->{u};\n'.format(u=u[i])
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prog+=s+'''
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if (Mptr->ClosedLoop)
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{
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'''
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s=' //x[n+1]=A*x[n]+B*u;\n'
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for i in range(A.shape[0]):
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s+=' x[%d]='%i
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for j in range(A.shape[1]):
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s+='%+28.22g*_x[%d]'%(A[i,j],j)
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for j in range(B.shape[0]):
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s+='%+28.22g*%s'%(B[i,j],u[j])
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s+=';\n'
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prog+=s+'\n'
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s=' //y=C*x[n]+D*x[n];\n'
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for i in range(C.shape[0]):
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s+=' %s='%y[i]
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for j in range(C.shape[1]):
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s+='%+28.22g*_x[%d]'%(C[i,j],j)
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s+=';\n'
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prog+=s+'\n'
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prog+=''' iqCmd=DesPos*{V}-{y};
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//return iqCmd;
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pshm->P[200{motid}]=iqCmd; //lowpass of Position error
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return pshm->ServoCtrl(Mptr);
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}}
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else
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{{
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Mptr->Servo.Integrator=0.0;
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return 0.0;
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}}
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}}'''.format(V=V[0,0],y=y[0],motid=motid)
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hdr='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr);
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EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
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return (hdr,prog)
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def check_fast_stage(self,file='/tmp/gather.npz'):
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if os.path.isfile(file):
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f=np.load(file)
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data=f['data']
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meta=f['meta'].item()
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meta['file']=file
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else:
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#self.init_stage();time sleep
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phase=False
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motor=2
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gpascii = self.comm.gpascii
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gt = self.gather
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gt.set_phasemode(phase)
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address=('Motor[2].ActPos','Motor[8].ActPos')
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gt.set_address(*address)
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gt.set_property(Period=1)
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tSrv=gpascii.servo_period
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tSrv=2E-4 # seconds
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phOsv = gpascii.get_variable('sys.PhaseOverServoPeriod', float)
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subs={'prgId':999,'mot':motor,'num':100,'phase':'Phase' if phase else ''}
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#the servoloop is called 2 times per servo cycle ?!?
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#don't know why, but this is the reason why the value L10 is incremented by 0.5
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prog = '''
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&1
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open prog {prgId}
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P1=Motor[{mot}].DesPos-Motor[{mot}].HomePos
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Q2=10
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Gather.{phase}Enable=2
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Q1={num}
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while (Q1>0)
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{{
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jog{mot}=(P1-1000)
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dwell 10
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jog{mot}=(P1)
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dwell 10
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Q1=Q1-1
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}}
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dwell 10
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Gather.{phase}Enable=0
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close
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&1
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b{prgId}r
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'''.format(**subs)
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gpascii.send_line(prog)
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res=gpascii.sync()
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res=res.replace(GpasciiChannel.ACK+'\r\n','')
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print(res)
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t=time.time()
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gt.wait_stopped()
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print('time %f'%(time.time()-t))
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self.data=data=gt.upload()
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meta={'motor':motor,'date':time.asctime(),'ts':tSrv if not phase else tSrv*phOsv,'address':address}
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np.savez_compressed(file, data=data, meta=meta)
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meta['file'] = file
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tSrv=meta['ts']
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t=tSrv*np.arange(data.shape[0])
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data=data-data[0,:]
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plt.plot(t,data[:,0],t,data[:,1])
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plt.figure()
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plt.plot(t,data[:,0]-data[:,1])
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plt.show()
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def run(self,mode):
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#plt.ion()
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if mode&1: # full recording current step
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plt.close('all')
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self.homed=False
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for mot in (1, 2):
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fn=os.path.join(self.baseDir, 'curr_step%d.npz' % mot)
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self.init_stage(fn)
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self.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn)
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plt.show(block=False)
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f=np.load(fn)
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fn=fn[:-3]+'mat'
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import scipy.io
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scipy.io.savemat(fn, mdict=f)
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print('save to matlab file:'+fn)
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if mode&2:
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plt.close('all')
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self.homed=False
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motLst = (1, 2) # (2,)#
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#recType:
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# IA 0 IqCmd,ActPos (for plant transfer function)
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# DA 1 DesPos,ActPos (for regulation transfer function)
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# all 2 DesPos,ActPos,IqCmd,IqMeas,IqVolts (for current, plant and regulation transfer function)
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#>>>>> IqCmd->ActPos transfer function (plant) using closed loop for low frequencies
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for mot in motLst:
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fn = os.path.join(self.baseDir, 'chirp_IA_%da.npz' % mot)
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self.init_stage(fn)
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self.custom_chirp(motor=mot, minFrq=1, maxFrq=15, amp=1000, tSec=15, recType=0,openLoop=False, file=fn)
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self.homed=False
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#>>>>> IqCmd->ActPos transfer function (plant) using open loop for high frequencies
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for ext,amp,minFrq,maxFrq,tSec in (('b', 10, 10, 100*1.5, 30),
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('c', 50, 100, 300*1.5, 30),
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('d', 50, 300, 1000*1.5, 10),
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('e', 100, 1000, 2000, 10)):
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self.homed=False
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for mot in motLst:
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fn = os.path.join(self.baseDir, 'chirp_IA_%d%s.npz' % (mot,ext))
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self.init_stage(fn)
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self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=0,openLoop=True, file=fn)
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if mode&4:
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plt.close('all')
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self.homed = False
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motLst = (1, 2) # (2,)#
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#>>>>> desPos->actPos transfer function (regulation) using closed loop
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#motor1: 0dB at 20.4 Hz
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#motor2: 0dB at 11.3 Hz
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#1000um ampl. 15Hz ca. 2A current
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#100um ampl. 15Hz ca. 200mA current
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#100um at 11.3 Hz needs 100mA ->2A at sqrt(20)*11.3 =50Hz
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#20um at 11.3 Hz needs 20mA ->2A at sqrt(100)*11.3 =113Hz
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# 5um at 11.3 Hz needs 5mA ->2A at sqrt(2000/)*11.3 =226Hz
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# 1um at 11.3 Hz needs 1mA ->2A at sqrt(2000)*11.3 =505Hz
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#n times freq, -> n^2 current
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for ext,amp,minFrq,maxFrq,tSec in (('a', 100, 1, 30*1.5, 10),
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('b', 20, 30, 75*1.5, 15),
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('c', 5, 75, 150*1.5, 5),
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|
('d', 1, 150, 750, 5)):
|
|
self.homed=False
|
|
for mot in motLst:
|
|
fn = os.path.join(self.baseDir, 'chirp_DA_%d%s.npz' % (mot,ext))
|
|
self.init_stage(fn)
|
|
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=1,openLoop=False, file=fn)
|
|
|
|
#>>>>> all data for different transfer function
|
|
for ext,amp,minFrq,maxFrq,tSec in (('a', 5, 10, 250, 10),):
|
|
self.homed=False
|
|
for mot in motLst:
|
|
fn = os.path.join(self.baseDir, 'chirp_all_%d%s.npz' % (mot,ext))
|
|
self.init_stage(fn)
|
|
self.custom_chirp(motor=mot, minFrq=minFrq, maxFrq=maxFrq, amp=amp, tSec=tSec, recType=2,openLoop=False, file=fn)
|
|
|
|
if os.path.isfile(fn):
|
|
f = np.load(fn)
|
|
data = f['data']
|
|
meta = f['meta'].item()
|
|
meta['file'] = file
|
|
if len(meta['address']) == 4:
|
|
for xy in ((0, 1), (0, 3), (2, 3)):
|
|
self.bode_plot(data, xy=xy, mode=25, **meta)
|
|
|
|
if mode&8: #plot the full bode recording
|
|
plt.close('all')
|
|
self.bode_full_plot(mot=1,base=self.baseDir)
|
|
self.bode_full_plot(mot=2,base=self.baseDir)
|
|
|
|
if mode&16: #plot the full bode recording with an approximation model
|
|
plt.close('all')
|
|
self.bode_model_plot(mot=1)
|
|
self.bode_model_plot(mot=2)
|
|
|
|
if mode&32: # plot all raw acquired data files
|
|
# display bode plots
|
|
import glob
|
|
for fn in glob.glob(os.path.join(self.baseDir,'*.npz')):
|
|
fh = np.load(fn)
|
|
meta = fh['meta'].item()
|
|
data = fh['data']
|
|
self.bode_plot(data, mode=25, **meta)
|
|
|
|
if mode&64: #generater code
|
|
#before this can be done, the observer controller has to be designed with matlab:
|
|
#s.a.ESB_MX/matlab/Readme.md
|
|
#clear;
|
|
#clear global;
|
|
#close all;
|
|
#[mot1,mot2]=identifyFxFyStage();
|
|
#[pb]=simFxFyStage(mot1);
|
|
#[ssc]=StateSpaceControlDesign(mot1);
|
|
#[pb]=simFxFyStage(mot2);
|
|
#[ssc]=StateSpaceControlDesign(mot2);
|
|
#after this go to: python/usr_code and call make to build the controller
|
|
#to activate the controller checkout: PBTools/pbtools/usr_servo_phase
|
|
base=os.path.dirname(__file__)
|
|
(hdr1,prog1)=self.usr_servo_gen_code('/tmp/ssc1.mat')
|
|
(hdr2,prog2)=self.usr_servo_gen_code('/tmp/ssc2.mat')
|
|
fn_ct=os.path.join(base,'usr_code/usrcode_template.c')
|
|
fn_ht=os.path.join(base,'usr_code/usrcode_template.h')
|
|
fnc=os.path.join(base,'usr_code/usrcode.c')
|
|
fnh=os.path.join(base,'usr_code/usrcode.h')
|
|
s=open(fn_ht).read()
|
|
s=s.replace('<usr_header>',hdr1+'\n\n'+hdr2)
|
|
fh=open(fnh,'w')
|
|
fh.write(s)
|
|
fh.close()
|
|
print(fnh+' generated.')
|
|
s=open(fn_ct).read()
|
|
s=s.replace('<usr_code>',prog1+'\n\n'+prog2)
|
|
fh=open(fnc,'w')
|
|
fh.write(s)
|
|
fh.close()
|
|
print(fnc+' generated.')
|
|
print('now compile it looking at PBTools/pbtools/usr_servo_phase/usrServoSample')
|
|
|
|
print('done')
|
|
plt.show()
|
|
|
|
|
|
|
|
def bode(mdl):
|
|
w,mag,phase = signal.bode(mdl,1000)
|
|
f=w/(2*np.pi)
|
|
fig = plt.figure()
|
|
ax = fig.add_subplot(2, 1, 1)
|
|
ax.semilogx(f,mag,'-') # Bode magnitude plot
|
|
ax.yaxis.set_label_text('dB ampl')
|
|
plt.grid(True)
|
|
ax = fig.add_subplot(2, 1, 2)
|
|
ax.semilogx(f,phase,'-') # Bode magnitude plot
|
|
ax.yaxis.set_label_text('phase')
|
|
ax.xaxis.set_label_text('frequency [Hz]')
|
|
plt.grid(True)
|
|
#plt.show()
|
|
|
|
|
|
if __name__=='__main__':
|
|
from argparse import ArgumentParser,RawDescriptionHelpFormatter
|
|
import logging
|
|
logger = logging.getLogger(__name__)
|
|
#logger = logging.getLogger('pbtools.misc.pp_comm')
|
|
logger.setLevel(logging.DEBUG)
|
|
logging.basicConfig(format=('%(asctime)s %(name)-12s '
|
|
'%(levelname)-8s %(message)s'),
|
|
datefmt='%m-%d %H:%M',
|
|
)
|
|
|
|
|
|
def parse_args():
|
|
'main command line interpreter function'
|
|
#usage: gpasciiCommunicator.py --host=PPMACZT84 myPowerBRICK.cfg
|
|
(h, t)=os.path.split(sys.argv[0]);cmd='\n '+(t if len(h)>3 else sys.argv[0])+' '
|
|
exampleCmd=('-n',
|
|
'-v15'
|
|
)
|
|
epilog=__doc__+'''
|
|
Examples:'''+''.join(map(lambda s:cmd+s, exampleCmd))+'\n '
|
|
|
|
parser=ArgumentParser(epilog=epilog,formatter_class=RawDescriptionHelpFormatter)
|
|
|
|
parser.add_argument('--host', help='hostname', metavar='HOST', default='SAR-CPPM-EXPMX1')
|
|
parser.add_argument('--mode', '-m', type=int, help='modes (see below)', default=1)
|
|
parser.add_argument('--dir', help='dir', default='MXTuning')
|
|
args=parser.parse_args()
|
|
|
|
#plt.ion()
|
|
#args.host='MOTTEST-CPPM-CRM0573'
|
|
#args.host=None
|
|
if args.host is None:
|
|
comm=gt=None
|
|
else:
|
|
comm = PPComm(host=args.host)
|
|
gt = Gather(comm)
|
|
tune=MXTuning(comm,gt)
|
|
tune.baseDir=args.dir
|
|
assert(os.path.exists(tune.baseDir))
|
|
tune.run(args.mode)
|
|
#------------------ Main Code ----------------------------------
|
|
#ssh_test()'/tmp/usrcode.c'
|
|
ret=parse_args()
|
|
exit(ret)
|
|
|
|
#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
|
|
#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
|