220 lines
6.4 KiB
Matlab
220 lines
6.4 KiB
Matlab
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function [mot1,mot2]=identifyFxFyStage()
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%sample idfrd
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%f = logspace(-1,1,100);
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%[mag,phase] = bode(idtf([1 .2],[1 2 1 1]),f);
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%response = mag.*exp(1j*phase*pi/180);
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%m = idfrd(response,f,0.08);
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function obj=loadData(path,motid)
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obj=struct();
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f=load(strcat(path,sprintf('curr_step%d.mat',motid)));
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obj.currstep=f;
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%prepend sone zeros to stable system identification
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obj.currstep=iddata([zeros(10,1); obj.currstep.data(:,2)],[zeros(10,1); obj.currstep.data(:,3)],50E-6);
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f=load(strcat(path,sprintf('full_bode_mot%d.mat',motid)));
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obj.w=f.frq*2*pi; %convert from Hz to rad/s
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if motid==2
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f.db_mag(1:224)=f.db_mag(225); % reset bad values at low frequencies
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end
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obj.mag=10.^(f.db_mag/20); %mag not in dB
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obj.phase=f.deg_phase*pi/180; %phase in rad
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response = obj.mag.*exp(1j*obj.phase);
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obj.meas= idfrd(response,obj.w,0);
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end
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function tfc=currstep(obj)
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opt=tfestOptions;
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opt.Display='off';
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tfc = tfest(obj.currstep, 2, 0,opt);
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s=str2ndOrd(tfc);
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%disp(s);
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%h = stepplot(tf1);
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%l=obj.currstep.OutputData
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t=(0:199)*50E-6;
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[y,t]=step(tfc,t);
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f=figure();
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subplot(1,2,1);
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plot(t,y*1000,'r',t,obj.currstep.OutputData(11:210),'b');
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title(s);
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subplot(1,2,2);
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h=bodeplot(tfc,'r');
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setoptions(h,'FreqUnits','Hz','Grid','on');
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end
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function s=str2ndOrd(tf)
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den=tf.Denominator;
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num=tf.Numerator;
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k=num(1)/den(3);
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w0=sqrt(den(3));
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damp=den(2)/2/w0;
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s=sprintf('k:%g w0:%g damp:%g\n',k,w0,damp);
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end
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function tf=fyModel()
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num=[ 2.36527033e+11, 1.17108082e+13, 3.62387303e+17];
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den=[ 1.00000000e+00, 6.64495206e+03, 2.12777376e+07, ...
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1.23728427e+10, 3.07054470e+13, 1.72592127e+15, ...
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5.39888656e+17];
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tf=idtf(num,den);
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end
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function tf=fxModel()
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num=[ 1.23284092e+11, 4.14791803e+13, 1.18702926e+18, ...
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2.96296718e+20, 2.67179357e+24, 4.04662786e+26, ...
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1.59131515e+30, 1.02778572e+32, 1.64551888e+35];
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den=[ 1.00000000e+00, 6.93892369e+03, 3.17041055e+07, ...
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7.66104262e+10, 2.36504992e+14, 2.23054854e+17, ...
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5.12578678e+20, 2.04416512e+23, 3.27771400e+26, ...
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4.77145416e+28, 3.85452959e+31, 1.28911178e+33, ...
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9.52157664e+34];
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tf=idtf(num,den);
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end
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function mot=fyStage()
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',1);
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mot.tfc=currstep(mot);
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opt=tfestOptions;
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opt.Display='off';
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opt.initializeMethod='iv';
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opt.WeightingFilter=[1,5;30,670]*(2*pi); % Hz->rad/s conversion
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figure();
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mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
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mot.tf_mdl= fyModel();
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%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
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h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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end
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function mot=fxStage()
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mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',2);
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currstep(mot);
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opt=tfestOptions;
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opt.Display='off';
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opt.initializeMethod='iv';
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opt.WeightingFilter=[1,4;10,670]*(2*pi); % Hz->rad/s conversion
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figure();
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mot.tf2_0 = tfest(mot.meas, 2, 0, opt);disp(str2ndOrd(mot.tf2_0));
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mot.tf13_9 = tfest(mot.meas, 13, 9, opt);
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mot.tf_mdl = fxModel();
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%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
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h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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%controlSystemDesigner('bode',1,mot.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
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end
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close all
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mot1=fyStage();
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mot2=fxStage();
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end
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function f=SCRATCH()
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[m1,m2]=identifyFxFyStage();
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controlSystemDesigner(1,m2.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
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%identification toolbox
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systemIdentification
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%opt=tfestOptions('Display','off');
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%opt=tfestOptions('Display','on','initializeMethod','svf');
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%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
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%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[1,5;20,570]);
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%tf1 = tfest(mot1frq, 6, 4, opt);
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% Model refinement
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% Options = tf1.Report.OptionsUsed;
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% Options.WeightingFilter = 'prediction';
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% tf1_1 = pem(mot1frq, tf1, Options)
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bodeplot(mot1frq,tf1)
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mag,phase=bode(tf1,frq)
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figure(1)
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subplot(211)
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bodeplot(tf1)
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Opt = n4sidOptions('N4Horizon',[15 15 15]);
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n4s3 = n4sid(mot1frq, 3, Opt)
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%tf([1 2],[1 0 10])
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%specifies the transfer function (s+2)/(s^2+10) while
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sys=tf([1],[1,0,0])
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bode(sys)
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step(sys)
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sys=tf([1],[1,-1,2]) %instable
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sys=tf([1],[1,1,2]) %stable
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%0dB at 12 Hz=12*2*pi rad/s =75.4=k^2 -> k=8.6833
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sys=tf([10],[1,0,0])
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%1/s^2 -> 0dB at 1Hz -40dB/decade
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%10=+20dB
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sys=tf([1],[1,0,2]) %not damped constant sine after step
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sys=zpk([],[1,0,0],100) %stable
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sys=zpk([],[-10,-10],100)
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%parker stage 1
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%!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
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%!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
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%!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
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%!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')
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Ts=2E-4 % discrete sample time (servo period)
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Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000
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Kp=25,Kvfb=0,Ki=0,Kvff=0,Kaff=0,MaxInt=0
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num=7.32
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den=[5.995e-04 4.897e-02 1.]
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open('stage_closed_loop.slx')
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%sim('stage_closed_loop.slx')
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sys=tf(num,den)
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bode(sys)
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G = tf(1.5,[1 14 40.02]);
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controlSystemDesigner('bode',sys);
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controlSystemDesigner
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linearSystemAnalyzer
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load ltiexamples
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linearSystemAnalyzer(sys_dc)
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controlSystemDesigner('bode',sys);
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controlSystemDesigner(1,sys); % <<<<<<<<< This opens a transferfiûnction that can be edited
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num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
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den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
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mot2=tf(num,den);
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controlSystemDesigner('bode',mot2);
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end |