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PBSwissMX/matlab/DeltaTauParam.m

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Matlab
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function [pb]=DeltaTauParam(mot,mdl,param)
% !!! first it need to run: [mot1,mot2]=identifyFxFyStage() tobuild a motor object !!!
%
%loads the current (11.10.2018) controller settings of the
%Powerbrick and opens its simulink file
%the returned variable pb contains varous parameters:
% Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D
pb=struct(...
'Ts', 2E-4, ... % 0.2ms=5kHz
'MaxDac' ,2011.968, ...
'MaxPosErr', 10000, ...
'A',1,'B',1,'C',1,'D',1,'E',1,'F',1, ...
'Kafb',0);
desc=sprintf('mot:%d mdl:',mot.id);
switch mdl
case 1
pb.ss_plt=mot.ss_plt;desc=desc+"plt"; pb.sel={3,[3]};
case 2
pb.ss_plt=mot.ss_plt0;desc=desc+"plt0"; pb.sel={3,[3]};
case 3
pb.ss_plt=mot.ss_c1;desc=desc+"c1"; pb.sel={3,[3]};
case 4
pb.ss_plt=mot.ss_d1;desc=desc+"d1"; pb.sel={3,[3]};
case 5
pb.ss_plt=mot.ss_1;desc=desc+"1"; pb.sel={2,[2]};
case 6
pb.ss_plt=mot.ss_p;desc=desc+"p"; pb.sel={2,[2]};
case 7
pb.ss_plt=mot.ss_q;desc=desc+"q"; pb.sel={2,[2]};
case 8
pb.ss_plt=mot.ss_cq;desc=desc+"cq"; pb.sel={3,[3]};
case 9
pb.ss_plt=mot.ss_cqr;desc=desc+"cqr"; pb.sel={3,[3]};
case 10
pb.ss_plt=mot.ss_dq;desc=desc+"dq"; pb.sel={3,[3]};
end
desc=desc+" param:";
curr2acc=mot.mdl.numq; %curr2acc curr_bit to acceleration: zero dB of simplified motion
pb.curr2acc=curr2acc;
if mot.id==1
%!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
%!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')
switch param
case 0 %scratch
desc=desc+"scratch";
case 1 %origin parameters
desc=desc+"orig";
pb.Kp=25;pb.Kvfb=400;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=5000;pb.MaxInt=1000;
case 2%enhances first step
desc=desc+"opt1";
pb.Kp=25;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=350;pb.Kaff=1/(curr2acc*(pb.Ts^2));pb.MaxInt=1000;
case 3 %pole placement on ss_dq (simplified motion, no current loop)
desc=desc+"pp ss\_q";
pl=[-1400 -1440];
pl=[-300+350i -300-350i];
[Am,Bm,Cm,Dm]=ssdata(mot.ss_q);
K = place(Am,Bm,pl);
V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
V=V(end);
Kfb=K*(Cm^-1);
pb.V=V;
pb.Kfb=Kfb;
pb.Kp=V;
pb.B=Kfb(2)/V;
pb.Kvfb=Kfb(1)/pb.Ts;
pb.Kvff=pb.Kvfb;
pb.Kaff=1/(curr2acc*(pb.Ts^2));
pb.Ki=0.01; % lower
pb.MaxInt=1000;
fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb);
case 4 %pole placement on ss_dq (simplified motion, simplified current loop)
desc=desc+"pp ss\_dq";
pl=[-300+350i -300-350i -2513];
[Am,Bm,Cm,Dm]=ssdata(mot.ss_dq);
K = place(Am,Bm,pl);
V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
V=V(end);
Kfb=K*(Cm^-1);
pb.V=V;
pb.Kfb=Kfb;
pb.Kp=V;
pb.B=Kfb(3)/V;
pb.Kvfb=Kfb(2)/pb.Ts;
pb.Kvff=1*pb.Kvfb;
pb.Kafb=Kfb(1)/(curr2acc*(pb.Ts^2));
pb.Kaff=1*1/(curr2acc*(pb.Ts^2))+pb.Kafb;
pb.Ki=0.01;
pb.MaxInt=1000;
fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb);
end
%pb.Kp=0.1;pb.Kvfb=0;pb.Ki=0.00;pb.Kvff=0;pb.Kaff=1/(1.548e04*(pb.Ts^2));pb.MaxInt=1000;
%filter [z^0 z^-1 ... z^-n];
%19.8Hz 0dB K=(19.8*2*np.pi)**2=15477.1 Ts=5kHz=.2ms
%Kaff = 1/(Ts*Ts*K) = 1/((19.8*2*np.pi)**2/5000**2) = 1615.2877200403302
%Kfff=100
else
%!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
%!motor(mot=2,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')
switch param
case 0 %scratch
desc=desc+"scratch";
pb.Kp=20.3255;
pb.Kvfb=582.4551;pb.Kvff=582.4551;
pb.Kaff=5595.2;pb.Kafb=1077.9;
pb.Ki=0.01;pb.MaxInt=1000;
% Ts=pb.Ts;
% frq=75;d=.6;
% w0=frq*2*pi;
% tfs=tf([w0^2],[1 2*d*w0 w0^2 ])
% global currTf
% frq0=55;d0=.5;
% frq1=85;d1=.5;
% w0=frq0*2*pi;
% w1=frq1*2*pi;
% tf0=tf([w0^2],[1 2*d0*w0 w0^2 ])
% tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
% tfs=tf0*tf1
% tfz=c2d(tfs,Ts)
% h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
% pb.C=tfz.Numerator{1};
% pb.D=tfz.Denominator{1};
% currTf=tfz
case 1 %origin parameters
desc=desc+"orig";
pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=1500;pb.MaxInt=1000;
case 2%enhances first step
desc=desc+"opt1";
pb.Kp=22;pb.Kvfb=450;pb.Ki=0.02;pb.Kvff=450;pb.Kaff=4517;pb.MaxInt=1000;
%pb.Kp=22;pb.Kvfb=350;pb.Ki=0.02;pb.Kvff=240;pb.Kaff=3500;pb.MaxInt=1000;
case 3 %pole placement on ss_dq (simplified motion, no current loop)
desc=desc+"pp ss\_q";
pl=[-300+100i -300-100i];
[Am,Bm,Cm,Dm]=ssdata(mot.ss_q);
K = place(Am,Bm,pl);
V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
V=V(end);
Kfb=K*(Cm^-1);
pb.V=V;
pb.Kfb=Kfb;
pb.Kp=V;
pb.B=Kfb(2)/V;
pb.Kvfb=Kfb(1)/pb.Ts;
pb.Kvff=pb.Kvfb;
pb.Kaff=1/(curr2acc*(pb.Ts^2));
pb.Ki=0.01; % lower
pb.MaxInt=1000;
fprintf('Kp:%f B:%f Kvfb:%f\n',pb.Kp,pb.B,pb.Kvfb);
case 4 %pole placement on ss_dq (simplified motion, simplified current loop)
desc=desc+"pp ss\_dq";
%pole(mot.ss_dq)
pl=[-300+150i -300-150i -2513];
[Am,Bm,Cm,Dm]=ssdata(mot.ss_dq);
K = place(Am,Bm,pl);
V=-1./(Cm*(Am-Bm*K)^-1*Bm); %(from Lineare Regelsysteme2 (Glattfelder) page:173 )
V=V(end);
Kfb=K*(Cm^-1);
pb.V=V;
pb.Kfb=Kfb;
pb.Kp=V;
pb.B=Kfb(3)/V;
pb.Kvfb=Kfb(2)/pb.Ts;
pb.Kvff=1*pb.Kvfb;
pb.Kafb=Kfb(1)/(curr2acc*(pb.Ts^2));
pb.Kaff=1*1/(curr2acc*(pb.Ts^2))+pb.Kafb;
pb.Ki=0.01;
pb.MaxInt=1000;
fprintf('Kp:%f B:%f Kvfb:%f Kafb:%f\n',pb.Kp,pb.B,pb.Kvfb,pb.Kafb);
end
%11.84Hz 0dB K=(11.84*2*np.pi)**2=5534.3 Ts=5kHz=.2ms
%Kaff = 1/(Ts*Ts*K) = 1/((11.84*2*np.pi)**2/5000**2) = 4517.278506241803
%Kfff=100
%pb.MaxInt=200 %200mA should be enought to fix static errors
end
pb.desc=desc;
%mdlName='stage_closed_loop';
%open(mdlName)
%sim(mdlName)
end
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