573 lines
20 KiB
Python
Executable File
573 lines
20 KiB
Python
Executable File
#!/usr/bin/env python
|
|
# *-----------------------------------------------------------------------*
|
|
# | |
|
|
# | Copyright (c) 2016 by Paul Scherrer Institute (http://www.psi.ch) |
|
|
# | |
|
|
# | Author Thierry Zamofing (thierry.zamofing@psi.ch) |
|
|
# *-----------------------------------------------------------------------*
|
|
'''
|
|
tuning functions for ESB-MX
|
|
|
|
Modes:
|
|
1 full recording current step
|
|
2 full recording open loop
|
|
3 full recording closed loop
|
|
4 plot the full bode recording
|
|
5 plot the full bode recording with an approximation model
|
|
6 plot all raw acquired data files
|
|
7 custom chirp test
|
|
8 generate observer code (after files generated with matlab)
|
|
|
|
-> check https://github.com/klauer/ppmac for fast data gathering server which supports
|
|
phase gathering -> not yet compiling: /home/zamofing_t/Documents/prj/SwissFEL/PowerBrickInspector/ppmac/fast_gather
|
|
BUT data acquired and stored in: /media/zamofing_t/DataUbuHD/VirtualBox/shared/data
|
|
'''
|
|
|
|
import os, sys, json, time
|
|
import numpy as np
|
|
import matplotlib as mpl
|
|
#mpl.use('GTKAgg')
|
|
import matplotlib.pyplot as plt
|
|
from scipy import signal
|
|
|
|
sys.path.insert(0,os.path.expanduser('~/Documents/prj/SwissFEL/PBTools/'))
|
|
#import pbtools.misc.pp_comm as pp_comm -> pp_comm.PPComm
|
|
from pbtools.misc.pp_comm import PPComm,GpasciiChannel
|
|
from pbtools.misc.gather import Gather
|
|
from pbtools.misc.tuning import Tuning
|
|
|
|
|
|
class MXTuning(Tuning):
|
|
tuneDir='/opt/ppmac/tune/'
|
|
|
|
def __init__(self,comm,gather):
|
|
Tuning.__init__(self,comm,gather)
|
|
|
|
|
|
def init_stage(self,force=True):
|
|
comm=self.comm
|
|
if comm is None: return
|
|
gpascii=comm.gpascii
|
|
if force==False and gpascii.get_variable('Motor[1].HomeComplete', int) == 1:
|
|
return
|
|
|
|
sys.stdout.write('homing stage');sys.stdout.flush()
|
|
gpascii.send_line('enable plc1')
|
|
time.sleep(.2)
|
|
while True:
|
|
act=gpascii.get_variable('Plc[1].Active',type_=int)
|
|
if act==0:
|
|
sys.stdout.write('\n')
|
|
break
|
|
sys.stdout.write('.');sys.stdout.flush()
|
|
time.sleep(.2)
|
|
|
|
def bode_model_plot(self, mot,base):
|
|
self.bode_full_plot(mot,base)
|
|
fig=plt.gcf()
|
|
_N=1.#E-3 # normalization factor: -> moves 3 decades to right but has factors around 1
|
|
# s -> ms
|
|
# Hz -> kHz
|
|
# rad/s -> rad/ms
|
|
if mot==1:
|
|
#identify matlab: k:0.671226 w0:134.705 damp:0.191004
|
|
mag1=0.671226 #10**(db_mag1/20)
|
|
db_mag1=20*np.log10(mag1)#dB
|
|
w1=134.705*_N #rad/sec
|
|
f1=w1/2/np.pi; # ca. 6.5Hz
|
|
T1=1/w1
|
|
d1=0.19 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
|
|
num1=np.poly1d([mag1])
|
|
den1 = np.poly1d([T1**2,2*T1*d1,1])
|
|
|
|
#reiner integrator: 30Hz=0dB -> k=30*2*pi=180
|
|
#num1=np.poly1d([120*120])
|
|
#den1 = np.poly1d([1,0,0])
|
|
|
|
|
|
#first resonance frequency
|
|
f2=np.array([197,199])
|
|
d2=np.array([.02,.02])#daempfung
|
|
w2=f2*2*np.pi*_N #rad/sec
|
|
T2=1/w2
|
|
num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
|
|
den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
|
|
mdl= signal.lti(num2, den2) #num denum
|
|
#bode(mdl)
|
|
|
|
|
|
#current loop 2nd order approx
|
|
#identification with matlab: k=1, w0=8725, d=0.75
|
|
dc=.75 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
|
|
wc=8725.*_N # rad/sec
|
|
#...but phase lag seems to have earlier effect -> reduce wc
|
|
wc*=.5 # rad/sec
|
|
fc=wc/2/np.pi # ca 1388Hz
|
|
Tc=1/wc
|
|
numc = np.poly1d([1.])
|
|
denc = np.poly1d([Tc**2,2*Tc*dc,1])
|
|
|
|
num=num1*num2*numc#*num3
|
|
den=den1*den2*denc#*den3
|
|
mdl= signal.lti(num, den) #num denum
|
|
print(num)
|
|
print(den)
|
|
print(mdl)
|
|
d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'numc':numc.coeffs,
|
|
'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'denc':denc.coeffs}
|
|
fn=os.path.join(base,'model%d.mat'%mot)
|
|
import scipy.io
|
|
scipy.io.savemat(fn, mdict=d)
|
|
print('save to matlab file:'+fn)
|
|
|
|
elif mot==2:
|
|
#identify matlab: k:1.7282 w0:51.069 damp:0.327613
|
|
mag1=1.7282 #10**(db_mag1/20)
|
|
db_mag1=20*np.log10(mag1)#dB
|
|
w1=51.069*_N #rad/sec
|
|
f1=w1/2/np.pi; # ca. 6.5Hz
|
|
T1=1/w1
|
|
d1=0.32 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
|
|
num1=np.poly1d([mag1])
|
|
den1 = np.poly1d([T1**2,2*T1*d1,1])
|
|
|
|
#resonance frequency
|
|
f2=np.array([57.8,61.8])
|
|
d2=np.array([.08,.095])#daempfung
|
|
w2=f2*2*np.pi #rad/sec
|
|
T2=1/w2
|
|
num2 = np.poly1d([T2[0]**2,2*T2[0]*d2[0],1])
|
|
den2 = np.poly1d([T2[1]**2,2*T2[1]*d2[1],1])
|
|
mdl= signal.lti(num2, den2) #num denum
|
|
#bode(mdl)
|
|
|
|
#resonance frequency
|
|
f3=np.array([136,148])
|
|
d3=np.array([.05,.05])#daempfung
|
|
w3=f3*2*np.pi #rad/sec
|
|
T3=1/w3
|
|
num3 = np.poly1d([T3[0]**2,2*T3[0]*d3[0],1])
|
|
den3 = np.poly1d([T3[1]**2,2*T3[1]*d3[1],1])
|
|
#mdl= signal.lti(num3, den3) #num denum
|
|
#bode(mdl)
|
|
|
|
#resonance frequency
|
|
f4=np.array([410,417])
|
|
d4=np.array([.015,.015])#daempfung
|
|
w4=f4*2*np.pi #rad/sec
|
|
T4=1/w4
|
|
num4 = np.poly1d([T4[0]**2,2*T4[0]*d4[0],1])
|
|
den4 = np.poly1d([T4[1]**2,2*T4[1]*d4[1],1])
|
|
#mdl= signal.lti(num3, den3) #num denum
|
|
#bode(mdl)
|
|
|
|
#resonance frequency
|
|
f5=np.array([230,233])
|
|
d5=np.array([.04,.04])#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
|
|
#identification with matlab: k=1, w0=8725, d=0.75
|
|
dc=.75 # daempfung =1 -> keine resonanz -> den1= np.poly1d([T1,1])**2
|
|
wc=8725.*_N # rad/sec
|
|
#...but phase lag seems to have earlier effect -> reduce wc
|
|
wc*=.5 # rad/sec
|
|
fc=wc/2/np.pi # ca 1388Hz
|
|
Tc=1/wc
|
|
numc = np.poly1d([1.])
|
|
denc = np.poly1d([Tc**2,2*Tc*dc,1])
|
|
|
|
num=num1*num2*num3*num4*num5*numc
|
|
den=den1*den2*den3*den4*den5*denc
|
|
mdl= signal.lti(num, den) #num denum
|
|
print(num)
|
|
print(den)
|
|
print(mdl)
|
|
d={'num':num.coeffs,'num1':num1.coeffs,'num2':num2.coeffs,'num3':num3.coeffs,'num4':num4.coeffs,'num5':num5.coeffs,'numc':numc.coeffs,
|
|
'den':den.coeffs,'den1':den1.coeffs,'den2':den2.coeffs,'den3':den3.coeffs,'den4':den4.coeffs,'den5':den5.coeffs,'denc':denc.coeffs}
|
|
fn=os.path.join(base,'model%d.mat'%mot)
|
|
import scipy.io
|
|
scipy.io.savemat(fn, mdict=d)
|
|
print('save to matlab file:'+fn)
|
|
|
|
bode(mdl)
|
|
w=np.logspace(0,np.log10(2000),1000)*2*np.pi
|
|
w,mag,phase = signal.bode(mdl,w)
|
|
f=w/(2*np.pi)
|
|
ax=fig.axes[0]
|
|
ax.semilogx(f, mag,'-k',lw=1) # Bode magnitude plot
|
|
ax=fig.axes[1]
|
|
ax.semilogx(f, phase,'-k',lw=1) # Bode phase plot
|
|
# tp print see also: print(np.poly1d([1,2,3], variable='s')), print(np.poly1d([1,2,3], r=True, variable='s'))
|
|
|
|
def usr_servo_gen_code(self,fn='/tmp/ssc1.mat'):
|
|
import scipy.io,re
|
|
#the file ssc[1|2].mat has been generated with matlab:
|
|
#[mot1, mot2]=identifyFxFyStage();
|
|
#[pb]=simFxFyStage(mot1);
|
|
#[ssc]=StateSpaceControlDesign(mot1);
|
|
mat=scipy.io.loadmat(fn)
|
|
motid=int(re.search('(\d)\.mat',fn).group(1))
|
|
A=mat['Aoz']
|
|
B=mat['Boz']
|
|
C=mat['Coz']
|
|
D=mat['Doz']
|
|
V=mat['V']
|
|
u=('DesPos','IqMeas','IqVolts','ActPos')
|
|
y=('obsvOut',)
|
|
progSample='''double usr_servo_ctrl_{motid}(MotorData *Mptr)
|
|
{{
|
|
pshm->P[2000]=pshm->P[2000]*.9999+abs(Mptr->PosError)*0.0001; //lowpass of Position error
|
|
return pshm->ServoCtrl(Mptr);
|
|
}}'''.format(motid=motid)
|
|
|
|
prog='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr)
|
|
{{
|
|
//x[n+1]=A*x[n]+B*u
|
|
//y=C*x[n]+D*x[n]
|
|
//u=[{u}].T
|
|
double x[{A.shape[0]}]; //new state
|
|
static double _x[{A.shape[0]}]={{0,0,0,0}}; //old state
|
|
//double {u}; // input values
|
|
double {y},iqCmd; // output values
|
|
double maxDac=Mptr->MaxDac;
|
|
'''.format(motid=motid,A=A,xInit=','.join('0'*A.shape[0]),u=', '.join(u),y=', '.join(y))
|
|
s=' //input values\n'
|
|
for i in range(len(u)):
|
|
s+=' double {u}=Mptr->{u};\n'.format(u=u[i])
|
|
prog+=s+'''
|
|
if (Mptr->ClosedLoop)
|
|
{
|
|
'''
|
|
|
|
s=' //x[n+1]=A*x[n]+B*u;\n'
|
|
for i in range(A.shape[0]):
|
|
s+=' x[%d]='%i
|
|
for j in range(A.shape[1]):
|
|
s+='%+28.22g*_x[%d]'%(A[i,j],j)
|
|
for j in range(B.shape[0]):
|
|
s+='%+28.22g*%s'%(B[i,j],u[j])
|
|
s+=';\n'
|
|
prog+=s+'\n'
|
|
|
|
s=' //y=C*x[n]+D*x[n];\n'
|
|
for i in range(C.shape[0]):
|
|
s+=' %s='%y[i]
|
|
for j in range(C.shape[1]):
|
|
s+='%+28.22g*_x[%d]'%(C[i,j],j)
|
|
s+=';\n'
|
|
prog+=s+'\n'
|
|
|
|
|
|
prog+=''' iqCmd=DesPos*{V}-{y};
|
|
//return iqCmd;
|
|
pshm->P[200{motid}]=iqCmd; //lowpass of Position error
|
|
return pshm->ServoCtrl(Mptr);
|
|
}}
|
|
else
|
|
{{
|
|
Mptr->Servo.Integrator=0.0;
|
|
return 0.0;
|
|
}}
|
|
}}'''.format(V=V[0,0],y=y[0],motid=motid)
|
|
|
|
hdr='''double obsvr_servo_ctrl_{motid}(MotorData *Mptr);
|
|
EXPORT_SYMBOL(obsvr_servo_ctrl_{motid});'''.format(motid=motid)
|
|
return (hdr,prog)
|
|
|
|
def check_fast_stage(self,file='/tmp/gather.npz'):
|
|
if os.path.isfile(file):
|
|
f=np.load(file)
|
|
data=f['data']
|
|
meta=f['meta'].item()
|
|
meta['file']=file
|
|
else:
|
|
#self.init_stage();time sleep
|
|
phase=False
|
|
motor=2
|
|
gpascii = self.comm.gpascii
|
|
gt = self.gather
|
|
gt.set_phasemode(phase)
|
|
address=('Motor[2].ActPos','Motor[8].ActPos')
|
|
gt.set_address(*address)
|
|
gt.set_property(Period=1)
|
|
|
|
tSrv=gpascii.servo_period
|
|
tSrv=2E-4 # seconds
|
|
phOsv = gpascii.get_variable('sys.PhaseOverServoPeriod', float)
|
|
|
|
subs={'prgId':999,'mot':motor,'num':100,'phase':'Phase' if phase else ''}
|
|
|
|
#the servoloop is called 2 times per servo cycle ?!?
|
|
#don't know why, but this is the reason why the value L10 is incremented by 0.5
|
|
prog = '''
|
|
&1
|
|
open prog {prgId}
|
|
P1=Motor[{mot}].DesPos-Motor[{mot}].HomePos
|
|
Q2=10
|
|
Gather.{phase}Enable=2
|
|
Q1={num}
|
|
while (Q1>0)
|
|
{{
|
|
jog{mot}=(P1-1000)
|
|
dwell 10
|
|
jog{mot}=(P1)
|
|
dwell 10
|
|
Q1=Q1-1
|
|
}}
|
|
dwell 10
|
|
Gather.{phase}Enable=0
|
|
close
|
|
&1
|
|
b{prgId}r
|
|
'''.format(**subs)
|
|
|
|
gpascii.send_line(prog)
|
|
res=gpascii.sync()
|
|
res=res.replace(GpasciiChannel.ACK+'\r\n','')
|
|
print(res)
|
|
t=time.time()
|
|
gt.wait_stopped()
|
|
print('time %f'%(time.time()-t))
|
|
self.data=data=gt.upload()
|
|
meta={'motor':motor,'date':time.asctime(),'ts':tSrv if not phase else tSrv*phOsv,'address':address}
|
|
np.savez_compressed(file, data=data, meta=meta)
|
|
meta['file'] = file
|
|
tSrv=meta['ts']
|
|
t=tSrv*np.arange(data.shape[0])
|
|
data=data-data[0,:]
|
|
plt.plot(t,data[:,0],t,data[:,1])
|
|
plt.figure()
|
|
plt.plot(t,data[:,0]-data[:,1])
|
|
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=None)
|
|
|
|
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)
|
|
base='MXTuning'
|
|
if args.dir is not None:
|
|
base=args.dir
|
|
assert(os.path.exists(base))
|
|
#base=os.path.join(base,args.dir)
|
|
#if not os.path.exists(base):
|
|
# os.mkdir(base)
|
|
|
|
|
|
mode=args.mode
|
|
#plt.ion()
|
|
if mode==1: # full recording current step
|
|
homed=False
|
|
for mot in (1, 2):
|
|
fn=os.path.join(base, 'curr_step%d.npz' % mot)
|
|
if not os.path.isfile(fn) and not homed: tune.init_stage();homed=True
|
|
fig=plt.figure(mot)
|
|
tune.bode_current(motor=mot, magMove=1000, magPhase=500, dwell=10, file=fn,fig=fig)
|
|
plt.show(block=False)
|
|
f=np.load(fn)
|
|
fn=fn[:-3]+'mat'
|
|
import scipy.io
|
|
scipy.io.savemat(fn, mdict=f)
|
|
print('save to matlab file:'+fn)
|
|
|
|
|
|
elif mode==2: # full recording open loop
|
|
for mot in (1, 2):
|
|
fsin=os.path.join(base, 'sine_ol_mot%d.npz' % (mot))
|
|
fcrp=os.path.join(base, 'chirp_ol_mot%d' % (mot))
|
|
if not os.path.isfile(fsin): tune.init_stage();plt.close('all')
|
|
tune.bode_sine(openloop=True, file=fsin, motor=mot)
|
|
plt.show(block=False)
|
|
for ext,amp,minFrq,maxFrq,tSec in (('a', 10, 10, 300,30),
|
|
('b', 50,100, 500,30),
|
|
('c', 50,300,1500,10),
|
|
('d',100,300,2000,10)):
|
|
f=fcrp+ext+'.npz'
|
|
if not os.path.isfile(f): tune.init_stage();plt.close('all')
|
|
tune.bode_chirp(openloop=True, file=f, motor=mot, amp=amp, minFrq=minFrq, maxFrq=maxFrq, tSec=tSec)
|
|
plt.show(block=False)
|
|
elif mode==3: # full recording closed loop
|
|
for mot in (1,2):
|
|
#fsin=os.path.join(base, 'sine_cl_mot%d.npz' % (mot))
|
|
fcrp=os.path.join(base, 'chirp_cl_mot%d' % (mot))
|
|
#if not os.path.isfile(fsin): tune.init_stage();plt.close('all')
|
|
#tune.bode_sine(openloop=False, file=fsin, motor=mot)
|
|
|
|
#the generated program is prog 999 (only during acquisition)
|
|
# Gather.MaxLines=174762 -> ca 15 sec. is max.
|
|
#with higher frequency and amplitudes often is in DacLimit !
|
|
for ext,amp,minFrq,maxFrq,tSec in (('a',100, 1, 200,15),
|
|
('b', 20,10, 300,5),
|
|
('c', 5,10, 300,5),
|
|
('d', 1,10,1000,5),
|
|
):
|
|
f=fcrp+ext+'.npz'
|
|
if not os.path.isfile(f): tune.init_stage();plt.close('all')
|
|
tune.bode_chirp(openloop=False, file=f, motor=mot, amp=amp, minFrq=minFrq, maxFrq=maxFrq, tSec=tSec)
|
|
plt.show(block=False)
|
|
elif mode==4: #plot the full bode recording
|
|
tune.bode_full_plot(mot=1,base=base)
|
|
tune.bode_full_plot(mot=2,base=base)
|
|
elif mode==5: #plot the full bode recording with an approximation model
|
|
tune.bode_model_plot(mot=1,base=base)
|
|
tune.bode_model_plot(mot=2,base=base)
|
|
|
|
elif mode == 6: # plot all raw acquired data files
|
|
# display bode plots
|
|
import glob
|
|
for fn in glob.glob(os.path.join(base,'*.npz')):
|
|
if os.path.basename(fn).startswith('sine_ol_mot'):
|
|
tune.bode_sine(openloop=True, file=fn)
|
|
if os.path.basename(fn).startswith('chirp_ol_mot'):
|
|
tune.bode_chirp(openloop=True, file=fn)
|
|
if os.path.basename(fn).startswith('sine_cl_mot'):
|
|
tune.bode_sine(openloop=False, file=fn)
|
|
if os.path.basename(fn).startswith('chirp_cl_mot'):
|
|
tune.bode_chirp(openloop=False, file=fn)
|
|
elif mode==7: #further tests
|
|
fn='/tmp/cst_chirp0.npz'
|
|
motLst=(1, 2)#(2,)#
|
|
init_stage=False
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'cst_chirp_s_ol_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=100,maxFrq=1000,amp=50,tSec=15,mode=0,file=fn)
|
|
init_stage=False
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'cst_chirp_s_cl1_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=100,amp=20,tSec=15,mode=1,file=fn)
|
|
init_stage=False
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'cst_chirp_s_cl2a_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=30,amp=100,tSec=30,mode=2,file=fn)
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'cst_chirp_s_cl2b_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=20,maxFrq=150,amp=10,tSec=30,mode=2,file=fn)
|
|
init_stage=False
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'cst_chirp_s_cl2c_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=100,maxFrq=300,amp=1,tSec=30,mode=2,file=fn)
|
|
elif mode==8: #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)=tune.usr_servo_gen_code('/tmp/ssc1.mat')
|
|
(hdr2,prog2)=tune.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')
|
|
elif mode==9: #SCRATCH
|
|
motLst=(1, 2)#(2,)#
|
|
init_stage=False
|
|
for mot in motLst:
|
|
fn=os.path.join(base, 'scratch_%d.npz' % mot)
|
|
if not init_stage and not os.path.isfile(fn):tune.init_stage();init_stage=True
|
|
tune.custom_chirp(motor=mot,minFrq=1,maxFrq=20,amp=200,tSec=15,mode=2,file=fn)
|
|
elif mode==10: # record stage x and probe encoder
|
|
tune.check_fast_stage()
|
|
print('done')
|
|
plt.show()
|
|
#------------------ 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
|