36 lines
1.7 KiB
Matlab
36 lines
1.7 KiB
Matlab
function [pb]=simFxFyStage(mot,motid)
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% !!! first it need to run: [mot1,mot2]=identifyFxFyStage() tobuild a motor object !!!
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%
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%loads the current (11.10.2018) controller settings of the
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%Powerbrick and opens its simulink file
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%the returned variable pb contains varous parameters:
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% Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D
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Ts=2E-4; % 0.2ms=5kHz
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MaxDac=2011.968;
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MaxPosErr=10000;
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if motid==1
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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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Kp=25;Kvfb=400;Ki=0.02;Kvff=350;Kaff=5000;MaxInt=1000;
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mot_num=mot.tf_mdl.Numerator;
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mot_den=mot.tf_mdl.Denominator;
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else
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%!motor_servo(mot=2,ctrl='ServoCtrl',Kp=22,Kvfb=350,Ki=0.02,Kvff=240,Kaff=1500,MaxInt=1000)
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%!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')
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Kp=22;Kvfb=350;Ki=0.02;Kvff=240;Kaff=1500;MaxInt=1000;
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mot_num=mot.tf_mdl.Numerator;
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mot_den=mot.tf_mdl.Denominator;
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end
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mdlName='stage_closed_loop';
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open(mdlName)
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%ServoDeltaTau_z(motid)
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[A,B,C,D]=tf2ss(mot_num,mot_den);
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pb=struct();
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for k=["Kp","Kvfb","Ki","Kvff","Kaff","MaxInt","mot_num","mot_den","Ts","MaxDac","MaxPosErr","A","B","C","D"]
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pb=setfield(pb,k,eval(k));
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end
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