189 lines
5.6 KiB
Matlab
189 lines
5.6 KiB
Matlab
|
|
function [mot1,mot2]=identifyFxFyStage()
|
|
%sample idfrd
|
|
%f = logspace(-1,1,100);
|
|
%[mag,phase] = bode(idtf([1 .2],[1 2 1 1]),f);
|
|
%response = mag.*exp(1j*phase*pi/180);
|
|
%m = idfrd(response,f,0.08);
|
|
|
|
function obj=loadData(path,motid)
|
|
obj=struct();
|
|
f=load(strcat(path,sprintf('curr_step%d.mat',motid)));
|
|
obj.currstep=f;
|
|
%prepend sone zeros to stable system identification
|
|
obj.currstep=iddata([zeros(10,1); obj.currstep.data(:,2)],[zeros(10,1); obj.currstep.data(:,3)],50E-6);
|
|
|
|
f=load(strcat(path,sprintf('full_bode_mot%d.mat',motid)));
|
|
obj.frq=f.frq*2*pi; %convert from Hz to rad/s
|
|
obj.mag=10.^(f.db_mag/20); %mag not in dB
|
|
obj.phase=f.deg_phase*pi/180; %phase in rad
|
|
response = obj.mag.*exp(1j*obj.phase);
|
|
obj.meas= idfrd(response,obj.frq,0);
|
|
end
|
|
|
|
function tfc=currstep(obj)
|
|
opt=tfestOptions;
|
|
opt.Display='off';
|
|
tfc = tfest(obj.currstep, 2, 0,opt);
|
|
den=tfc.Denominator;
|
|
num=tfc.Numerator;
|
|
k=num(1);
|
|
w0=sqrt(num(1));
|
|
damp=den(2)/2/w0;
|
|
s=sprintf('k:%g w0:%g damp:%g\n',k,w0,damp);
|
|
%disp(s);
|
|
%h = stepplot(tf1);
|
|
%l=obj.currstep.OutputData
|
|
t=(0:199)*50E-6;
|
|
[y,t]=step(tfc,t);
|
|
f=figure();
|
|
subplot(1,2,1);
|
|
plot(t,y*1000,'r',t,obj.currstep.OutputData(11:210),'b');
|
|
title(s);
|
|
subplot(1,2,2);
|
|
h=bodeplot(tfc,'r');
|
|
setoptions(h,'FreqUnits','Hz','Grid','on');
|
|
end
|
|
|
|
function mot=fyStage()
|
|
mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',1);
|
|
mot.tfc=currstep(mot);
|
|
|
|
opt=tfestOptions;
|
|
opt.Display='off';
|
|
opt.initializeMethod='iv';
|
|
opt.WeightingFilter=[1,5;20,670]*(2*pi); % Hz->rad/s conversion
|
|
|
|
figure();
|
|
mot.tf4_2 = tfest(mot.meas, 4, 2, opt);
|
|
mot.tf6_4 = tfest(mot.meas, 6, 4, opt);
|
|
h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
|
|
setoptions(h,'FreqUnits','Hz','Grid','on');
|
|
|
|
end
|
|
|
|
function mot=fxStage()
|
|
mot=loadData('/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuning/18_10_02/',2);
|
|
currstep(mot);
|
|
|
|
opt=tfestOptions;
|
|
opt.Display='off';
|
|
opt.initializeMethod='iv';
|
|
opt.WeightingFilter=[1,5;20,670]*(2*pi); % Hz->rad/s conversion
|
|
|
|
figure();
|
|
mot.tf4_2 = tfest(mot.meas, 4, 2, opt);
|
|
mot.tf6_4 = tfest(mot.meas, 6, 4, opt);
|
|
mot.tf13_9 = tfest(mot.meas, 13, 9, opt);
|
|
num=[5.42637491e-24 1.45926254e-21 5.20861422e-17 9.92527094e-15 1.16707977e-10 1.31240975e-08 7.03191689e-05 3.08626613e-03 7.32824533e+00];
|
|
den=[2.01035570e-35,2.33560078e-31,9.14767135e-28,2.52369732e-24,7.42150891e-21,6.89695386e-18,1.65017156e-14,5.77522779e-12,1.08386286e-08,1.13336206e-06,1.27552247e-03,2.19776479e-02,1.00000000e+00];
|
|
mot.tf_py = idtf(num,den);
|
|
h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g',mot.tf13_9,'m',mot.tf_py,'b');
|
|
setoptions(h,'FreqUnits','Hz','Grid','on');
|
|
%controlSystemDesigner('bode',1,mot.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
|
|
|
|
end
|
|
close all
|
|
mot1=fyStage();
|
|
mot2=fxStage();
|
|
|
|
end
|
|
|
|
|
|
function f=SCRATCH()
|
|
|
|
%identification toolbox
|
|
systemIdentification
|
|
|
|
%opt=tfestOptions('Display','off');
|
|
%opt=tfestOptions('Display','on','initializeMethod','svf');
|
|
%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
|
|
%opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[1,5;20,570]);
|
|
%tf1 = tfest(mot1frq, 6, 4, opt);
|
|
% Model refinement
|
|
% Options = tf1.Report.OptionsUsed;
|
|
% Options.WeightingFilter = 'prediction';
|
|
% tf1_1 = pem(mot1frq, tf1, Options)
|
|
|
|
|
|
|
|
|
|
|
|
bodeplot(mot1frq,tf1)
|
|
mag,phase=bode(tf1,frq)
|
|
figure(1)
|
|
subplot(211)
|
|
|
|
|
|
bodeplot(tf1)
|
|
|
|
Opt = n4sidOptions('N4Horizon',[15 15 15]);
|
|
n4s3 = n4sid(mot1frq, 3, Opt)
|
|
|
|
|
|
|
|
|
|
|
|
%tf([1 2],[1 0 10])
|
|
%specifies the transfer function (s+2)/(s^2+10) while
|
|
sys=tf([1],[1,0,0])
|
|
bode(sys)
|
|
step(sys)
|
|
|
|
sys=tf([1],[1,-1,2]) %instable
|
|
|
|
sys=tf([1],[1,1,2]) %stable
|
|
|
|
|
|
%0dB at 12 Hz=12*2*pi rad/s =75.4=k^2 -> k=8.6833
|
|
|
|
sys=tf([10],[1,0,0])
|
|
%1/s^2 -> 0dB at 1Hz -40dB/decade
|
|
%10=+20dB
|
|
|
|
|
|
sys=tf([1],[1,0,2]) %not damped constant sine after step
|
|
|
|
|
|
sys=zpk([],[1,0,0],100) %stable
|
|
|
|
sys=zpk([],[-10,-10],100)
|
|
|
|
|
|
%parker stage 1
|
|
%!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
|
|
%!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
|
|
%!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')
|
|
Ts=2E-4 % discrete sample time (servo period)
|
|
Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000
|
|
Kp=25,Kvfb=0,Ki=0,Kvff=0,Kaff=0,MaxInt=0
|
|
|
|
|
|
num=7.32
|
|
den=[5.995e-04 4.897e-02 1.]
|
|
open('stage_closed_loop.slx')
|
|
%sim('stage_closed_loop.slx')
|
|
|
|
sys=tf(num,den)
|
|
bode(sys)
|
|
G = tf(1.5,[1 14 40.02]);
|
|
controlSystemDesigner('bode',sys);
|
|
controlSystemDesigner
|
|
linearSystemAnalyzer
|
|
load ltiexamples
|
|
linearSystemAnalyzer(sys_dc)
|
|
|
|
controlSystemDesigner('bode',sys);
|
|
controlSystemDesigner(1,sys); % <<<<<<<<< This opens a transferfiûnction that can be edited
|
|
|
|
num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
|
|
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];
|
|
mot2=tf(num,den);
|
|
controlSystemDesigner('bode',mot2);
|
|
|
|
|
|
[m1,m2]=identifyFxFyStage();
|
|
controlSystemDesigner(1,m2.tf_py); % <<<<<<<<< This opens a transferfiûnction that can be edited
|
|
|
|
end |