forked from M-Labs/artiq
suservo: swap transfer function parametrization
The integrator is now parametrized through its gain and not the PI corner frequency. The integrator gain limit is given in absolute gain units and not relative to the proportional gain. close #1033
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@ -348,7 +348,7 @@ class Channel:
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self.servo.write(base + 7, b0)
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@kernel
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def set_iir(self, profile, adc, gain, corner=0., limit=0., delay=0.):
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def set_iir(self, profile, adc, kp, ki=0., g=0., delay=0.):
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"""Set profile IIR coefficients.
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This method advances the timeline by four servo memory accesses.
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@ -361,25 +361,23 @@ class Channel:
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coefficient quantization errors):
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.. math::
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H(s) = K \\frac{1 + \\frac{s}{\\omega_0}}
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{\\frac{1}{g} + \\frac{s}{\\omega_0}}
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H(s) = k_p + \\frac{k_i}{s + \\frac{k_i}{g}}
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Where:
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* :math:`s = \\sigma + i\\omega` is the complex frequency
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* :math:`K` is the proportional gain
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* :math:`\\omega_0 = 2\\pi f_0` is the integrator corner frequency
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* :math:`k_p` is the proportional gain
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* :math:`k_i` is the integrator gain
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* :math:`g` is the integrator gain limit
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:param profile: Profile number (0-31)
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:param adc: ADC channel to take IIR input from (0-7)
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:param gain: Proportional gain (1). This is usually negative (closed
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:param kp: Proportional gain (1). This is usually negative (closed
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loop, positive ADC voltage, positive setpoint). When 0, this
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implements a pure I controller with unit gain frequency at
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`corner` (use the sign of `corner` for overall gain sign).
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:param corner: Integrator corner frequency (Hz). When 0 (the default)
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this implements a pure P controller.
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:param limit: Integrator gain limit (1). When 0 (the default) the
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integrator gain limit is infinite. Positive.
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implements a pure I controller.
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:param ki: Integrator gain (rad/s). When 0 (the default)
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this implements a pure P controller. Same sign as ``kp``.
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:param g: Integrator gain limit (1). When 0 (the default) the
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integrator gain limit is infinite. Same sign as ``ki``.
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:param delay: Delay (in seconds, 0-300 µs) before allowing IIR updates
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after invoking :meth:`set`. This is rounded to the nearest number
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of servo cycles (~1.2 µs). Since the RF switch (:meth:`set`) can be
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@ -390,47 +388,34 @@ class Channel:
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"""
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B_NORM = 1 << COEFF_SHIFT + 1
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A_NORM = 1 << COEFF_SHIFT
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PI_TS = 3.1415927*T_CYCLE
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COEFF_MAX = 1 << COEFF_WIDTH - 1
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gain *= B_NORM
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corner *= PI_TS
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if corner == 0.:
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kp *= B_NORM
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if ki == 0.:
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# pure P
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a1_ = 0
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b1_ = 0
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b0_ = int(round(gain))
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a1 = 0
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b1 = 0
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b0 = int(round(kp))
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else:
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a1_ = A_NORM
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if gain == 0.:
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# pure I
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b0 = (2*B_NORM)*corner
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b1_ = 0
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# I or PI
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ki *= B_NORM*T_CYCLE/2.
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if g == 0.:
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c = 1.
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a1 = A_NORM
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else:
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# PI
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k = gain*corner
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b1 = k - gain
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b0 = k + gain
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if limit != 0.:
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# PI with limit
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q = corner/limit
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qr = 1./(1. + q)
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a1_ = int(round(a1_*(1. - q)*qr))
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b0 *= qr
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b1 *= qr
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b1_ = int(round(b1))
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b0_ = int(round(b0))
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c = 1./(1. + ki/(g*B_NORM))
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a1 = int(round((2.*c - 1.)*A_NORM))
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b0 = int(round(kp + ki*c))
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b1 = int(round(kp + (ki - 2.*kp)*c))
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if b1 == -b0:
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raise ValueError("low integrator gain and/or gain limit")
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if b1_ == -b0_:
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raise ValueError("low corner, gain, limit")
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if (b0_ >= COEFF_MAX or b0_ < -COEFF_MAX or
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b1_ >= COEFF_MAX or b1_ < -COEFF_MAX):
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raise ValueError("high corner, gain, limit")
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if (b0 >= COEFF_MAX or b0 < -COEFF_MAX or
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b1 >= COEFF_MAX or b1 < -COEFF_MAX):
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raise ValueError("high gains")
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dly = int(round(delay/T_CYCLE))
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self.set_iir_mu(profile, adc, a1_, b0_, b1_, dly)
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self.set_iir_mu(profile, adc, a1, b0, b1, dly)
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@kernel
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def get_profile_mu(self, profile, data):
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@ -50,9 +50,9 @@ class SUServo(EnvExperiment):
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self.suservo0_ch0.set_iir(
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profile=0,
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adc=7, # take data from Sampler channel 7
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gain=-.1, # -0.1 P gain
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corner=70*Hz, # very low corner frequency
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limit=0., # unlimited integrator gain
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kp=-.1, # -0.1 P gain
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ki=-300./s, # low integrator gain
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g=0., # no integrator gain limit
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delay=0. # no IIR update delay after enabling
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)
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# setpoint 0.5 (5 V with above PGIA gain setting)
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