Difference between revisions of "Hours 0909"
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** replace broken belt | ** replace broken belt | ||
** write motor current function generator | ** write motor current function generator | ||
− | ** do belt resonance | + | ** do belt resonance experiments, send plot to RC / ZH |
** help a proper belt broken test | ** help a proper belt broken test | ||
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**Met with Kristin we experiment with lifefix to find cause of resonance | **Met with Kristin we experiment with lifefix to find cause of resonance | ||
** experiments with life fix and Q of resonance | ** experiments with life fix and Q of resonance | ||
− | ** | + | ** clamped masses to end of drive ball screw, fixture, etc, nothing seemed to change resonance freq |
**found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q | **found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q | ||
**confirmed ZERO cogging in motor outside of lifefix | **confirmed ZERO cogging in motor outside of lifefix | ||
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*10:15p - 2:15p | *10:15p - 2:15p | ||
− | ** LF | + | ** LF experiments with slower PVT files |
** PVT file error causes max plantar flextion, other was full speed w/leads shorted | ** PVT file error causes max plantar flextion, other was full speed w/leads shorted | ||
**thus belt breks due to one of these events | **thus belt breks due to one of these events | ||
**returned to working in MILE encorer - include zero offset into the MC mode 2 boot sequenece | **returned to working in MILE encorer - include zero offset into the MC mode 2 boot sequenece | ||
− | ** | + | ** implement MILE updates at 10 KHZ and enable an error check (mile vs INC) |
** error check can force change in the MC SM state | ** error check can force change in the MC SM state | ||
** need different behavior when operating in LF mode | ** need different behavior when operating in LF mode | ||
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** On LF, implement FF current loop control | ** On LF, implement FF current loop control | ||
** meet with Rob Lado for programming position | ** meet with Rob Lado for programming position | ||
− | ** document the freq sweep | + | ** document the freq sweep experiments, email to RC and ZH |
==Tue Sep 1 == | ==Tue Sep 1 == | ||
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** wrote python class "lifefix_test_ and class "motor_controller" to config lifefixture. | ** wrote python class "lifefix_test_ and class "motor_controller" to config lifefixture. | ||
** modified lifefix_support.c for ability to read/write parameters abstractly (by param ID) | ** modified lifefix_support.c for ability to read/write parameters abstractly (by param ID) | ||
− | ** | + | ** experiments with motor current loop PI parameters and determinate 3db current loop frequencies |
Revision as of 17:50, 13 September 2009
Contents
Sep 09 hours
Sun Sep 13
- 15 mins - admin
Sat Sep 12
- hours 30 mins + 30 mins home depo
- discuss LF status with RC (nearly vibrated off table, ball nut and loadwasher out of AK)
- attempt to import large overnight text file into matlab. need to write a new converter.
- trip to HD to purchase blue SP and clamps to hold LF
- 4:05 - 9:10pm
- greatly improved Kistler charge amp class, mostly working
- 1 hr discussion / interview with Robot Designer
Fri Sep 11
- hours : 3:10pm to 9:30pm
- create background process for move_ecat from python, rewrite the copley_control class
- explain motor PI loop to ZH, discover improper saturation of I term.
- w/ZH use sweep frequency to drive fixture under mechanical various conditions
- start life fixture
Thur Sep 10
- 12:45 - 4:20 pm; email re test fixture, phone with RC re lifefix; starting writing firmware to allow getting/setting MC variables by para_id, write python serial_port_helper; write program to test belt.
- Arrive IW 5pm - leave 3:55am (-2 hr for dinner)
- test min/max
- discuss with RC the torque ripple.
- replace broken belt
- write motor current function generator
- do belt resonance experiments, send plot to RC / ZH
- help a proper belt broken test
Wed Sep 9
- 4:05pm - 1am (-1 hr dinner w/RC) + 1.5 hrs on phone at home==
- discuss status of fixture with Rob (wanted to see if there were problems.)
- spoke w/Rick and Zhixiu on status then tune up the AK to full power.
- Met with Kristin we experiment with lifefix to find cause of resonance
- experiments with life fix and Q of resonance
- clamped masses to end of drive ball screw, fixture, etc, nothing seemed to change resonance freq
- found that there was a angle dependence on the Q of resonance.; adjust MC current loop PI settings which had no effect on frequency, only the Q
- confirmed ZERO cogging in motor outside of lifefix
- measured LW thrust with motor leads shorted, and when driving 'constant' current; found significant ripple.
Tue Sep 8
- 3:15 - 2:20aa
- working on life fix, demo results, rick observed that lw thrust is very low; we use loadcell as a conformation and discover there's a problem
- turns out that charge amp scale values were different from those on my PC viewer, and AK code ( guess they had been reset.)
- discuss with Zhixiu alignment of the datasets. figure out how a PVT works,
- final turning of life fix and leave it running
- find that at high thrusts there are problems.
- modified ReadLoadCell.cpp - adjusted sample rate, added time to filename, improved file write
Mon Sep 7
- 4pm - 4:15am
- working on life fixture
- scripted pfcmd in linux, got test jit working
- burned out rs232 cable due to ground problems?
Sun Sep 6
- 4:30p - 5:30p
- incorporate reading of ABS encoder into 10 khz ISR
- add support to io_mile for zero mech angle offset (eg incremental encoder and abs encoder don't have the same zero.)
- 10:15p - 2:15p
- LF experiments with slower PVT files
- PVT file error causes max plantar flextion, other was full speed w/leads shorted
- thus belt breks due to one of these events
- returned to working in MILE encorer - include zero offset into the MC mode 2 boot sequenece
- implement MILE updates at 10 KHZ and enable an error check (mile vs INC)
- error check can force change in the MC SM state
- need different behavior when operating in LF mode
Sat Sep 5
- 1 hr - working on invoices
Fri Sep 4
- 2:20hrs
- ED email re MC not working, research SVN and email response
- experments with lifefix, load WB thrust profile
Thur Sep 3
- 4:35p - 2:40 a
- work on LF code and PI / FF tuning
- correct charge amp scale factors
- verify successful thrust table playback (triggered from motor position)
Wed Sep 2
- 5pm - 3:20 am -30 mins
- On LF, implement FF current loop control
- meet with Rob Lado for programming position
- document the freq sweep experiments, email to RC and ZH
Tue Sep 1
- 10:30 - 3:30 am
- wrote python class "lifefix_test_ and class "motor_controller" to config lifefixture.
- modified lifefix_support.c for ability to read/write parameters abstractly (by param ID)
- experiments with motor current loop PI parameters and determinate 3db current loop frequencies