dt_ctrl.ctrl 27.6 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
#	dt_ctrl.ctrl
#
#	Controller network for Dwingeloo Telescope.
#
#	This file contains the fixed part of the network and its parameters.
#	Other .ctrl files are used for those parts which are conditional,
#	such as the use of simulation networks or real servo drives.
#

# Frequency is limited by the stoeber drives.
Jeroen Vreeken's avatar
Jeroen Vreeken committed
11
12
frequency 250

13
14
15
16
trigger {
	{ "prestart", 0.000150 }
}

17
18
19
20
# dt_ctrl_el.ctrl	Elevation with real servo drives
# dt_ctrl_el_sim.ctrl	Elevation with simulated network
# dt_ctrl_az.ctrl	Azimuth with real servo drives
# dt_ctrl_az_sim.ctrl	Azimuth with simulated network
Jeroen Vreeken's avatar
Jeroen Vreeken committed
21
# dt_ctrl_ec_sim.ctrl   Ethercat simulation block
22
#
23
24
25
# Uncomment either the real network, or the sim network.
# But never both!

26
27
#import "dt_ctrl_el.ctrl"
import "dt_ctrl_el_sim.ctrl"
28

29
30
#import "dt_ctrl_az.ctrl"
import "dt_ctrl_az_sim.ctrl"
31

32
import "dt_ctrl_ec_sim.ctrl"
33

Jeroen Vreeken's avatar
Jeroen Vreeken committed
34
blocks {
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
	{ "setpoint_generator_3d", "azimuth_spg", 	"Azimuth_Setpoint", "rad" }
	{ "servo_state",           "azimuth_servo_state"           }
	{ "and2",                  "azimuth_safe_and"              }
	{ "subtract",	           "azimuth_setpoint_error"	   }
	{ "subtract",              "azimuth_error"		   }
	{ "pid_aw",	           "azimuth_pid"		   }
	{ "filter_iir",	           "azimuth_pid_filter"		   }
	{ "limit_var",	           "azimuth_pid_limit"		   }
	{ "add",  	           "azimuth_speed_ff" 		   }
	{ "limit",	           "azimuth_speed_limit"	   }
	{ "dt_az_safety",          "azimuth_safety"		   }
	{ "gain", 	           "azimuth_speed_servo"	   }
	{ "value",	           "azimuth_torque"		   }
	{ "value",	           "azimuth_position_offset"  	   }
	{ "add",  	           "azimuth_position_offset_sum"   }
	{ "gain", 	           "azimuth_position_gain"	   }
	{ "rangecheck",		   "azimuth_speed_warning"         }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
52
	
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
	{ "matrix_2x2",	           "elevation_input_matrix"	      }
	{ "setpoint_generator_3d", "elevation_spg", 		"Elevation_Setpoint", "rad" }
	{ "servo_state",           "elevation_servo_state"            }
 	{ "and2",                  "elevation_safe_and"               }
	{ "setpoint_generator_1d", "elevation_torsion_spg",	"Elevation_Torsion_Setpoint", "rad" }
	{ "subtract",	           "elevation_setpoint_error" 	      }
	{ "subtract",  	           "elevation_error"  		      }
	{ "subtract",	           "elevation_torsion_error"  	      }
	{ "subtract",	           "elevation_torsion_setpoint_error" }
	{ "subtract",	           "elevation_torsion_torque" 	      }
	{ "filter_lp",	           "elevation_torsion_torque_lp"      }
	{ "pid_aw",	           "elevation_pid"	      	      }
	{ "pid_aw",  	           "elevation_torsion_pid"	      }
	{ "add",  	           "elevation_speed_ff"		      }
	{ "switch",                "elevation_position_switch"        }
	{ "limit",	           "elevation_torsion_speed_limit"    }
	{ "limit",	           "elevation_speed_limit"	      }
	{ "limit_2nd",	           "elevation_jerk_limit"	      }
	{ "dt_el_safety",          "elevation_safety" 		      }
	{ "matrix_2x2",	           "elevation_output_matrix"  	      }
	{ "value",	           "elevation_torque_r"		      }
	{ "value",	           "elevation_torque_l"		      }
	{ "value",	           "elevation_position_offset_r"      }
	{ "value",	           "elevation_position_offset_l"      }
	{ "add",  	           "elevation_position_offset_r_sum"  }
	{ "add",  	           "elevation_position_offset_l_sum"  }
79

Jeroen Vreeken's avatar
Jeroen Vreeken committed
80
81
82
	{ "command_bool",          "focusbox_plus" }
	{ "command_bool",          "focusbox_min"  }

83
	{ "value_bool", 	   "false"	}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
84
85
86
87
88
89
90
91
}

links {
	{ "dt_az",                          "position",   "azimuth_position_gain",            "in"           , true }
	{ "azimuth_position_gain",          "out",        "azimuth_position_offset_sum",      "in0"          , true }
	{ "azimuth_position_offset",        "value",      "azimuth_position_offset_sum",      "in1"          , true }
	{ "azimuth_position_offset_sum",    "out",        "azimuth_error",                    "negative"     , true }
	{ "azimuth_servo_state",            "reset",      "azimuth_spg",                      "reset"        , false }
92
	{ "azimuth_position_offset_sum",    "out",        "azimuth_spg",                      "reset_x"      , true }
93
94
95
	{ "azimuth_spg",                    "x",          "azimuth_servo_state",              "spg_x"        , true }
	{ "azimuth_spg",                    "v",          "azimuth_servo_state",              "spg_v"        , true }
	{ "azimuth_spg",                    "a",          "azimuth_servo_state",              "spg_a"        , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
96
	{ "azimuth_safety",                 "safe_out",   "azimuth_safe_and",                 "a"            , false }
97
	{ "ethercat",                       "operational","azimuth_safe_and",                 "b"            , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
98
	{ "azimuth_safe_and",               "q",          "azimuth_servo_state",              "safe"         , true }
99
	{ "azimuth_safety",                 "recover",    "azimuth_servo_state",              "override"     , false }
100
	{ "azimuth_servo_state",            "out_x",      "azimuth_error",                    "positive"     , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
101
102
	{ "azimuth_position_offset_sum",    "out",        "azimuth_setpoint_error",           "negative"     , true }
	{ "azimuth_spg",                    "setpoint",   "azimuth_setpoint_error",           "positive"     , true }
103
	{ "azimuth_servo_state",            "out_v",      "azimuth_speed_ff",                 "in0"          , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
104
105
106
	{ "azimuth_error",                  "difference", "azimuth_pid",                      "in"           , true }
	{ "azimuth_servo_state",            "enable",     "azimuth_pid",                      "enable"       , true }
	{ "azimuth_pid",                    "out",        "azimuth_pid_limit",                "in"           , true }
107
	{ "azimuth_servo_state",            "out_v",      "azimuth_pid_limit",                "limit"        , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
108
109
110
111
112
113
	{ "azimuth_pid_limit",              "out",        "azimuth_pid_filter",               "in"           , true }
	{ "azimuth_pid_filter",             "out",        "azimuth_speed_ff",                 "in1"          , true }
	{ "azimuth_speed_ff",               "out",        "azimuth_speed_limit",              "in"           , true }
	{ "azimuth_speed_limit",            "out",        "azimuth_safety",                   "speed_in"     , true }
	{ "azimuth_position_offset_sum",    "out",        "azimuth_safety",                   "position_in"  , true }
	{ "azimuth_torque",                 "value",      "azimuth_safety",                   "torque_in"    , true }
114
115
	{ "dt_az",                          "be4",        "azimuth_safety",                   "safety_in_positive", true }
	{ "dt_az",                          "be2",        "azimuth_safety",                   "safety_in_negative", true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
116
117
118
119
120
	{ "azimuth_servo_state",            "enable",     "azimuth_safety",                   "enable"       , true }
        { "azimuth_safety",                 "speed_out",  "azimuth_speed_servo",              "in"           , true }
	{ "azimuth_speed_servo",            "out",        "dt_az",                            "speed"        , true }
	{ "azimuth_safety",                 "torque_out", "dt_az",                            "torque"       , true }
	{ "azimuth_servo_state",            "enable",     "dt_az",                            "enable"       , true }
121
122
	{ "dt_az",                          "speed",      "azimuth_speed_warning",            "in"           , true }
	{ "azimuth_speed_warning",          "invalid",    "dt_az",                            "ba1"          , true }
123
	{ "false",			    "value",      "dt_az",                            "ba2"          , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
124
125

	{ "elevation_servo_state",          "reset",      "elevation_spg",                    "reset"        , false }
126
	{ "elevation_input_matrix",         "out0",       "elevation_spg",                    "reset_x"      , true }
127
128
129
	{ "elevation_spg",                  "x",          "elevation_servo_state",            "spg_x"        , true }
	{ "elevation_spg",                  "v",          "elevation_servo_state",            "spg_v"        , true }
	{ "elevation_spg",                  "a",          "elevation_servo_state",            "spg_a"        , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
130
	{ "elevation_safety",               "safe_out",   "elevation_safe_and",               "a"            , false }
131
	{ "ethercat",                       "operational","elevation_safe_and",               "b"            , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
132
	{ "elevation_safe_and",             "q",          "elevation_servo_state",            "safe"         , true }
133
	{ "elevation_safety",               "recover",    "elevation_servo_state",            "override"     , false }
134
135
	{ "elevation_servo_state",          "out_x",      "elevation_error",                  "positive"     , true }
	{ "elevation_servo_state",          "out_v",      "elevation_speed_ff",               "in0"          , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
136
137
	{ "dt_el_r",                        "position",   "elevation_position_offset_r_sum",  "in0"          , true }
	{ "dt_el_l",                        "position",   "elevation_position_offset_l_sum",  "in0"          , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
	{ "elevation_position_offset_r",    "value",      "elevation_position_offset_r_sum",  "in1"          , true }
	{ "elevation_position_offset_l",    "value",      "elevation_position_offset_l_sum",  "in1"          , true }
	{ "elevation_position_offset_r_sum","out",        "elevation_input_matrix",           "in0"          , true }
	{ "elevation_position_offset_l_sum","out",        "elevation_input_matrix",           "in1"          , true }
	{ "elevation_input_matrix",         "out0",       "elevation_error",                  "negative"     , true }
	{ "elevation_spg",                  "setpoint",   "elevation_setpoint_error",         "positive"     , true }
	{ "elevation_input_matrix",         "out0",       "elevation_setpoint_error",         "negative"     , true }
	{ "elevation_error",                "difference", "elevation_pid",                    "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_pid",                    "enable"       , true }
	{ "elevation_pid",                  "out",        "elevation_speed_ff",               "in1"          , true }
	{ "elevation_speed_ff",             "out",        "elevation_position_switch",        "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_position_switch",        "on"           , true }
	{ "elevation_position_switch",      "out",        "elevation_speed_limit",            "in"           , true }
	{ "elevation_servo_state",          "enable",     "elevation_jerk_limit",             "enable"       , true }
	{ "elevation_speed_limit",          "out",        "elevation_jerk_limit",             "in"           , true }
	{ "elevation_jerk_limit",           "out",        "elevation_output_matrix",          "in0"          , true }
154
155
156
	{ "dt_el_r",                        "torque",     "elevation_torsion_torque",         "positive"     , true }
	{ "dt_el_l",                        "torque",     "elevation_torsion_torque",         "negative"     , true }
	{ "elevation_torsion_torque",       "difference", "elevation_torsion_torque_lp",      "in"           , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
157
158
	{ "elevation_position_offset_r_sum","out",        "elevation_safety",                 "position_in_r" , true }
	{ "elevation_position_offset_l_sum","out",        "elevation_safety",                 "position_in_l" , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
159
	{ "elevation_input_matrix",         "out1",       "elevation_safety",                 "torsion_in"   , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
160
161
	{ "elevation_output_matrix",        "out0",       "elevation_safety",                 "speed_in_r"    , true }
	{ "elevation_output_matrix",        "out1",       "elevation_safety",                 "speed_in_l"    , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
162
	{ "elevation_torsion_torque_lp",    "out",        "elevation_safety",                 "torque_in"    , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
163
164
	{ "elevation_torque_r",             "value",      "elevation_safety",                 "torque_in_r"   , true }
	{ "elevation_torque_l",             "value",      "elevation_safety",                 "torque_in_l"   , true }
165
166
	{ "dt_el_l",                        "be4",        "elevation_safety",                 "safety_in_top",    true }
	{ "dt_el_l",                        "be2",        "elevation_safety",                 "safety_in_bottom", true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
167
	{ "elevation_servo_state",          "enable",     "elevation_safety",                 "enable"       , true }
168
169
170
171
	{ "elevation_safety",               "speed_out_r", "dt_el_r",                         "speed"        , true } 
	{ "elevation_safety",               "speed_out_l", "dt_el_l",                         "speed"        , true }
	{ "elevation_safety",               "torque_out_r","dt_el_r",                         "torque"       , true }
	{ "elevation_safety",               "torque_out_l","dt_el_l",                         "torque"       , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
172
173
	{ "elevation_servo_state",          "enable",     "dt_el_r",                          "enable"       , true }
	{ "elevation_servo_state",          "enable",     "dt_el_l",                          "enable"       , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
174
175
	{ "focusbox_plus",                  "value",      "dt_el_r",                          "ba1"          , true }
	{ "focusbox_min",		    "value",      "dt_el_r",                          "ba2"          , true }
176
177
	{ "false",                          "value",      "dt_el_l",                          "ba1"          , true }
	{ "false",			    "value",      "dt_el_l",                          "ba2"          , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
178
179
	
	{ "elevation_servo_state",          "reset",      "elevation_torsion_spg",            "reset"        , false }
180
181
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_spg",            "reset_x"      , true }
	{ "elevation_torsion_spg",          "x",          "elevation_torsion_error",          "positive"     , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
182
183
184
185
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_error",          "negative"     , true }
	{ "elevation_torsion_spg",          "setpoint",   "elevation_torsion_setpoint_error", "positive"     , true }
	{ "elevation_input_matrix",         "out1",       "elevation_torsion_setpoint_error", "negative"     , true }
	{ "elevation_torsion_error",        "difference", "elevation_torsion_pid",            "in"           , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
186
	{ "elevation_servo_state",          "enable",     "elevation_torsion_pid",            "enable"       , true }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
187
188
189
190
191
	{ "elevation_torsion_pid",          "out",        "elevation_torsion_speed_limit",    "in"           , true }
	{ "elevation_torsion_speed_limit",  "out",        "elevation_output_matrix",          "in1"          , true }
}

traces {
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
	{ "Azimuth_Spg0",                     "rad",       "azimuth_spg",                      "x"          }
	{ "Azimuth_Spg1",                     "rad/s",     "azimuth_spg",                      "v"          }
	{ "Azimuth_Spg2",                     "rad/s/s",   "azimuth_spg",                      "a"          }
	{ "Azimuth_Spg3",                     "rad/s/s/s", "azimuth_spg",                      "j"          }
	{ "Azimuth_Setpoint",                 "rad",       "azimuth_spg",                      "setpoint"   }
	{ "Azimuth_Error",                    "rad",       "azimuth_error",                    "difference" }
	{ "Azimuth_Setpoint_Error",           "rad",       "azimuth_setpoint_error",           "difference" }
	{ "Azimuth_PID",                      "rad/s",     "azimuth_pid",                      "out"        }
	{ "Azimuth_I",                        "rad/s",     "azimuth_pid",                      "outi"       }
	{ "Azimuth_PID_filtered",             "rad/s",     "azimuth_pid_filter",               "out"        }
	{ "Azimuth_Position",                 "rad",       "azimuth_position_offset_sum",      "out"        }
	{ "Azimuth_Speed",                    "rad/s",     "dt_az",                            "speed"      }
	{ "Azimuth_Torque",                   "Nm",        "dt_az",                            "torque"     }
	{ "Azimuth_Safe",                     "Boolean",   "azimuth_safety",                   "safe_out"   }
	{ "Azimuth_Enabled",                  "Boolean",   "dt_az",                            "enabled"    }
	{ "Azimuth_Drive_Safety",             "Boolean",   "dt_az",                            "be1"        }
	{ "Azimuth_Drive_Safety_p270",        "Boolean",   "dt_az",                            "be4"        }
	{ "Azimuth_Drive_Safety_m270",        "Boolean",   "dt_az",                            "be2"        }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
210
		
211
	{ "Focusbox_Position",                "Volt",      "dt_az",                            "ae1"	    }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
212

213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
	{ "Elevation_Position",               "rad",       "elevation_input_matrix",           "out0"       }
	{ "Elevation_Torsion",                "rad",       "elevation_input_matrix",           "out1"       }
	{ "Elevation_Setpoint",               "rad",       "elevation_spg",                    "setpoint"   }
	{ "Elevation_Spg0",                   "rad",       "elevation_spg",                    "x"          }
	{ "Elevation_Spg1",                   "rad/s",     "elevation_spg",                    "v"          }
	{ "Elevation_Spg2",                   "rad/s",     "elevation_spg",                    "a"          }
	{ "Elevation_Spg3",                   "rad/s",     "elevation_spg",                    "j"          }
	{ "Elevation_Error",                  "rad",       "elevation_error",                  "difference" }
	{ "Elevation_Setpoint_Error",         "rad",       "elevation_setpoint_error",         "difference" }
	{ "Elevation_PID",                    "rad/s",     "elevation_pid",                    "out"        }
	{ "Elevation_Torsion_Error",          "rad",       "elevation_torsion_error",          "difference" }
	{ "Elevation_Torsion_Setpoint_Error", "rad",       "elevation_torsion_setpoint_error", "difference" }
	{ "Elevation_Torsion_PID",            "rad/s",     "elevation_torsion_pid",            "out"        }
	{ "Elevation_Position_Right",         "rad",       "elevation_position_offset_r_sum",  "out"        }
	{ "Elevation_Position_Left",          "rad",       "elevation_position_offset_l_sum",  "out"        }
	{ "Elevation_Speed_Right",            "rad/s",     "dt_el_r",                          "speed"      }
	{ "Elevation_Speed_Left",             "rad/s",     "dt_el_l",                          "speed"      }
	{ "Elevation_Torque_Right",           "Nm",        "dt_el_r",                          "torque"     }
	{ "Elevation_Torque_Left",            "Nm",        "dt_el_l",                          "torque"     }
	{ "Elevation_Torsion_Torque",         "Nm",        "elevation_torsion_torque_lp",      "out"        }
	{ "Elevation_Safe",                   "Boolean",   "elevation_safety",                 "safe_out"   }
	{ "Elevation_Enabled",                "Boolean",   "dt_el_l",                          "enabled"    }
	{ "Elevation_Drive_Safety_Right",     "Boolean",   "dt_el_r",                          "be1"        }
	{ "Elevation_Drive_Safety_Left",      "Boolean",   "dt_el_l",                          "be1"        }
	{ "Elevation_Top_Safe",               "Boolean",   "dt_el_l",                          "be4"        }
	{ "Elevation_Bottom_Safe",            "Boolean",   "dt_el_l",                          "be2"        }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
239
240
}

241
242
243
set azimuth_gear	15006.75
set elevation_gear	44803.125

Jeroen Vreeken's avatar
Jeroen Vreeken committed
244
params {
245
246
	{ "azimuth_spg",           "setpoint",            (float) 0.0		 }
	{ "azimuth_spg",           "t",                   (float) 0.004          }
247
	# maximum speed and position clients input is checked against
248
249
	{ "azimuth_spg",           "max_x",               (float) deg2rad(270.0)   }
	{ "azimuth_spg",           "min_x",               (float) deg2rad(-270.0)  }
250
	{ "azimuth_spg",           "max_v",               (float) rpm2rads(3000.0)/$(azimuth_gear) }
251
	# acceleration and jerk we use to generate a profile
252
253
	{ "azimuth_spg",           "max_a",               (float) 0.0002    	 }
	{ "azimuth_spg",           "max_j",               (float) 0.00001        }
254
	# at which precision do we consider the values to be 'equal'
255
256
257
	{ "azimuth_spg",           "precision_x",         (float) 0.000001       }
	{ "azimuth_spg",           "precision_a",         (float) 0.000001       }
	{ "azimuth_spg",           "precision_v",         (float) 0.000001       }
258
	# maximum values within we allow normal operation
259
260
	{ "azimuth_servo_state",   "max_x",               (float) deg2rad(270.0)   }
	{ "azimuth_servo_state",   "min_x",               (float) deg2rad(-270.0)  }
261
	{ "azimuth_servo_state",   "max_v",               (float) rpm2rads(3000.0)/$(azimuth_gear) }
262
	{ "azimuth_servo_state",   "max_a",               (float) 0.0002         }
263
	# controller factors
264
265
266
267
	{ "azimuth_pid",           "kp",                  (float) 0.20           }
	{ "azimuth_pid",           "ki",                  (float) 0.00           }
	{ "azimuth_pid",           "kd",                  (float) 0.0            }
	{ "azimuth_pid",           "t",                   (float) 0.004          }
268
	# the amount of 'wind-up' we allow in the integrator
269
270
	{ "azimuth_pid",           "maxw",                (float) rpm2rads(0.005)  }
	{ "azimuth_pid",           "minw",                (float) rpm2rads(-0.005) }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
271

272
	# second order filter to make sure we do not trigger the eigenfrequency of the DT
Jeroen Vreeken's avatar
Jeroen Vreeken committed
273
274
275
	{ "azimuth_pid_filter",    "transfer",            (int) 2,
							  (double) 6.343831259e+05,
						          (float) { -0.9964520027, 1.9964456974 },
276
							  (float) { 1.0, 2.0 }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
277
278
										}

279
280
281
	{ "azimuth_speed_warning", "max",                 (double) rpm2rads(200.0)  }
	{ "azimuth_speed_warning", "min",                 (double) rpm2rads(-200.0) }

282
283
284
285
	# Due to high vibrations observed at high speed it was decided to limit
	# the pid controller. At low speed the value is untouched, but the 
	# output is limited when speed increases 
	# limit = offset + gain * speed
286
	{ "azimuth_pid_limit",     "offset",              (float) rpm2rads(100.0)/$(azimuth_gear) }
287
	{ "azimuth_pid_limit",     "gain",                (float)-0.3               }
288
	# speed limit on spg + pid just before we send it to the drive
289
290
	{ "azimuth_speed_limit",   "min",                 (float) rpm2rads(-3000.0)/$(azimuth_gear) }
	{ "azimuth_speed_limit",   "max",                 (float) rpm2rads(3000.0)/$(azimuth_gear)  }
291
	# gear ratio between DT and servodrive
292
	{ "azimuth_speed_servo",   "gain",                (float)-$(azimuth_gear)          }
293
	# torque we allow the servodrive to actuate on the DT
294
	{ "azimuth_torque",        "value",               (float) 10.0              }
295
	# inverse gear ratio between DT and servodrive
296
	{ "azimuth_position_gain", "gain",                (float)-1.0/$(azimuth_gear) }
297
	# callibration value for position
298
	{ "azimuth_position_offset","value",              (float) 0.0               }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
299

300
301
	# positions were we go into safe behavior
	# these must be outside the normal operating range
302
303
	{ "azimuth_safety",        "position_min",        (float) deg2rad(-290.0) }
	{ "azimuth_safety",        "position_max",        (float) deg2rad(290.0)  }
304
305
	# 'safe zone' is between the operating range and the absolute safety
	# value above
306
307
	{ "azimuth_safety",        "safe_zone_min",       (float) deg2rad(-280.0) }
	{ "azimuth_safety",        "safe_zone_max",       (float) deg2rad(280.0)  }
308
309
	{ "azimuth_safety",        "safe_zone_min_speed", (float) rpm2rads(-0.001) }
	{ "azimuth_safety",        "safe_zone_max_speed", (float) rpm2rads(0.001)  }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
310
	{ "azimuth_safety",        "emergency_torque",    (float) 3.0           }
311
	# we do not start in recovery mode
Jeroen Vreeken's avatar
Jeroen Vreeken committed
312
	{ "azimuth_safety",        "recover",             (int)   0  		}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
313
	
314
        { "elevation_input_matrix", "constants",          (float) { 0.5/$(elevation_gear), -0.5/$(elevation_gear) },
315
                                        	          (float) { 1.0/$(elevation_gear),  1.0/$(elevation_gear) } }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
316

317
318
	{ "elevation_output_matrix", "constants",         (float) { $(elevation_gear),  $(elevation_gear)/2.0 }, 
							  (float) { -$(elevation_gear), $(elevation_gear)/2.0 } }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
319
320
321

	{ "elevation_spg",         "setpoint",            (float) 0.0           }
	{ "elevation_spg",         "t",                   (float) 0.004         }
322
	{ "elevation_spg",         "max_x",               (float) deg2rad(90.0)   }
323
	{ "elevation_spg",         "min_x",               (float) deg2rad(-0.05)  }
324
	{ "elevation_spg",         "max_v",               (float) rpm2rads(2100.0)/$(elevation_gear) }
325
326
327
328
329
	{ "elevation_spg",         "max_a",               (float) 0.0003   	}
	{ "elevation_spg",         "max_j",               (float) 0.000016	}
	{ "elevation_spg",         "precision_x",         (float) 0.000001      }
	{ "elevation_spg",         "precision_a",         (float) 0.000001      }
	{ "elevation_spg",         "precision_v",         (float) 0.000001      }
330
	{ "elevation_servo_state", "max_x",               (float) deg2rad(90.0)   }
331
	{ "elevation_servo_state", "min_x",               (float) deg2rad(-0.05)  }
332
	{ "elevation_servo_state", "max_v",               (float) rpm2rads(2100.0)/$(elevation_gear) }
333
	{ "elevation_servo_state", "max_a",               (float) 0.0003   	}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
334
	{ "elevation_torsion_spg", "setpoint",            (float) 0.0           }
335
336
	{ "elevation_torsion_spg", "max_x",               (float) 0.00          }
	{ "elevation_torsion_spg", "min_x",               (float)-0.00          }
337
	{ "elevation_torsion_spg", "max_v",               (float) rpm2rads(0.001) }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
338
339
340
341
	{ "elevation_pid",         "kp",                  (float) 0.80     	}
	{ "elevation_pid",         "ki",                  (float) 0.001  	}
	{ "elevation_pid",         "kd",                  (float) 0.001   	}
	{ "elevation_pid",         "t",                   (float) 0.004         }
342
343
344
345
	{ "elevation_pid",         "maxw",                (float) rpm2rads(0.002)  }
	{ "elevation_pid",         "minw",                (float) rpm2rads(-0.002) }
	{ "elevation_speed_limit", "min",                 (float) rpm2rads(-0.08)  }
	{ "elevation_speed_limit", "max",                 (float) rpm2rads(0.08)   }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
346
347
348
349
350
351
352
	{ "elevation_jerk_limit",  "min",                 (float)-0.003         }
	{ "elevation_jerk_limit",  "max",                 (float) 0.003         }
	{ "elevation_jerk_limit",  "t",                   (float) 0.004         }
	{ "elevation_torsion_pid", "t",                   (float) 0.004         }
	{ "elevation_torsion_pid", "kp",                  (float) 0.2  		}
	{ "elevation_torsion_pid", "ki",                  (float) 0.0  		}
	{ "elevation_torsion_pid", "kd",                  (float) 0.0 		}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
353
354
	{ "elevation_torsion_pid", "maxw",                (float) 0.0001 }
	{ "elevation_torsion_pid", "minw",                (float)-0.0001 }
355
356
	{ "elevation_torsion_speed_limit", "min",         (float) rpm2rads(-0.001) }
	{ "elevation_torsion_speed_limit", "max",         (float) rpm2rads(0.001)  }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
357
358
359
360
361
362
363


	{ "elevation_safety",      "safe_zone_min_speed", (float)-30  		}
	{ "elevation_safety",      "safe_zone_max_speed", (float) 30  		}
	{ "elevation_safety",      "torsion_max",         (float) 0.0002 	}

	{ "elevation_safety",      "recover",             (int)   0  		}
364
	{ "elevation_safety",      "torque_max",          (float) 20.0		}
Jeroen Vreeken's avatar
Jeroen Vreeken committed
365
366
367
368
369
370
371
372
373
	{ "elevation_safety",      "emergency_torque",    (float) 3.0 		}

	{ "elevation_torque_r",    "value",               (float) 10.0          }
	{ "elevation_torque_l",    "value",               (float) 10.0          }
	{ "elevation_torsion_torque_lp", "t",             (float) 0.004         }
	{ "elevation_torsion_torque_lp", "tau",           (float) 10.0          }
	{ "elevation_position_offset_r","value",          (float) 0.0           }
	{ "elevation_position_offset_l","value",          (float) 0.0           }

374
375
376
377
378
	{ "elevation_safety",      "position_min",        (float) deg2rad(-0.1) * $(elevation_gear)  }
	{ "elevation_safety",      "position_max",        (float) deg2rad(90.5) * $(elevation_gear)  }
	{ "elevation_safety",      "safe_zone_min",       (float) deg2rad(-0.09) * $(elevation_gear) }
	{ "elevation_safety",      "safe_zone_max",       (float) deg2rad(90.4) * $(elevation_gear)  }
	{ "elevation_safety",      "torsion_recover_max", (float) deg2rad(1.0) }
Jeroen Vreeken's avatar
Jeroen Vreeken committed
379
}
380
381
382
383

# Load file with calibration parameters.
# All parameters above should not be subject to calibration.
include "dt_ctrl.param"