ServoPrm SetParameters()
{//value is from *.prm file (ServoGuide Parameter file)
ServoPrm P = new ServoPrm();
//P.FANUCs.HRVGain = 300;
//P.FANUCs.VelocityLoopGain = 100;
//P.JL = 0.00546;
P.KVI = 740.2203300818m;
P.KVP = 6.6915923521467m;
P.dTzoh = 0.001m;
P.Tc = 0.0003m;
P.IsHighCycle = true;
P.IsFullCloseLoop = true;
return(P);
}
public Form1()
{
InitializeComponent();
//WATCH OUT:
//Definition of Modes has changed.
//VLoopModes adds additional 0Hz. mode.
//0Hz. mode. should be also defined in Mode object.
//Object name change: Parameter --> ServoPrm
//Add Motor object. (not important)
//Set experiment Control Parameters
ServoPrm P = SetParameters();
FANUCMotor Motor = new FANUCMotor(1.2, 0.012);
////create Object
// VR = new VelocityLoop(P, Motor, VLoopModes);
//read FRF File from csv file, which is created by servoguide
//this data is considered as referance.
FRF[] Close_ref = Tool.Read_ServoGuide_FRFdata("Frequency_Response_Axis-1_1_-_1000Hz_edited.csv");
//set freq interval. it should be identical with ref.
//VR.IsFreqDataSameAsRef = true;
//VR.SetCustomFreqInterval(Close_ref);
//remove controller response from measurement data
//extract Structure response
Struct_ref = Tool.ExtractStructureResponseFromVLoop(P, Motor, Close_ref);
//OPTIMIZATION TARGET
////caculate simulated FRF.
//FRF[] Close_sim = VR.GetCloseLoop(); //////////// HERE
//FRF[] Open_sim = VR.GetOpenLoop(); //////////// HERE
//draw simulated FRF of close loop system
//DrawLine(Close_ref, 0);
//DrawLine(Close_sim, 1);
//caculate simulated Structure FRF.
//FRF[] Struct_sim = new FRF[Struct_ref.Length];
//for (int i = 0; i < Struct_ref.Length; i++)
//{
// Complex Res = Tool.GetStructureResponse(Struct_ref[i].Freq, VLoopModes, "Velocity");
// Struct_sim[i] = new FRF(Struct_ref[i].Freq, Res);
//}
//draw simulated FRF of structure
DrawLine(Struct_ref, 0);
//DrawLine(Struct_sim, 1);
}