-
Notifications
You must be signed in to change notification settings - Fork 3
/
pcav2cast_hxr.py
102 lines (93 loc) · 3.93 KB
/
pcav2cast_hxr.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
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
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
#####################################################################
# Filename: pcav2cast_hxr.py
# Author: Chengcheng Xu ([email protected])
# Date: 03/07/2021
#####################################################################
# This script will take the phase cavity value and put throw
# an exponential feedback controller, then output its value to the
# phase shifter in the cable stabilizer system
# NOTE: This is a band-aid, code is probably breaking many rules
# To ensure right python env sourced
# source /reg/g/pcds/engineering_tools/xpp/scripts/pcds_conda
import epics as epics
import numpy as np
import time as time
import datetime
# from matplotlib import pyplot as plt
HXR_FB_PV = 'LAS:UNDH:FLOAT:05'
HXR_PCAV_PV0 = 'SIOC:UNDH:PT01:0:TIME0'
HXR_PCAV_PV1 = 'SIOC:UNDH:PT01:0:TIME1'
HXR_CAST_PS_PV_W = 'LAS:UND:MMS:02'
HXR_CAST_PS_PV_R = HXR_CAST_PS_PV_W + '.RBV'
HXR_CAST2PCAV_Gain = 1.1283 # the slope from plotting cast phase shifter to value read from PCAV
HXR_PCAV_AVG_PV = 'LAS:UNDH:FLOAT:06'
SXR_FB_PV = 'LAS:UNDS:FLOAT:05'
SXR_PCAV_PV0 = 'SIOC:UNDS:PT01:0:TIME0'
SXR_PCAV_PV1 = 'SIOC:UNDS:PT01:0:TIME1'
SXR_CAST_PS_PV_W = 'LAS:UND:MMS:01'
SXR_CAST_PS_PV_R = SXR_CAST_PS_PV_W + '.RBV'
SXR_CAST2PCAV_Gain = 1.1283 # the slow from plotting cast phase shifter to value read from PCAV
SXR_PCAV_AVG_PV = 'LAS:UNDS:FLOAT:06'
# -1727400.6755412123
pause_time = 2 # Let's give some time for the system to react
Cntl_gain = 0.1 # Feed back loop gain
#We are doing an exponential fb loop, where the output = output[-1] + (-gain * error)
pcavsp_ary = np.zeros(2,)
pcavsp_ary[0,] = epics.caget(HXR_PCAV_PV0) # Latch in the value before starting the feedback, this will be value we correct to
pcavsp_ary[1,] = epics.caget(HXR_PCAV_PV1) # Latch in the value before starting the feedback, this will be value we correct to
Cntl_setpt = np.average(pcavsp_ary)
Cntl_output = 0
pcav_avg_n = 5 # Taking 5 data samples to average and throw out outliers
# let's get the current value of the phase shifter
HXR_CAST_PS_init_Val = epics.caget(HXR_CAST_PS_PV_R)
Cntl_output = HXR_CAST_PS_init_Val # once the script runs, that value is the setpoint
hxr_fb_en = epics.caget(HXR_FB_PV)
time_err_ary = np.zeros((pcav_avg_n,))
PCAV_temp_ary = np.zeros(2,)
cntr = 0
time_err_avg_prev = 0
print('Controller running')
while True:
print(cntr)
for h in range(0,pcav_avg_n):
PCAV_temp_ary[0,] = epics.caget(HXR_PCAV_PV0)
PCAV_temp_ary[1,] = epics.caget(HXR_PCAV_PV1)
HXR_PCAV_Val_tmp = np.average(PCAV_temp_ary)
# HXR_PCAV_Val_tmp = epics.caget(HXR_PCAV_PV0)
if np.isnan(HXR_PCAV_Val_tmp):
HXR_PCAV_Val_tmp = 0
time_err = np.around((Cntl_setpt - HXR_PCAV_Val_tmp), decimals=6)
time_err_ary[h] = time_err
time.sleep(0.1)
time_err_ary_sort = np.sort(time_err_ary)
time_err_ary_sort1 = time_err_ary_sort[1:-1]
time_err_avg = np.mean(time_err_ary_sort1)
epics.caput(HXR_PCAV_AVG_PV, time_err_avg)
if cntr == 0:
time_err_diff = 0.01
else:
time_err_diff = time_err_avg_prev - time_err_avg
print('average error')
print(time_err_avg)
cntl_temp = np.true_divide(time_err_avg, HXR_CAST2PCAV_Gain)
cntl_delta = np.multiply(Cntl_gain, cntl_temp)
print('previous error')
print(time_err_avg_prev)
print('Error diff')
print(time_err_diff)
hxr_fb_en = epics.caget(HXR_FB_PV)
if (time_err_diff == 0) or (time_err_diff >= 100) or (hxr_fb_en == 0):
cntl_delta = 0
Cntl_output = Cntl_output + cntl_delta
print('feedback value')
print(Cntl_output)
print('feedback delta')
print(cntl_delta)
epics.caput(HXR_CAST_PS_PV_W, Cntl_output)
time_err_avg_prev = time_err_avg
cntr = cntr + 1
now = datetime.datetime.now()
print(now.strftime('%Y-%m-%d-%H-%M-%S'))
print('=============================================')
time.sleep(pause_time)
# epics.caput(HXR_CAST_PS_PV_W, HXR_CAST_PS_init_Val)