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<== Date ==> <== Thread ==>

Subject: RE: EPID bumpless restart
From: "Crisp, Daniel" <CrispD@nscl.msu.edu>
To: Mark Rivers <rivers@cars.uchicago.edu>, "tech-talk@aps.anl.gov" <tech-talk@aps.anl.gov>
Date: Mon, 4 Dec 2017 15:41:07 +0000
Hi Mark,

No I haven't yet. However, I am using a few extra channels to help me control the IO to and from the epid record. My set up is a lot like the one Pete Jemian explains here https://www3.aps.anl.gov/bcda/synApps/optics/fb_epid/index.html.

I suppose it's possible that the reason it's not doing a bumpless restart, is because it is instead grabbing it's last output held in my 'EPID_OBUF' channel rather than the current value of the supply. Maybe, instead of re-writing the I term in the EPID, I should be re-writing the value of my output buffer channel.. Also, to answer your other question, the link is PP.

I use the extra channels because in some cases, the polarity of the supply may be negative while the field read back from the controller is positive.

Here is the output of the dbpr "<epid_record>",4
epics> dbpr "REA_BTS23:DV_D1155:EPID",4
ACKS: NO_ALARM      ACKT: YES           ADEL: 0
ALST: 0.85615244554806                  ASG:                ASP: 0x272ea20
BKPT: 00            CT: c6 1a 83 34 6c 2d 5c 0e
CTP: c6 1a 83 34 6c 2d 5c 0e            CVAL: 0.856157      CVLP: 0.856157
D: 0                DESC: Enhanced PID Control              DISA: 0
DISP: 0             DISS: NO_ALARM      DISV: 1             DP: 0
DPVT: (nil)         DRVH: 300           DRVL: 0             DSET: 0x7f0c63ace560
DT: 1.00008201      DTP: 1.00008201     DTYP: Soft Channel  EGU:
ERR: -4.55445193758841e-06              ERRP: -4.55445193758841e-06
EVNT: 0             FBON: Off           FBOP: Off
FLNK:DB_LINK REA_BTS23:DV_D1155:EPID_LMTS.VAL               FMOD: PID
HHSV: NO_ALARM      HIGH: 0             HIHI: 0             HOPR: 300
HSV: NO_ALARM       HYST: 0             I: 167.689240882694
INP:DB_LINK REA_BTS23:DV_D1155:EPID_INP NPP NMS             IP: 167.689240882694
KD: 0               KI: 1.175           KP: 34.5
LALM: 0.85615244554806                  LCNT: 0             LLSV: NO_ALARM
LOLO: 0             LOPR: 0             LOW: 0              LSET: 0x2723540
LSV: NO_ALARM       MDEL: 0             MDT: 0.1
MLIS: e0 5d 79 02 00 00 00 00 80 2c 79 02 00 00 00 00 08 00 00 00
MLOK: 40 ce 70 02 00 00 00 00           MLST: 0.85615244554806
NAME: REA_BTS23:DV_D1155:EPID           NSEV: NO_ALARM      NSTA: NO_ALARM
ODEL: 0             OUTL:DB_LINK REA_BTS23:DV_D1155:EPID_OBUF PP NMS
OVAL: 167.689083754102                  OVLP: 167.689083754102
P: -1.571285918468e-04                  PACT: 0             PHAS: 0
PINI: NO            PP: -1.571285918468e-04                 PPN: (nil)
PPNR: (nil)         PREC: 6             PRIO: LOW           PROC: 0
PUTF: 0             RDES: 0x2692550     RPRO: 0             RSET: 0x7f0c63ace4c0
SCAN: 1 second      SDIS:CONSTANT       SEVR: NO_ALARM      SMSL: supervisory
SPVT: 0x2729ec0     STAT: NO_ALARM      STPL:CONSTANT 0
TIME: 2017-12-01 15:15:02.240922343     TPRO: 0             TRIG:CONSTANT
TSE: 0              TSEL:CONSTANT       TVAL: 0             UDF: 0
VAL: 0.85615244554806

-Dan

-----Original Message-----
From: Mark Rivers [mailto:rivers@cars.uchicago.edu] 
Sent: Friday, December 01, 2017 9:12 AM
To: Crisp, Daniel <CrispD@nscl.msu.edu>; tech-talk@aps.anl.gov
Subject: Re: EPID bumpless restart

Hi Dan,


Have you had a chance to test this?


I had an idea what could be causing your problem with the Integral term not being set correctly.  Can you send the output of dbpr of all fields for the epid record, i.e.


dbpr "myEpidRecord",4


Is the link to the power-supply PV a CA link?


Mark



________________________________
From: Crisp, Daniel <CrispD@nscl.msu.edu>
Sent: Wednesday, November 29, 2017 6:07 PM
To: Mark Rivers; tech-talk@aps.anl.gov
Subject: RE: EPID bumpless restart


Hello Mark,



Ah, great! For what it's worth, that looks good to me. I'll try this tomorrow and let you know how it works. I'll also double check how the bumpless restart is/isn't acting so I can answer Matthew.



Thank you for the quick responses!

-Dan





From: Mark Rivers [mailto:rivers@cars.uchicago.edu]
Sent: Wednesday, November 29, 2017 6:57 PM
To: Crisp, Daniel <CrispD@nscl.msu.edu>; tech-talk@aps.anl.gov
Subject: RE: EPID bumpless restart



Hi Daniel,



I think this patch to devEpidSoft.c should implement ODEL.  Let me know if this works and I will commit it.



diff --git a/stdApp/src/devEpidSoft.c b/stdApp/src/devEpidSoft.c

index 62c753f..118fb0c 100755

--- a/stdApp/src/devEpidSoft.c

+++ b/stdApp/src/devEpidSoft.c

@@ -41,6 +41,8 @@

  *  dT(n)   Time difference between n-1 and n

  */



+#include    <math.h>

+

#include    <alarm.h>

#include    <dbDefs.h>

#include    <dbAccess.h>

@@ -207,7 +209,9 @@ static long do_pid(epidRecord *pepid)

     pepid->dt   = dt;

     pepid->err  = e;

     pepid->cval  = cval;

-    pepid->oval  = oval;

+    if ((pepid->odel != 0) && (fabs(pepid->oval - oval) > pepid->odel)) {

+        pepid->oval  = oval;

+    }

     pepid->p  = p;

     pepid->i  = i;

     pepid->d  = d;



Mark





From: tech-talk-bounces@aps.anl.gov<mailto:tech-talk-bounces@aps.anl.gov> [mailto:tech-talk-bounces@aps.anl.gov] On Behalf Of Crisp, Daniel
Sent: Wednesday, November 29, 2017 2:48 PM
To: tech-talk@aps.anl.gov<mailto:tech-talk@aps.anl.gov>
Subject: EPID bumpless restart



Hello,



I'm currently using the EPID record to stabilize a dipole fields. It is reading a magnetic field from a hallprobe controller, and driving a power supply current to match the hallprobe reading to a target value specified by the user.



1)      How can I make the EPID record perform a 'bumpless restart'?

Currently, if the power supply set point is significantly changed while the EPID feedback is off, the epid record will drive around the supply wildly once turned back on. I have some channels set up which pause a user's request to turn on feedback until the '<epid_channel>.I' field can be automatically set with the live value in the supply. And when I monitor the '<epid_channel>.I' value, I see that it in fact does get set, but it then gets overwritten and ignored. What's the best way of dealing with this?



2)      How to best implement a deadband? (It appears there was a thread about the ODEL field being present, but not used in the epid support code? Am I wrong? Is this still the case?)

Especially for some magnets that require a less frequent touch, I'd like the epid to only act on the supply when the error reaches a larger percent difference. Specifically, I'd like it to only react to errors in field greater than, say, .01% of the target field. We had tried to simply decrease the KP value enough that resulting P values are less than what can be acted on by the supply (supply doesn't recognize a difference in set points differing by the 3rd significant figure), but this isn't ideal.



Thank you!

-Dan



Replies:
RE: EPID bumpless restart Mark Rivers
References:
EPID bumpless restart Crisp, Daniel
RE: EPID bumpless restart Crisp, Daniel

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