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Add fast_brake command for HWP rapid spindown #787

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Add fast_brake command for HWP rapid spindown #787

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e179461
add fast_brake command for rapid dpindown
17-sugiyama Oct 30, 2024
3eef07c
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 30, 2024
ff03948
merged 'fast_brake' and 'brake'
Dec 19, 2024
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49 changes: 32 additions & 17 deletions socs/agents/hwp_supervisor/agent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -645,6 +645,7 @@ class Brake:
freq_tol: float
freq_tol_duration: float
brake_voltage: float
fast: bool = False

@dataclass
class WaitForBrake:
Expand All @@ -656,6 +657,7 @@ class WaitForBrake:
"""
min_freq: float
prev_freq: float = None
fast: bool = False

@dataclass
class PmxOff:
Expand Down Expand Up @@ -1104,45 +1106,56 @@ def check_acu_ok_for_spinup():
self.action.set_state(ControlState.Done(success=True))

elif isinstance(state, ControlState.Brake):
pid_dir = int(query_pid_state()['direction'])
if state.fast:
# set pcu fase brake state
new_pcu_state = 'on_2' if (pid_dir == 1) else 'on_1'
min_freq = 0.2
else:
new_pcu_state = 'off'
min_freq = 0.5
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'off'}, timeout=None
kwargs={'command': new_pcu_state}, timeout=None
)

# Flip PID direciton and tune stop
pid_dir = int(query_pid_state()['direction'])
new_d = '0' if (pid_dir == 1) else '1'
self.run_and_validate(clients.pid.set_direction,
kwargs=dict(direction=new_d))
self.run_and_validate(clients.pid.tune_stop)

if not state.fast:
# Flip PID direciton and tune stop
new_d = '0' if (pid_dir == 1) else '1'
self.run_and_validate(clients.pid.set_direction,
kwargs=dict(direction=new_d))
self.run_and_validate(clients.pid.tune_stop)
self.run_and_validate(clients.pmx.ign_ext)
self.run_and_validate(clients.pmx.set_v, kwargs={'volt': state.brake_voltage})
self.run_and_validate(clients.pmx.set_on)

time.sleep(10)
self.action.set_state(ControlState.WaitForBrake(
min_freq=0.5,
min_freq=min_freq,
prev_freq=hwp_state.enc_freq,
fast=state.fast
))

elif isinstance(state, ControlState.WaitForBrake):
f0 = query_pid_state()['current_freq']
time.sleep(5)
f1 = query_pid_state()['current_freq']
if f0 < 0.5 or (f1 > f0):
if f0 < state.min_freq or (f1 > f0):
self.log.info("Turning off PMX and putting PCU in stop mode")
self.run_and_validate(clients.pmx.set_off)
self.run_and_validate(
clients.pcu.send_command,
kwargs={'command': 'stop'}, timeout=None
)
self.action.set_state(ControlState.WaitForTargetFreq(
target_freq=0,
freq_tol=0.05,
freq_tol_duration=30,
))
return
if state.fast:
time.sleep(5)
return
Comment on lines +1149 to +1151
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This is not very safe. We should do WaitForTargetFreq.

But I think the motivation of this PR is to change the rotation direction quickly for special calibration, and you may not want to add WaitForTargetFreq. Therefore, it might be better to have a separate function that will change rotation direction, which will be faster than doing fast brake and spin up.

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Yes I agree. Just wondering what is the behavior if you PID to -2 Hz by changing the PID direction while sitting at 2 Hz? If we can get something like that to work I agree we should make it a specialized operation.

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what is the behavior if you PID to -2 Hz by changing the PID direction while sitting at 2 Hz?

This command will also rapidly change the rotation direction.
Changing PID direction flips the direction of acceleration and the HWP slows down. As the absolute PID frequency stays at 2 Hz, the PMX serves the highest voltage and current to recover 2 Hz, which results in a strong brake. Then the HWP speeds up to opposite direction and reaches -2 Hz.
But the current hwp_supervisor looks it doesn't expect this procedure so this will require some changes anyway.
Which looks better @ykyohei ?

else:
self.action.set_state(ControlState.WaitForTargetFreq(
target_freq=0,
freq_tol=0.05,
freq_tol_duration=30,
))
return

elif isinstance(state, ControlState.EnableDriverBoard):
def set_outlet_state(outlet: int, outlet_state: bool):
Expand Down Expand Up @@ -1549,6 +1562,7 @@ def set_const_voltage(self, session, params):
@ocs_agent.param('freq_tol', type=float, default=0.05)
@ocs_agent.param('freq_tol_duration', type=float, default=10)
@ocs_agent.param('brake_voltage', type=float, default=10.)
@ocs_agent.param('fast', type=bool, default=False)
def brake(self, session, params):
"""brake(freq_thresh=0.05, freq_thresh_duration=10, brake_voltage=10)

Expand Down Expand Up @@ -1582,6 +1596,7 @@ def brake(self, session, params):
freq_tol=params['freq_tol'],
freq_tol_duration=params['freq_tol_duration'],
brake_voltage=params['brake_voltage'],
fast=params['fast']
)
action = self.control_state_machine.request_new_action(state)
action.sleep_until_complete(session=session)
Expand Down
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