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scripts: Added shaper tuning parameters to calibrate_shaper script

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The added parameters include square_corner_velocity, shaper frequencies
to optimize, input shapers to test, input shaper damping ratio and
damping ratios to test. All these options can be useful for fine-tuning
the input shapers when the default suggestions generated by the tuning
script are not optimal.

Also the `SHAPER_CALIBRATE` command was modified to pass some of these
parameters to the shaper tuning routine. Specifically, square corner
velocity and the maximum tested frequency are used to adjust shaper
tuning and maximum acceleration recommendations.

Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
This commit is contained in:
Dmitry Butyugin
2024-02-08 03:06:48 +01:00
committed by KevinOConnor
parent 4f00f21991
commit 72b301a285
4 changed files with 145 additions and 25 deletions
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12
klippy/extras/resonance_tester.py
View File

@@ -1,6 +1,6 @@
# A utility class to test resonances of the printer
#
# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
# Copyright (C) 2020-2024 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import logging, math, os, time
@@ -114,6 +114,8 @@ class VibrationPulseTest:
if input_shaper is not None:
input_shaper.enable_shaping()
gcmd.respond_info("Re-enabled [input_shaper]")
def get_max_freq(self):
return self.freq_end
class ResonanceTester:
def __init__(self, config):
@@ -302,8 +304,14 @@ class ResonanceTester:
"Calculating the best input shaper parameters for %s axis"
% (axis_name,))
calibration_data[axis].normalize_to_frequencies()
systime = self.printer.get_reactor().monotonic()
toolhead = self.printer.lookup_object('toolhead')
toolhead_info = toolhead.get_status(systime)
scv = toolhead_info['square_corner_velocity']
best_shaper, all_shapers = helper.find_best_shaper(
calibration_data[axis], max_smoothing, gcmd.respond_info)
calibration_data[axis], max_smoothing=max_smoothing,
scv=scv, max_freq=1.5*self.test.get_max_freq(),
logging=gcmd.respond_info)
gcmd.respond_info(
"Recommended shaper_type_%s = %s, shaper_freq_%s = %.1f Hz"
% (axis_name, best_shaper.name,

52
klippy/extras/shaper_calibrate.py
View File

@@ -1,6 +1,6 @@
# Automatic calibration of input shapers
#
# Copyright (C) 2020 Dmitry Butyugin <dmbutyugin@google.com>
# Copyright (C) 2020-2024 Dmitry Butyugin <dmbutyugin@google.com>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import collections, importlib, logging, math, multiprocessing, traceback
@@ -227,34 +227,49 @@ class ShaperCalibrate:
offset_180 *= inv_D
return max(offset_90, offset_180)
def fit_shaper(self, shaper_cfg, calibration_data, max_smoothing):
def fit_shaper(self, shaper_cfg, calibration_data, shaper_freqs,
damping_ratio, scv, max_smoothing, test_damping_ratios,
max_freq):
np = self.numpy
test_freqs = np.arange(shaper_cfg.min_freq, MAX_SHAPER_FREQ, .2)
damping_ratio = damping_ratio or shaper_defs.DEFAULT_DAMPING_RATIO
test_damping_ratios = test_damping_ratios or TEST_DAMPING_RATIOS
if not shaper_freqs:
shaper_freqs = (None, None, None)
if isinstance(shaper_freqs, tuple):
freq_end = shaper_freqs[1] or MAX_SHAPER_FREQ
freq_start = min(shaper_freqs[0] or shaper_cfg.min_freq,
freq_end - 1e-7)
freq_step = shaper_freqs[2] or .2
test_freqs = np.arange(freq_start, freq_end, freq_step)
else:
test_freqs = np.array(shaper_freqs)
max_freq = max(max_freq or MAX_FREQ, test_freqs.max())
freq_bins = calibration_data.freq_bins
psd = calibration_data.psd_sum[freq_bins <= MAX_FREQ]
freq_bins = freq_bins[freq_bins <= MAX_FREQ]
psd = calibration_data.psd_sum[freq_bins <= max_freq]
freq_bins = freq_bins[freq_bins <= max_freq]
best_res = None
results = []
for test_freq in test_freqs[::-1]:
shaper_vibrations = 0.
shaper_vals = np.zeros(shape=freq_bins.shape)
shaper = shaper_cfg.init_func(
test_freq, shaper_defs.DEFAULT_DAMPING_RATIO)
shaper_smoothing = self._get_shaper_smoothing(shaper)
shaper = shaper_cfg.init_func(test_freq, damping_ratio)
shaper_smoothing = self._get_shaper_smoothing(shaper, scv=scv)
if max_smoothing and shaper_smoothing > max_smoothing and best_res:
return best_res
# Exact damping ratio of the printer is unknown, pessimizing
# remaining vibrations over possible damping values
for dr in TEST_DAMPING_RATIOS:
for dr in test_damping_ratios:
vibrations, vals = self._estimate_remaining_vibrations(
shaper, dr, freq_bins, psd)
shaper_vals = np.maximum(shaper_vals, vals)
if vibrations > shaper_vibrations:
shaper_vibrations = vibrations
max_accel = self.find_shaper_max_accel(shaper)
max_accel = self.find_shaper_max_accel(shaper, scv)
# The score trying to minimize vibrations, but also accounting
# the growth of smoothing. The formula itself does not have any
# special meaning, it simply shows good results on real user data
@@ -278,6 +293,8 @@ class ShaperCalibrate:
def _bisect(self, func):
left = right = 1.
if not func(1e-9):
return 0.
while not func(left):
right = left
left *= .5
@@ -292,22 +309,27 @@ class ShaperCalibrate:
right = middle
return left
def find_shaper_max_accel(self, shaper):
def find_shaper_max_accel(self, shaper, scv):
# Just some empirically chosen value which produces good projections
# for max_accel without much smoothing
TARGET_SMOOTHING = 0.12
max_accel = self._bisect(lambda test_accel: self._get_shaper_smoothing(
shaper, test_accel) <= TARGET_SMOOTHING)
shaper, test_accel, scv) <= TARGET_SMOOTHING)
return max_accel
def find_best_shaper(self, calibration_data, max_smoothing, logger=None):
def find_best_shaper(self, calibration_data, shapers=None,
damping_ratio=None, scv=None, shaper_freqs=None,
max_smoothing=None, test_damping_ratios=None,
max_freq=None, logger=None):
best_shaper = None
all_shapers = []
shapers = shapers or AUTOTUNE_SHAPERS
for shaper_cfg in shaper_defs.INPUT_SHAPERS:
if shaper_cfg.name not in AUTOTUNE_SHAPERS:
if shaper_cfg.name not in shapers:
continue
shaper = self.background_process_exec(self.fit_shaper, (
shaper_cfg, calibration_data, max_smoothing))
shaper_cfg, calibration_data, shaper_freqs, damping_ratio,
scv, max_smoothing, test_damping_ratios, max_freq))
if logger is not None:
logger("Fitted shaper '%s' frequency = %.1f Hz "
"(vibrations = %.1f%%, smoothing ~= %.3f)" % (