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input_shaper: Updated definitions of *EI input shapers
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Signed-off-by: Dmitry Butyugin <dmbutyugin@google.com>
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Dmitry Butyugin 2024-02-14 01:55:21 +01:00 • committed by KevinOConnor
parent 1be6c0fce0
commit 5da026a337
2 changed files with 51 additions and 35 deletions
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4
docs/Config_Changes.md
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@ -8,6 +8,10 @@ All dates in this document are approximate.
## Changes
20250916: The definitions of EI, 2HUMP_EI, and 3HUMP_EI input shapers
were updated. For best performance it is recommended to recalibrate
input shapers, especially if some of these shapers are currently used.
20250811: Support for the `max_accel_to_decel` parameter in the
`[printer]` config section has been removed and support for the
`ACCEL_TO_DECEL` parameter in the `SET_VELOCITY_LIMIT` command has

82
klippy/extras/shaper_defs.py
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@ -46,50 +46,62 @@ def get_mzv_shaper(shaper_freq, damping_ratio):
def get_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
dr = damping_ratio
a1 = .25 * (1. + v_tol)
a2 = .5 * (1. - v_tol) * K
a3 = a1 * K * K
a1 = (0.24968 + 0.24961 * v_tol) + (( 0.80008 + 1.23328 * v_tol) +
( 0.49599 + 3.17316 * v_tol) * dr) * dr
a3 = (0.25149 + 0.21474 * v_tol) + ((-0.83249 + 1.41498 * v_tol) +
( 0.85181 - 4.90094 * v_tol) * dr) * dr
a2 = 1. - a1 - a3
t2 = 0.4999 + ((( 0.46159 + 8.57843 * v_tol) * v_tol) +
(((4.26169 - 108.644 * v_tol) * v_tol) +
((1.75601 + 336.989 * v_tol) * v_tol) * dr) * dr) * dr
A = [a1, a2, a3]
T = [0., .5*t_d, t_d]
T = [0., t2 * t_d, t_d]
return (A, T)
def _get_shaper_from_expansion_coeffs(shaper_freq, damping_ratio, t, a):
tau = 1. / shaper_freq
T = []
A = []
n = len(a)
k = len(a[0])
for i in range(n):
u = t[i][k-1]
v = a[i][k-1]
for j in range(k-1):
u = u * damping_ratio + t[i][k-j-2]
v = v * damping_ratio + a[i][k-j-2]
T.append(u * tau)
A.append(v)
return (A, T)
def get_2hump_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
V2 = v_tol**2
X = pow(V2 * (math.sqrt(1. - V2) + 1.), 1./3.)
a1 = (3.*X*X + 2.*X + 3.*V2) / (16.*X)
a2 = (.5 - a1) * K
a3 = a2 * K
a4 = a1 * K * K * K
A = [a1, a2, a3, a4]
T = [0., .5*t_d, t_d, 1.5*t_d]
return (A, T)
t = [[0., 0., 0., 0.],
[0.49890, 0.16270, -0.54262, 6.16180],
[0.99748, 0.18382, -1.58270, 8.17120],
[1.49920, -0.09297, -0.28338, 1.85710]]
a = [[0.16054, 0.76699, 2.26560, -1.22750],
[0.33911, 0.45081, -2.58080, 1.73650],
[0.34089, -0.61533, -0.68765, 0.42261],
[0.15997, -0.60246, 1.00280, -0.93145]]
return _get_shaper_from_expansion_coeffs(shaper_freq, damping_ratio, t, a)
def get_3hump_ei_shaper(shaper_freq, damping_ratio):
v_tol = 1. / SHAPER_VIBRATION_REDUCTION # vibration tolerance
df = math.sqrt(1. - damping_ratio**2)
K = math.exp(-damping_ratio * math.pi / df)
t_d = 1. / (shaper_freq * df)
K2 = K*K
a1 = 0.0625 * (1. + 3. * v_tol + 2. * math.sqrt(2. * (v_tol + 1.) * v_tol))
a2 = 0.25 * (1. - v_tol) * K
a3 = (0.5 * (1. + v_tol) - 2. * a1) * K2
a4 = a2 * K2
a5 = a1 * K2 * K2
A = [a1, a2, a3, a4, a5]
T = [0., .5*t_d, t_d, 1.5*t_d, 2.*t_d]
return (A, T)
t = [[0., 0., 0., 0.],
[0.49974, 0.23834, 0.44559, 12.4720],
[0.99849, 0.29808, -2.36460, 23.3990],
[1.49870, 0.10306, -2.01390, 17.0320],
[1.99960, -0.28231, 0.61536, 5.40450]]
a = [[0.11275, 0.76632, 3.29160 -1.44380],
[0.23698, 0.61164, -2.57850, 4.85220],
[0.30008, -0.19062, -2.14560, 0.13744],
[0.23775, -0.73297, 0.46885, -2.08650],
[0.11244, -0.45439, 0.96382, -1.46000]]
return _get_shaper_from_expansion_coeffs(shaper_freq, damping_ratio, t, a)
# min_freq for each shaper is chosen to have projected max_accel ~= 1500
INPUT_SHAPERS = [