tdehaeze/dehaeze20_activ_dampin_rotat_platf_integ_force_feedb
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Modify labels and legends

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Thomas Dehaeze
2020-06-11 15:22:49 +02:00
parent bb0a89ba25
commit 45b4752831
1 changed files with 46 additions and 29 deletions
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matlab/index.org
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@@ -125,7 +125,7 @@ The system becomes unstable for $\Omega > \omega_0$.
end
plot(Ws, zeros(size(Ws)), 'k--')
hold off;
xlabel('Rotation Frequency [rad/s]'); ylabel('Pole Real Part');
xlabel('Rotation Frequency [rad/s]'); ylabel('Real Part');
ax2 = subplot(1,2,2);
hold on;
@@ -134,7 +134,7 @@ The system becomes unstable for $\Omega > \omega_0$.
plot(Ws, -imag(p_ws(p_i, :)), 'k-')
end
hold off;
xlabel('Rotation Frequency [rad/s]'); ylabel('Pole Imaginary Part');
xlabel('Rotation Frequency [rad/s]'); ylabel('Imaginary Part');
#+end_src
** Simscape Model
@@ -184,7 +184,8 @@ No controller for now.
plot(freqs, abs(squeeze(freqresp(G_th(1,1), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]');
title('$d_u/F_u$, $d_v/F_v$');
ax3 = subplot(2, 2, 3);
hold on;
@@ -202,21 +203,24 @@ No controller for now.
plot(freqs, abs(squeeze(freqresp(G_th(1,2), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]');
title('$d_u/F_v$, $d_v/F_u$');
ax4 = subplot(2, 2, 4);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G(1,2), freqs))), '-')
plot(freqs, 180/pi*angle(squeeze(freqresp(G_th(1,2), freqs))), '--')
plot(freqs, 180/pi*angle(squeeze(freqresp(G(1,2), freqs))), '-', ...
'DisplayName', 'Simscape')
plot(freqs, 180/pi*angle(squeeze(freqresp(G_th(1,2), freqs))), '--', ...
'DisplayName', 'Analytical')
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
yticks(-180:90:180);
ylim([-180 180]);
hold off;
legend('location', 'northeast');
linkaxes([ax1,ax2,ax3,ax4],'x');
xlim([freqs(1), freqs(end)]);
linkaxes([ax1,ax2],'y');
#+end_src
@@ -370,7 +374,8 @@ No controller for now.
plot(freqs, abs(squeeze(freqresp(Giff_th(1,1), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
title('$f_u/F_u$, $f_v/F_v$');
ax3 = subplot(2, 2, 3);
hold on;
@@ -388,21 +393,24 @@ No controller for now.
plot(freqs, abs(squeeze(freqresp(Giff_th(1,2), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
title('$f_u/F_v$, $f_v/F_u$');
ax4 = subplot(2, 2, 4);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,2), freqs))), '-')
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_th(1,2), freqs))), '--')
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,2), freqs))), '-', ...
'DisplayName', 'Simscape')
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_th(1,2), freqs))), '--', ...
'DisplayName', 'Analytical')
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
yticks(-180:90:180);
ylim([-180 180]);
hold off;
legend('location', 'northeast');
linkaxes([ax1,ax2,ax3,ax4],'x');
xlim([freqs(1), freqs(end)]);
linkaxes([ax1,ax2],'y');
#+end_src
@@ -436,7 +444,7 @@ No controller for now.
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
legend('location', 'northwest');
ylim([0, 1e3]);
@@ -631,7 +639,7 @@ Let's take the integral feedback controller as a low pass filter (pseudo integra
plot(freqs, abs(squeeze(freqresp(Giff(1,1)*Kiff(1,1), freqs))))
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Loop Gain');
ax2 = subplot(2, 1, 2);
hold on;
@@ -795,17 +803,20 @@ Root Locus that shows the maximum damping attainable.
plot(freqs, abs(squeeze(freqresp(Giff_cl(1,1), freqs))))
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
ax2 = subplot(2, 1, 2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))))
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))))
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), ...
'DisplayName', 'Open Loop')
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))), ...
'DisplayName', 'Closed Loop')
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
yticks(-180:90:180);
ylim([-180 180]);
hold off;
legend('location', 'northeast');
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);
@@ -946,7 +957,7 @@ And the IFF plant is identified in three different cases:
plot(freqs, abs(squeeze(freqresp(Giff_l(1,1), freqs))), 'k:')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
ax2 = subplot(2, 1, 2);
hold on;
@@ -1109,16 +1120,16 @@ Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control gain.
gains = logspace(-2, 4, 100);
hold on;
plot(real(pole(Giff)), imag(pole(Giff)), 'kx', 'HandleVisibility', 'off');
plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko', 'HandleVisibility', 'off');
plot(real(pole(Giff)), imag(pole(Giff)), 'kx');
plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko');
for g = gains
clpoles = pole(feedback(Giff, (g/s)*eye(2)));
plot(real(clpoles), imag(clpoles), 'k.', 'HandleVisibility', 'off');
plot(real(clpoles), imag(clpoles), 'k.');
end
% Optimal Gain
clpoles = pole(feedback(Giff, (opt_gain/s)*eye(2)));
set(gca,'ColorOrderIndex',1);
plot(real(clpoles), imag(clpoles), 'x', 'HandleVisibility', 'off');
plot(real(clpoles), imag(clpoles), 'x');
hold off;
axis square;
xlim([-1.2, 0.05]); ylim([0, 1.25]);
@@ -1141,12 +1152,14 @@ Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control gain.
plot(freqs, abs(squeeze(freqresp(Giff_cl(1,1), freqs))))
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [N/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
ax2 = subplot(2, 1, 2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))))
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))))
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff(1,1), freqs))), ...
'DisplayName', 'Open Loop')
plot(freqs, 180/pi*angle(squeeze(freqresp(Giff_cl(1,1), freqs))), ...
'DisplayName', 'Closed Loop')
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
yticks(-180:90:180);
@@ -1155,6 +1168,8 @@ Let's take $k_p = 2 m \Omega^2$ and find the optimal IFF control gain.
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);
legend('location', 'southwest');
#+end_src
* Direct Velocity Feedback
@@ -1257,7 +1272,8 @@ The DVF plant is identified from the Simscape model and compared with the analyt
plot(freqs, abs(squeeze(freqresp(Gdvf_th(1,1), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/s/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [$\frac{m/s}{N}$]');
title('$v_u/F_u$, $v_v/F_v$');
ax3 = subplot(2, 2, 3);
hold on;
@@ -1275,7 +1291,8 @@ The DVF plant is identified from the Simscape model and compared with the analyt
plot(freqs, abs(squeeze(freqresp(Gdvf_th(1,2), freqs))), '--')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/s/N]');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [$\frac{m/s}{N}$]');
title('$v_u/F_v$, $v_v/F_u$');
ax4 = subplot(2, 2, 4);
hold on;
@@ -1499,7 +1516,7 @@ The rotation speed is set to $\Omega = 0.1 \omega_0$.
set(gca,'ColorOrderIndex',3);
plot(real(tzero(Gdvf)), imag(tzero(Gdvf)), 'o', ...
'HandleVisibility', 'off');
for g = gains
for g_i = gains
Kdvf = g*eye(2);
cl_poles = pole(feedback(Gdvf, Kdvf));
set(gca,'ColorOrderIndex',3);
@@ -1708,7 +1725,7 @@ DVF:
'DisplayName', 'IFF Pseudo int')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Frequency [rad/s]'); ylabel('Amplitude [m/m]');
ylabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]');
legend('location', 'northwest');
#+end_src