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Thomas Dehaeze
2025-04-14 18:38:19 +02:00
parent 3cc2105324
commit 37cd117a8f
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A2-nass-rotating-3dof-model/rotating_5_rdc.m Normal file
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%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for Functions
%% Colors for the figures
colors = colororder;
%% Simscape model name
mdl = 'rotating_model';
%% Load "Generic" system dynamics
load('rotating_generic_plants.mat', 'Gs', 'Wzs');
%% Root Locus for Relative Damping Control
Krdc = s*eye(2); % Relative damping controller
gains = logspace(-2, 2, 300); % Tested gains
Wz_i = [1,3,4];
figure;
hold on;
for i = 1:length(Wz_i)
plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ...
'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8);
plot(real(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'o', 'color', colors(i,:), ...
'HandleVisibility', 'off','MarkerSize',8);
for g = gains
cl_poles = pole(feedback(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'}), g*Krdc, -1));
plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ...
'HandleVisibility', 'off','MarkerSize',4);
end
end
hold off;
axis square;
xlim([-1.8, 0.2]); ylim([0, 2]);
xticks([-1, 0])
xticklabels({'-$\omega_0$', '$0$'})
yticks([0, 1, 2])
yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'})
xlabel('Real Part'); ylabel('Imaginary Part');
leg = legend('location', 'northwest', 'FontSize', 8);
leg.ItemTokenSize(1) = 8;
i = 2;
%% Relative Damping Controller
Krdc = 2*s*eye(2);
Krdc.InputName = {'Du', 'Dv'};
Krdc.OutputName = {'Fu', 'Fv'};
%% Compute the damped plant
G_cl_rdc = feedback(Gs{i}, Krdc, 'name');
%% Damped plant using Relative Damping Control
freqs = logspace(-3, 2, 1000);
figure;
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
% Magnitude
ax1 = nexttile([2, 1]);
hold on;
plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ...
'DisplayName', 'OL - $G_d(1,1)$')
plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ...
'DisplayName', 'RDC - $G_d(1,1)$')
plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ...
'DisplayName', 'OL - $G_d(2,1)$')
plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ...
'DisplayName', 'RDC - $G_d(2,1)$')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]');
ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2);
ldg.ItemTokenSize(1) = 20;
ylim([1e-4, 1e2]);
ax2 = nexttile;
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3))
plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:))
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
yticks(-180:90:180);
ylim([-180 0]);
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);