2019-09-10 16:30:58 +02:00
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#+TITLE: Cercalo Test Bench
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle matlab/frf_processing.m
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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:END:
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* Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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* Identification of the Plant
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#+begin_src matlab
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fs = 1e4;
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Ts = 1/fs;
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#+end_src
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We generate white noise with the "random number" simulink block, and we filter that noise.
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#+begin_src matlab
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Gi = (1)/(1+s/2/pi/100);
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#+end_src
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#+begin_src matlab :results output replace
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c2d(Gi, Ts, 'tustin')
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#+end_src
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#+RESULTS:
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#+begin_example
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c2d(Gi, Ts, 'tustin')
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ans =
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2019-09-10 16:35:11 +02:00
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0.030459 (z+1)
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2019-09-10 16:30:58 +02:00
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--------------
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2019-09-10 16:35:11 +02:00
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(z-0.9391)
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2019-09-10 16:30:58 +02:00
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Sample time: 0.0001 seconds
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Discrete-time zero/pole/gain model.
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#+end_example
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2019-09-10 16:35:11 +02:00
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#+begin_src matlab
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load('mat/data_001.mat', 't', 'ux')
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#+end_src
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#+begin_src matlab
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figure; plot(t, ux)
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#+end_src
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#+begin_src matlab
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[tf_est, freqs] = tfestimate(ux, yx, hanning(ceil(length(ux)/10)), [], [], fs);
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% h = idfrd(tf_est, freqs*2*pi, Ts);
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#+end_src
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#+begin_src matlab
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(freqs, abs(tf_est),'--')
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(freqs, mod(180+180/pi*phase(tf_est), 360)-180,'--')
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [$Hz$]'); ylabel('Phase [deg]');
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hold off;
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#+end_src
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