2019-10-08 11:25:47 +02:00
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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2020-11-12 10:14:52 +01:00
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addpath('./mat/');
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2019-10-08 11:25:47 +02:00
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freqs = logspace(1, 3, 1000);
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% Load Plant
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load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
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% Integral Force Feedback
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bode(sys({'Vch', 'Vcv'}, {'Uch', 'Ucv'}));
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Kppf = blkdiag(-10000/s, tf(0));
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Kppf.InputName = {'Vch', 'Vcv'};
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Kppf.OutputName = {'Uch', 'Ucv'};
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figure;
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% Magnitude
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2020-11-03 11:08:16 +01:00
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ax1 = subplot(2,1,1);
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2019-10-08 11:25:47 +02:00
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hold on;
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plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Magnitude [dB]');
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hold off;
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% Phase
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2020-11-03 11:08:16 +01:00
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ax2 = subplot(2,1,2);
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2019-10-08 11:25:47 +02:00
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
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set(gca,'xscale','log');
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yticks(-360:90:180);
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ylim([-360 0]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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inputs = {'Uch', 'Ucv', 'Unh', 'Unv'};
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outputs = {'Ich', 'Icv', 'Rh', 'Rv', 'Vph', 'Vpv'};
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sys_cl = connect(sys, Kppf, inputs, outputs);
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figure; bode(sys_cl({'Vph', 'Vpv'}, {'Uch', 'Ucv'}), sys({'Vph', 'Vpv'}, {'Uch', 'Ucv'}))
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