110 lines
3.2 KiB
Mathematica
110 lines
3.2 KiB
Mathematica
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%%
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clear; close all; clc;
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%%
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exp_ol = load('./data/exp_open_loop.mat', 'Dmeas');
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exp_cl = load('./data/exp_close_loop_xyz.mat', 'Dmeas');
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exp_without_nass = load('./data/exp_whitout_nass.mat', 'Dmeas');
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load('./mat/sim_conf.mat', 'sim_conf');
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exp_without_nass.Dmeas.Data(:, 3) = exp_without_nass.Dmeas.Data(:, 3) - exp_without_nass.Dmeas.Data(end, 3);
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%% With and without NASS
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steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
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figure;
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hold on;
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plot(exp_without_nass.Dmeas.Data(steady_i:end, 1),exp_without_nass.Dmeas.Data(steady_i:end, 2))
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plot(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2))
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xlim([-1e-6, 1e-6]);
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ylim([-1e-6, 1e-6]);
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hold off;
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xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
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exportFig('exp_w_wo_nass_xy', 'half-short')
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figure;
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hold on;
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plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_without_nass.Dmeas.Data(steady_i:end, 2));
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plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_cl.Dmeas.Data(steady_i:end, 2));
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legend({'$y$ - without NASS', '$y$ - with NASS'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('exp_w_wo_nass_y', 'half-small')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 1));
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plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 1));
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legend({'x - OL', 'x - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('exp_control_time_x', 'normal-normal')
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figure;
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hold on;
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plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 2));
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plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 2));
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legend({'y - OL', 'y - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('exp_control_time_y', 'normal-normal')
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figure;
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hold on;
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plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 3));
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plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 3));
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legend({'z - OL', 'z - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('exp_control_time_z', 'normal-normal')
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%%
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steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
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% steady_i = 1;
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figure;
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hold on;
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plot(exp_ol.Dmeas.Data(steady_i:end, 1),exp_ol.Dmeas.Data(steady_i:end, 2))
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plot(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2))
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legend({'OL', 'CL'})
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hold off;
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xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $y$ [m]');
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figure;
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hold on;
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plot3(exp_ol.Dmeas.Data(steady_i:end, 1),exp_ol.Dmeas.Data(steady_i:end, 2),exp_ol.Dmeas.Data(steady_i:end, 3))
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plot3(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2),exp_cl.Dmeas.Data(steady_i:end, 3))
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legend({'OL', 'CL'})
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hold off;
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xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $y$ [m]'); zlabel('Displacement - $z$ [m]');
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%% Compare OL and CL - PSD
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han_windows_ol = hanning(ceil(length(exp_ol.Dmeas.Time(steady_i:end))/2));
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[psd_x_ol, freqs_x_ol] = pwelch(exp_ol.Dmeas.Data(steady_i:end, 1), han_windows_ol, 0, [], 1/sim_conf.Ts);
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han_windows_cl = hanning(ceil(length(exp_cl.Dmeas.Time(steady_i:end))/2));
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[psd_x, freqs_x] = pwelch(exp_cl.Dmeas.Data(steady_i:end, 1), han_windows_cl, 0, [], 1/sim_conf.Ts);
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figure;
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hold on;
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plot(freqs_x_ol, sqrt(psd_x_ol));
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plot(freqs_x, sqrt(psd_x));
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set(gca,'xscale','log'); set(gca,'yscale','log');
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xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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legend({'x - OL', 'x - CL'})
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hold off;
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exportFig('exp_psd_x', 'normal-normal')
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