301 lines
11 KiB
Mathematica
301 lines
11 KiB
Mathematica
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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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open('active_damping/matlab/sim_nass_active_damping.slx')
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load('./active_damping/mat/undamped_plants.mat', 'G_iff');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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K_iff = 1000/s;
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(K_iff*G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_iff*G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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K_iff = -K_iff*eye(6);
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save('./active_damping/mat/K_iff.mat', 'K_iff');
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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initializeReferences();
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_ine = tf(zeros(6));
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save('./mat/controllers.mat', 'K_ine', '-append');
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K_iff = K_iff;
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'};
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G_iff = minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
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% G_rmc = minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
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save('./active_damping/mat/plants.mat', 'G_iff', '-append');
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freqs = logspace(0, 3, 1000);
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figure;
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subplot(2, 1, 1);
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title('$D_g$ to $D$');
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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subplot(2, 1, 2);
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title('$F_s$ to $D$');
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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freqs = logspace(0, 3, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(minreal(prescale(G_iff.G_dist('Dz', 'Frzz'), {2*pi, 2*pi*1e3})), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dz', 'Ftyz')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dx', 'Ftyx')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 2, 1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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ax2 = subplot(2, 2, 2);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
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ax3 = subplot(2, 2, 3);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'northwest');
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ax4 = subplot(2, 2, 4);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'northwest');
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linkaxes([ax1,ax2,ax3,ax4],'x');
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freqs = logspace(0, 3, 1000);
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figure;
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for ix = 1:6
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for iy = 1:6
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subplot(6, 6, (ix-1)*6 + iy);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart(ix, iy), freqs, 'Hz'))), 'k-');
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plot(freqs, abs(squeeze(freqresp(G_iff.G_cart(ix, iy), freqs, 'Hz'))), 'k--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylim([1e-12, 1e-5]);
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end
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end
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
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initDisturbances();
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_ine = tf(zeros(6));
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save('./mat/controllers.mat', 'K_ine', '-append');
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K_iff = K_iff;
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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load('mat/conf_simscape.mat');
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set_param(conf_simscape, 'StopTime', '3');
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sim('sim_nass_active_damping');
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t_iff = t;
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Ern_iff = Ern;
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save('./active_damping/mat/tomo_exp.mat', 'Ern_iff', 't_iff', '-append');
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load('./active_damping/mat/tomo_exp.mat', 'Ern', 'Ern_iff', 't', 't_iff');
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figure;
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hold on;
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plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
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plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
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plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
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set(gca,'ColorOrderIndex',1);
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plot(t_iff, Ern_iff(:,1), '--', 'DisplayName', '$\epsilon_{x}$ - IFF')
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plot(t_iff, Ern_iff(:,2), '--', 'DisplayName', '$\epsilon_{y}$ - IFF')
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plot(t_iff, Ern_iff(:,3), '--', 'DisplayName', '$\epsilon_{z}$ - IFF')
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hold off;
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xlim([1,inf]);
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legend();
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figure;
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hold on;
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plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
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plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
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plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
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set(gca,'ColorOrderIndex',1);
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plot(t_iff, Ern_iff(:,4), '--', 'DisplayName', '$\epsilon_{\theta_x}$ - IFF')
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plot(t_iff, Ern_iff(:,5), '--', 'DisplayName', '$\epsilon_{\theta_y}$ - IFF')
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plot(t_iff, Ern_iff(:,6), '--', 'DisplayName', '$\epsilon_{\theta_z}$ - IFF')
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hold off;
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xlim([1,inf]);
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legend();
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