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Add tomography experiment for the cascade control

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Thomas Dehaeze 2020-03-23 09:54:16 +01:00
parent 7bfb4f559c
commit 057442db23
3 changed files with 76 additions and 1 deletions
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@ -606,7 +606,7 @@ As before, we take the minimum realization.
Kx = (1/h) * (1 + s/wc*h)/(1 + s/wc/h) * wc/s * (s + 2*pi*5)/s * 1/(1+s/2/pi/20); Kx = (1/h) * (1 + s/wc*h)/(1 + s/wc/h) * wc/s * (s + 2*pi*5)/s * 1/(1+s/2/pi/20);
% Normalization of the gain of have a loop gain of 1 at frequency wc % Normalization of the gain of have a loop gain of 1 at frequency wc
Kx = -Kx.*diag(1./diag(abs(freqresp(Gx*Kx, wc)))); Kx = Kx.*diag(1./diag(abs(freqresp(Gx*Kx, wc))));
#+end_src #+end_src
#+begin_src matlab :exports none #+begin_src matlab :exports none
@ -656,3 +656,78 @@ And we simulate the system.
#+begin_src matlab #+begin_src matlab
sim('nass_model'); sim('nass_model');
#+end_src #+end_src
#+begin_src matlab
cascade_hac_lac = simout;
save('./mat/cascade_hac_lac.mat', 'cascade_hac_lac');
#+end_src
* Results
#+begin_src matlab
load('./mat/experiment_tomography.mat', 'tomo_align_dist');
load('./mat/cascade_hac_lac.mat', 'cascade_hac_lac');
#+end_src
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 3, 1);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 1))
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 1))
hold off;
xlabel('Time [s]');
ylabel('Dx [m]');
ax2 = subplot(2, 3, 2);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 2))
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 2))
hold off;
xlabel('Time [s]');
ylabel('Dy [m]');
ax3 = subplot(2, 3, 3);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 3))
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 3))
hold off;
xlabel('Time [s]');
ylabel('Dz [m]');
ax4 = subplot(2, 3, 4);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 4))
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 4))
hold off;
xlabel('Time [s]');
ylabel('Rx [rad]');
ax5 = subplot(2, 3, 5);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 5))
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 5))
hold off;
xlabel('Time [s]');
ylabel('Ry [rad]');
ax6 = subplot(2, 3, 6);
hold on;
plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 6), 'DisplayName', '$\mu$-Station')
plot(cascade_hac_lac.Em.En.Time, cascade_hac_lac.Em.En.Data(:, 6), 'DisplayName', 'HAC-DVF')
hold off;
xlabel('Time [s]');
ylabel('Rz [rad]');
legend();
linkaxes([ax1,ax2,ax3,ax4],'x');
xlim([0.5, inf]);
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/cascade_hac_lac_tomography.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:cascade_hac_lac_tomography
#+caption: Results of the Tomography Experiment ([[./figs/cascade_hac_lac_tomography.png][png]], [[./figs/cascade_hac_lac_tomography.pdf][pdf]])
[[file:figs/cascade_hac_lac_tomography.png]]