Now the Plant is correct
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hac_lac/figs
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hac_lac/figs
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../figs/
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hac_lac/index.org
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hac_lac/index.org
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#+TITLE: HAC-LAC applied on the Simscape Model
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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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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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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 no
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* Undamped System
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<<sec:undamped_system>>
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** Introduction :ignore:
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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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#+begin_src matlab :tangle no
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simulinkproject('../');
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#+end_src
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#+begin_src matlab
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open('hac_lac/matlab/sim_nass_hac_lac.slx')
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#+end_src
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** Identification of the plant
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*** Initialize the Simulation
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We initialize all the stages with the default parameters.
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#+begin_src matlab
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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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#+end_src
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The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
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#+begin_src matlab
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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#+end_src
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No disturbances.
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#+begin_src matlab
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initializeDisturbances('enable', false);
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#+end_src
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We set the references to zero.
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#+begin_src matlab
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initializeReferences();
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#+end_src
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And all the controllers are set to 0.
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#+begin_src matlab
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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 = tf(zeros(6));
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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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#+end_src
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*** Identification
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First, we identify the dynamics of the system using the =linearize= function.
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#+begin_src matlab
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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_hac_lac';
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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, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); 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 = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
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#+end_src
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#+begin_src matlab
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load('mat/stages.mat', 'nano_hexapod');
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G_cart = minreal(G*inv(nano_hexapod.J'));
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G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
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#+end_src
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#+begin_src matlab
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G_legs = minreal(inv(nano_hexapod.J)*G);
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G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
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#+end_src
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# And we save them for further analysis.
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# #+begin_src matlab
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# save('./hac_lac/mat/undamped_plant.mat', 'G');
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# #+end_src
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*** Display TF
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#+begin_src matlab :exports none
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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_cart(i, 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 [m/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_cart(i, i), freqs, 'Hz'))), 'DisplayName', [G_cart.InputName{i}, ' to ', G_cart.OutputName{i}]);
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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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legend();
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linkaxes([ax1,ax2],'x');
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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/plant_G_cart.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:plant_G_cart
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#+CAPTION: Transfer Function from forces applied by the nano-hexapod to position error ([[./figs/plant_G_cart.png][png]], [[./figs/plant_G_cart.pdf][pdf]])
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[[file:figs/plant_G_cart.png]]
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#+begin_src matlab :exports none
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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_legs(['e', 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 [m/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_legs(['e', 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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#+end_src
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*** Obtained Plants for Active Damping
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#+begin_src matlab :exports none
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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 [m/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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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/nass_active_damping_iff_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:nass_active_damping_iff_plant
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#+CAPTION: =G_iff=: IFF Plant ([[./figs/nass_active_damping_iff_plant.png][png]], [[./figs/nass_active_damping_iff_plant.pdf][pdf]])
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[[file:figs/nass_active_damping_iff_plant.png]]
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#+begin_src matlab :exports none
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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_dvf(['Dnlm', 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 [m/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_dvf(['Dnlm', 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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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/nass_active_damping_dvf_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:nass_active_damping_dvf_plant
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#+CAPTION: =G_dvf=: Plant for Direct Velocity Feedback ([[./figs/nass_active_damping_dvf_plant.png][png]], [[./figs/nass_active_damping_dvf_plant.pdf][pdf]])
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[[file:figs/nass_active_damping_ine_plant.png]]
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#+begin_src matlab :exports none
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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_ine(['Vnlm', 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 [$\frac{m/s}{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_ine(['Vnlm', 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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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/nass_active_damping_inertial_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:nass_active_damping_inertial_plant
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#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], [[./figs/nass_active_damping_inertial_plant.pdf][pdf]])
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[[file:figs/nass_active_damping_inertial_plant.png]]
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** Tomography Experiment
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*** Simulation
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We initialize elements for the tomography experiment.
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#+begin_src matlab
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prepareTomographyExperiment();
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#+end_src
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We change the simulation stop time.
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#+begin_src matlab
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load('mat/conf_simscape.mat');
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set_param(conf_simscape, 'StopTime', '3');
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#+end_src
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And we simulate the system.
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#+begin_src matlab
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sim('sim_nass_active_damping');
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#+end_src
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Finally, we save the simulation results for further analysis
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#+begin_src matlab
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save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append');
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#+end_src
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*** Results
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We load the results of tomography experiments.
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#+begin_src matlab
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load('./active_damping/mat/tomo_exp.mat', 'En');
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t = linspace(0, 3, length(En(:,1)));
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#+end_src
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#+begin_src matlab :exports none
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figure;
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hold on;
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plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$')
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plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$')
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plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$')
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hold off;
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legend();
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xlabel('Time [s]'); ylabel('Position Error [m]');
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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_trans.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:nass_act_damp_undamped_sim_tomo_trans
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#+CAPTION: Position Error during tomography experiment - Translations ([[./figs/nass_act_damp_undamped_sim_tomo_trans.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_trans.pdf][pdf]])
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[[file:figs/nass_act_damp_undamped_sim_tomo_trans.png]]
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#+begin_src matlab :exports none
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figure;
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hold on;
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plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
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plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
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plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
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hold off;
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xlim([0.5,inf]);
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legend();
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xlabel('Time [s]'); ylabel('Position Error [rad]');
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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_rot.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:nass_act_damp_undamped_sim_tomo_rot
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#+CAPTION: Position Error during tomography experiment - Rotations ([[./figs/nass_act_damp_undamped_sim_tomo_rot.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_rot.pdf][pdf]])
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[[file:figs/nass_act_damp_undamped_sim_tomo_rot.png]]
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** Verification of the transfer function from nano hexapod to metrology
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||||
*** Initialize the Simulation
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We initialize all the stages with the default parameters.
|
||||
#+begin_src matlab
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
#+end_src
|
||||
|
||||
The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
|
||||
#+begin_src matlab
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
#+end_src
|
||||
|
||||
No disturbances.
|
||||
#+begin_src matlab
|
||||
initializeDisturbances('enable', false);
|
||||
#+end_src
|
||||
|
||||
We set the references to zero.
|
||||
#+begin_src matlab
|
||||
initializeReferences();
|
||||
#+end_src
|
||||
|
||||
And all the controllers are set to 0.
|
||||
#+begin_src matlab
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
#+end_src
|
||||
|
||||
*** Identification
|
||||
First, we identify the dynamics of the system using the =linearize= function.
|
||||
#+begin_src matlab
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_hac_lac';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, options);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
load('mat/stages.mat', 'nano_hexapod');
|
||||
G_cart = minreal(G*inv(nano_hexapod.J'));
|
||||
G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
G_legs = minreal(inv(nano_hexapod.J)*G);
|
||||
G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
|
||||
#+end_src
|
||||
|
||||
# And we save them for further analysis.
|
||||
# #+begin_src matlab
|
||||
# save('./hac_lac/mat/undamped_plant.mat', 'G');
|
||||
# #+end_src
|
||||
|
||||
*** Display TF
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_cart(i, i), freqs, 'Hz'))), 'DisplayName', [G_cart.InputName{i}, ' to ', G_cart.OutputName{i}]);
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend();
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/plant_G_cart.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:plant_G_cart
|
||||
#+CAPTION: Transfer Function from forces applied by the nano-hexapod to position error ([[./figs/plant_G_cart.png][png]], [[./figs/plant_G_cart.pdf][pdf]])
|
||||
[[file:figs/plant_G_cart.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_legs(['e', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
*** Obtained Plants for Active Damping
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/nass_active_damping_iff_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:nass_active_damping_iff_plant
|
||||
#+CAPTION: =G_iff=: IFF Plant ([[./figs/nass_active_damping_iff_plant.png][png]], [[./figs/nass_active_damping_iff_plant.pdf][pdf]])
|
||||
[[file:figs/nass_active_damping_iff_plant.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/nass_active_damping_dvf_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:nass_active_damping_dvf_plant
|
||||
#+CAPTION: =G_dvf=: Plant for Direct Velocity Feedback ([[./figs/nass_active_damping_dvf_plant.png][png]], [[./figs/nass_active_damping_dvf_plant.pdf][pdf]])
|
||||
[[file:figs/nass_active_damping_ine_plant.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/nass_active_damping_inertial_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:nass_active_damping_inertial_plant
|
||||
#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], [[./figs/nass_active_damping_inertial_plant.pdf][pdf]])
|
||||
[[file:figs/nass_active_damping_inertial_plant.png]]
|
||||
BIN
hac_lac/matlab/sim_nass_hac_lac.slx
Normal file
BIN
hac_lac/matlab/sim_nass_hac_lac.slx
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
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Loading…
Reference in New Issue
Block a user