From 117430c8d18087058506e7487b3e8f1462dca580 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 22 Jan 2020 17:56:47 +0100 Subject: [PATCH] Now the Plant is correct --- hac_lac/figs | 1 + hac_lac/index.org | 650 ++++++++++++++++++++++++++++ hac_lac/matlab/sim_nass_hac_lac.slx | Bin 0 -> 38352 bytes mat/controllers.mat | Bin 232077 -> 233552 bytes mat/nass_disturbances.mat | Bin 50787 -> 50787 bytes mat/nass_references.mat | Bin 850751 -> 850751 bytes 6 files changed, 651 insertions(+) create mode 120000 hac_lac/figs create mode 100644 hac_lac/index.org create mode 100644 hac_lac/matlab/sim_nass_hac_lac.slx diff --git a/hac_lac/figs b/hac_lac/figs new file mode 120000 index 0000000..d440220 --- /dev/null +++ b/hac_lac/figs @@ -0,0 +1 @@ +../figs/ \ No newline at end of file diff --git a/hac_lac/index.org b/hac_lac/index.org new file mode 100644 index 0000000..ef66a0b --- /dev/null +++ b/hac_lac/index.org @@ -0,0 +1,650 @@ +#+TITLE: HAC-LAC applied on the Simscape Model +:DRAWER: +#+STARTUP: overview + +#+LANGUAGE: en +#+EMAIL: dehaeze.thomas@gmail.com +#+AUTHOR: Dehaeze Thomas + +#+HTML_LINK_HOME: ../index.html +#+HTML_LINK_UP: ../index.html + +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: + +#+HTML_MATHJAX: align: center tagside: right font: TeX + +#+PROPERTY: header-args:matlab :session *MATLAB* +#+PROPERTY: header-args:matlab+ :comments org +#+PROPERTY: header-args:matlab+ :results none +#+PROPERTY: header-args:matlab+ :exports both +#+PROPERTY: header-args:matlab+ :eval no-export +#+PROPERTY: header-args:matlab+ :output-dir figs +#+PROPERTY: header-args:matlab+ :tangle no +#+PROPERTY: header-args:matlab+ :mkdirp yes + +#+PROPERTY: header-args:shell :eval no-export + +#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}") +#+PROPERTY: header-args:latex+ :imagemagick t :fit yes +#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150 +#+PROPERTY: header-args:latex+ :imoutoptions -quality 100 +#+PROPERTY: header-args:latex+ :results raw replace :buffer no +#+PROPERTY: header-args:latex+ :eval no-export +#+PROPERTY: header-args:latex+ :exports both +#+PROPERTY: header-args:latex+ :mkdirp yes +#+PROPERTY: header-args:latex+ :output-dir figs +:END: + +* Undamped System +<> + +** Introduction :ignore: + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) + <> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes + <> +#+end_src + +#+begin_src matlab :tangle no + simulinkproject('../'); +#+end_src + +#+begin_src matlab + open('hac_lac/matlab/sim_nass_hac_lac.slx') +#+end_src + +** Identification of the plant +*** Initialize the Simulation +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") + <> +#+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") +<> +#+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") +<> +#+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}$]'); set(gca, 'XTickLabel',[]); + + ax2 = subplot(2, 1, 2); + hold on; + for i = 1:6 + plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz')))); + end + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); + ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); + ylim([-180, 180]); + yticks([-180, -90, 0, 90, 180]); + + linkaxes([ax1,ax2],'x'); +#+end_src + +#+HEADER: :tangle no :exports results :results none :noweb yes +#+begin_src matlab :var filepath="figs/nass_active_damping_inertial_plant.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") +<> +#+end_src + +#+NAME: fig:nass_active_damping_inertial_plant +#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], [[./figs/nass_active_damping_inertial_plant.pdf][pdf]]) +[[file:figs/nass_active_damping_inertial_plant.png]] + +** Tomography Experiment +*** Simulation +We initialize elements for the tomography experiment. +#+begin_src matlab + prepareTomographyExperiment(); +#+end_src + +We change the simulation stop time. +#+begin_src matlab + load('mat/conf_simscape.mat'); + set_param(conf_simscape, 'StopTime', '3'); +#+end_src + +And we simulate the system. +#+begin_src matlab + sim('sim_nass_active_damping'); +#+end_src + +Finally, we save the simulation results for further analysis +#+begin_src matlab + save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append'); +#+end_src + +*** Results +We load the results of tomography experiments. +#+begin_src matlab + load('./active_damping/mat/tomo_exp.mat', 'En'); + t = linspace(0, 3, length(En(:,1))); +#+end_src + +#+begin_src matlab :exports none + figure; + hold on; + plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$') + plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$') + plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$') + hold off; + legend(); + xlabel('Time [s]'); ylabel('Position Error [m]'); +#+end_src + +#+HEADER: :tangle no :exports results :results none :noweb yes +#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_trans.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") +<> +#+end_src + +#+NAME: fig:nass_act_damp_undamped_sim_tomo_trans +#+CAPTION: Position Error during tomography experiment - Translations ([[./figs/nass_act_damp_undamped_sim_tomo_trans.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_trans.pdf][pdf]]) +[[file:figs/nass_act_damp_undamped_sim_tomo_trans.png]] + +#+begin_src matlab :exports none + figure; + hold on; + plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$') + plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$') + plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$') + hold off; + xlim([0.5,inf]); + legend(); + xlabel('Time [s]'); ylabel('Position Error [rad]'); +#+end_src + +#+HEADER: :tangle no :exports results :results none :noweb yes +#+begin_src matlab :var filepath="figs/nass_act_damp_undamped_sim_tomo_rot.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") +<> +#+end_src + +#+NAME: fig:nass_act_damp_undamped_sim_tomo_rot +#+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]]) +[[file:figs/nass_act_damp_undamped_sim_tomo_rot.png]] +** Verification of the transfer function from nano hexapod to metrology +*** Initialize the Simulation +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") + <> +#+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") +<> +#+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") +<> +#+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") +<> +#+end_src + +#+NAME: fig:nass_active_damping_inertial_plant +#+CAPTION: Inertial Feedback Plant ([[./figs/nass_active_damping_inertial_plant.png][png]], 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