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[WIP] Change inputs.mat elements

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Create new identification simulink
This commit is contained in:
Thomas Dehaeze
2018-10-12 18:17:03 +02:00
parent 782129a31d
commit 14259c7e67
26 changed files with 60 additions and 68 deletions
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14
identification/id_micro_station.m
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@@ -11,21 +11,27 @@ options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station';
mdl = 'simscape_id_micro_station';
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
% Run the linearization
G_ms = linearize(mdl, io, 0);
% Input/Output names
G_ms.InputName = {'Fmx', 'Fmy', 'Fmz', 'Fgx', 'Fgy', 'Fgz'};
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', 'Dgx', 'Dgy', 'Dgz'};
G_ms.InputName = {'Fmx', 'Fmy', 'Fmz',...
'Fgx', 'Fgy', 'Fgz'};
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
'Tyx', 'Tyy', 'Tyz', ...
'Ryx', 'Ryy', 'Ryz', ...
'Dgx', 'Dgy', 'Dgz'};
%% Save the obtained transfer functions
save('./mat/id_micro_station.mat', 'G_ms');

10
identification/id_micro_station_comp_meas.m
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@@ -23,7 +23,7 @@ figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms('Dgx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
@@ -50,7 +50,7 @@ figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
@@ -60,7 +60,7 @@ hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
@@ -77,7 +77,7 @@ figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
@@ -87,7 +87,7 @@ hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);

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identification/sim_micro_station.slx
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identification/simscape_id_micro_station.slx Normal file
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