Renamed and split all the identification scripts
This commit is contained in:
Thomas Dehaeze
25
identification/id_G.m
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25
identification/id_G.m
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@@ -0,0 +1,25 @@
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%% Script Description
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% Identification of a force injected into the NASS (in cartesian
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% coordinates) to the relative displacement of the sample
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% and granite.
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%%
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clear; close all; clc;
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%%
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initializeSample(struct('mass', 1));
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[G_1, G_1_raw] = identifyG();
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%%
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initializeSample(struct('mass', 20));
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[G_20, G_20_raw] = identifyG();
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%%
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initializeSample(struct('mass', 50));
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[G_50, G_50_raw] = identifyG();
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%% Save the obtained transfer functions
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save('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');
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@@ -12,21 +12,21 @@ legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_1', 'normal-normal')
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exportFig('G_xyz_1', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_20(1, 1), G_20(2, 2), G_20(3, 3)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_20', 'normal-normal')
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exportFig('G_xyz_20', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_x_mass', 'normal-normal')
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exportFig('G_x_mass', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, struct('phase', true))
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legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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@@ -40,7 +40,7 @@ legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_z_mass', 'normal-normal')
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exportFig('G_z_mass', 'normal-normal', struct('path', 'identification'))
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%%
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@@ -48,7 +48,7 @@ bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
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legend({'$M = 1Kg$', ...
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'$M = 20Kg$', ...
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'$M = 50Kg$'})
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exportFig('G_y_mass_article', 'half-normal')
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exportFig('G_y_mass_article', 'half-normal', struct('path', 'identification'))
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%%
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freqs = logspace(-1, 3, 1000);
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@@ -60,4 +60,4 @@ legend({'$1Kg$', ...
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legend('location', 'southwest')
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set(gca,'YTick',[1e-8, 1e-6, 1e-4])
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ylim([1e-9, 1e-3])
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exportFig('G_x_mass', 'half-short')
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exportFig('G_x_mass', 'half-short', struct('path', 'identification'))
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19
identification/id_Gd.m
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19
identification/id_Gd.m
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@@ -0,0 +1,19 @@
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%% Script Description
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% Identification of the transfer function
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% from Ground Motion to sample displacement.
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%%
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clear; close all; clc;
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%%
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initializeSample(struct('mass', 20));
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initializeSimConf(struct('cl_time', 0));
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%% Open Loop
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[Gd_ol_20, Gd_ol_20_raw] = identifyGd(struct('cl', false));
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%% Close Loop
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[Gd_cl_20, Gd_cl_20_raw] = identifyGd(struct('cl', true));
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%% Save the identified transfer functions
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save('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');
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12
identification/id_Gd_plots.m
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12
identification/id_Gd_plots.m
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@@ -0,0 +1,12 @@
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%%
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clear; close all; clc;
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%% Load the identified transfer functions
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load('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');
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%%
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freqs = logspace(0, 3, 1000);
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bodeFig({Gd_ol_20(1, 1), Gd_cl_20(1, 1)}, freqs, struct('ylabel', 'Amplitude [m/m]'))
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legend({'OL', 'CL'});
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exportFig('transmissibility_ol_cl', 'half-normal', struct('path', 'identification'));
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37
identification/id_main.m
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37
identification/id_main.m
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@@ -0,0 +1,37 @@
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%%
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clear; close all; clc;
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%% Plant Identification
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% Compute the transfer function of G for multiple masses
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run id_G.m
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% Plot de obtained transfer functions
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run id_G_plots.m
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%% Identification of transfer function from ground motion to displacement
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% Compute the transfer function of Gd
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run id_Gd.m
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% Plot de obtained transfer functions
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run id_Gd_plots.m
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%% Identification of the micro-station
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% Compute the transfer functions
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run id_micro_station.m
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% Plot de obtained transfer functions
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run id_micro_station_plots.m
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%% Identification of all the stages
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% Compute the transfer functions of each stage from act. to sens.
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run id_stages.m
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% Plot de obtained transfer functions
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run id_stages_plots.m
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%% Identification of the nass
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% Compute the transfer functions
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run id_nass.m
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% Plot de obtained transfer functions
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run id_nass.m
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58
identification/id_micro_station.m
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58
identification/id_micro_station.m
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@@ -0,0 +1,58 @@
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%% Script Description
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% Make the same identification as Marc did
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% Should comment out the nano-hexapod and sample before
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% runing this script.
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%%
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clear; close all; clc;
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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 = 'Micro_Station_Identification';
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%% Micro-Hexapod
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_h_h_raw = linearize(mdl,io, 0);
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G_h_h_raw = G_h_h_raw(1:3, 1:3);
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G_h_h = preprocessIdTf(G_h_h_raw, 10, 10000);
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% Input/Output names
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G_h_h.InputName = {'Fux', 'Fuy', 'Fuz'};
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G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
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%% Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/F_granite'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_g_g_raw = linearize(mdl,io, 0);
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G_g_g = preprocessIdTf(G_g_g_raw, 10, 10000);
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% Input/Output names
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G_g_g.InputName = {'Fgx', 'Fgy', 'Fgz'};
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G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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%% Micro Hexapod to Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_h_g_raw = linearize(mdl,io, 0);
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G_h_g_raw = G_h_g_raw(1:3, 1:3);
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G_h_g = preprocessIdTf(G_h_g_raw, 10, 10000);
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% Input/Output names
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G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
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G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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%% Save the obtained transfer functions
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save('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
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29
identification/id_micro_station_plots.m
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29
identification/id_micro_station_plots.m
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@@ -0,0 +1,29 @@
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%%
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clear; close all; clc;
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%% Load the obtained transfer functions
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load('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
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%% Micro-Hexapod
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bodeFig({G_h_h(1, 1), G_h_h(2, 2), G_h_h(3, 3)})
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legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
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legend('location', 'southwest')
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exportFig('id_marc_h_to_h', 'normal-normal', struct('path', 'identification'))
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%% Granite
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% Bode Plot of the linearized function
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bodeFig({G_g_g(1, 1), G_g_g(2, 2), G_g_g(3, 3)})
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legend({'$F_{g_x} \rightarrow D_{g_x}$', '$F_{g_y} \rightarrow D_{g_y}$', '$F_{g_z} \rightarrow D_{g_z}$'})
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legend('location', 'southwest')
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exportFig('id_marc_g_to_g', 'normal-normal', struct('path', 'identification'))
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%% Micro Hexapod to Granite
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% Bode Plot of the linearized function
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bodeFig({G_h_g(1, 1), G_h_g(2, 2), G_h_g(3, 3)})
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legend({'$F_{h_x} \rightarrow D_{g_x}$', '$F_{h_y} \rightarrow D_{g_y}$', '$F_{h_z} \rightarrow D_{g_z}$'})
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legend('location', 'southwest')
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exportFig('id_marc_h_to_g', 'normal-normal', struct('path', 'identification'))
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24
identification/id_nass.m
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24
identification/id_nass.m
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@@ -0,0 +1,24 @@
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%% Script Description
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% Identification of the NASS from cartesian actuation
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% to cartesian displacement.
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%%
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clear; close all; clc;
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%%
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initializeSample(struct('mass', 1));
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G_nass_1 = identifyNass();
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%%
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initializeSample(struct('mass', 20));
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G_nass_20 = identifyNass();
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%%
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initializeSample(struct('mass', 50));
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G_nass_50 = identifyNass();
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%% Save Transfer Functions
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save('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
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36
identification/id_nass_plots.m
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36
identification/id_nass_plots.m
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@@ -0,0 +1,36 @@
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%%
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clear; close all; clc;
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%% Load Transfer Functions
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load('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
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%%
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freqs = logspace(1, 4, 1000);
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bodeFig({G_nass_1(1, 1), G_nass_1(2, 2), G_nass_1(3, 3)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{n_y}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$'})
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legend('location', 'southwest')
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exportFig('nass_cart_xyz', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_nass_1(1, 1), G_nass_20(1, 1), G_nass_50(1, 1)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
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'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
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'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('nass_cart_x_mass', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_nass_1(2, 2), G_nass_20(2, 2), G_nass_50(2, 2)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
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'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
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'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('nass_cart_y_mass', 'normal-normal', struct('path', 'identification'))
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bodeFig({G_nass_1(3, 3), G_nass_20(3, 3), G_nass_50(3, 3)}, struct('phase', true))
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legend({'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{n_z}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{n_z}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('nass_cart_z_mass', 'normal-normal', struct('path', 'identification'))
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98
identification/id_stages.m
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98
identification/id_stages.m
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@@ -0,0 +1,98 @@
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%% Script Description
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% Run an identification of each stage from input to output
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% Save all computed transfer functions into one .mat file
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%%
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clear; close all; clc;
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%%
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initializeSample(struct('mass', 20));
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%% Options for preprocessing the identified transfer functions
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f_low = 10; % [Hz]
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f_high = 10000; % [Hz]
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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 = 'Micro_Station_Identification';
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%% Y-Translation Stage
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
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% Run the linearization
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G_ty_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ty = preprocessIdTf(G_ty_raw, f_low, f_high);
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% Input/Output names
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G_ty.InputName = {'Fy'};
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G_ty.OutputName = {'Dy'};
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%% Tilt Stage
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
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% Run the linearization
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G_ry_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ry = preprocessIdTf(G_ry_raw, f_low, f_high);
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% Input/Output names
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G_ry.InputName = {'My'};
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G_ry.OutputName = {'Ry'};
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%% Spindle
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
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% Run the linearization
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G_rz_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_rz = preprocessIdTf(G_rz_raw, f_low, f_high);
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% Input/Output names
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G_rz.InputName = {'Mz'};
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G_rz.OutputName = {'Rz'};
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%% Hexapod Symetrie
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
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% Run the linearization
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G_hexa_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_hexa = preprocessIdTf(G_hexa_raw, f_low, f_high);
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% Input/Output names
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G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
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G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhexa_z'};
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%% NASS
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'input');
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io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
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% Run the linearization
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G_nass_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
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% Input/Output names
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G_nass.InputName = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
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G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Rnass_x', 'Rnass_y', 'Rnass_z'};
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%% Save all transfer function
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save('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
|
||||
50
identification/id_stages_plots.m
Normal file
50
identification/id_stages_plots.m
Normal file
@@ -0,0 +1,50 @@
|
||||
%% Script Description
|
||||
% From the identification, plot all the
|
||||
% transfer funcions.
|
||||
|
||||
%%
|
||||
clear; close all; clc
|
||||
|
||||
%% Load Data
|
||||
load('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass');
|
||||
|
||||
%% Y-Translation Stage
|
||||
bodeFig({G_ty}, struct('phase', true))
|
||||
legend({'$F_{y} \rightarrow D_{y}$'})
|
||||
exportFig('id_ty', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% Tilt Stage
|
||||
bodeFig({G_ry}, struct('phase', true))
|
||||
legend({'$M_{y} \rightarrow R_{y}$'})
|
||||
exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% Spindle
|
||||
bodeFig({G_rz}, struct('phase', true))
|
||||
legend({'$M_{z} \rightarrow R_{z}$'})
|
||||
exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% Hexapod Symetrie
|
||||
bodeFig({G_hexa(1, 1), G_hexa(2, 2), G_hexa(3, 3)}, struct('phase', true))
|
||||
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
|
||||
exportFig('id_hexapod_trans', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
bodeFig({G_hexa(4, 4), G_hexa(5, 5), G_hexa(6, 6)}, struct('phase', true))
|
||||
legend({'$M_{h_x} \rightarrow R_{h_x}$', '$M_{h_y} \rightarrow R_{h_y}$', '$M_{h_z} \rightarrow R_{h_z}$'})
|
||||
exportFig('id_hexapod_rot', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
bodeFig({G_hexa(1, 1), G_hexa(2, 1), G_hexa(3, 1)}, struct('phase', true))
|
||||
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_x} \rightarrow D_{h_y}$', '$F_{h_x} \rightarrow D_{h_z}$'})
|
||||
exportFig('id_hexapod_coupling', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% NASS
|
||||
bodeFig({G_nass(1, 1), G_nass(2, 2), G_nass(3, 3)}, struct('phase', true))
|
||||
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_z} \rightarrow D_{n_z}$'})
|
||||
exportFig('id_nass_trans', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
bodeFig({G_nass(4, 4), G_nass(5, 5), G_nass(6, 6)}, struct('phase', true))
|
||||
legend({'$M_{n_x} \rightarrow R_{n_x}$', '$M_{n_y} \rightarrow R_{n_y}$', '$M_{n_z} \rightarrow R_{n_z}$'})
|
||||
exportFig('id_nass_rot', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
bodeFig({G_nass(1, 1), G_nass(2, 1), G_nass(3, 1)}, struct('phase', true))
|
||||
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{n_y}$', '$F_{n_x} \rightarrow D_{n_z}$'})
|
||||
exportFig('id_nass_coupling', 'normal-normal', struct('path', 'identification'))
|
||||
Reference in New Issue
Block a user