Renamed and split all the identification scripts

identification/id_G_plots.m

@@ -12,21 +12,21 @@ legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
         '$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
         '$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$'})
 legend('location', 'southwest')
-exportFig('G_xyz_1', 'normal-normal')
+exportFig('G_xyz_1', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_20(1, 1), G_20(2, 2), G_20(3, 3)}, struct('phase', true))
 legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
         '$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
         '$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$'})
 legend('location', 'southwest')
-exportFig('G_xyz_20', 'normal-normal')
+exportFig('G_xyz_20', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
 legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
         '$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
         '$F_{n_x} \rightarrow D_{x}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('G_x_mass', 'normal-normal')
+exportFig('G_x_mass', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, struct('phase', true))
 legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
@@ -40,7 +40,7 @@ legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
         '$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$', ...
         '$F_{n_z} \rightarrow D_{z}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('G_z_mass', 'normal-normal')
+exportFig('G_z_mass', 'normal-normal', struct('path', 'identification'))
 
 
 %%
@@ -48,7 +48,7 @@ bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
 legend({'$M = 1Kg$', ...
         '$M = 20Kg$', ...
         '$M = 50Kg$'})
-exportFig('G_y_mass_article', 'half-normal')
+exportFig('G_y_mass_article', 'half-normal', struct('path', 'identification'))
 
 %%
 freqs = logspace(-1, 3, 1000);
@@ -60,4 +60,4 @@ legend({'$1Kg$', ...
 legend('location', 'southwest')
 set(gca,'YTick',[1e-8, 1e-6, 1e-4])
 ylim([1e-9, 1e-3])
-exportFig('G_x_mass', 'half-short')
+exportFig('G_x_mass', 'half-short', struct('path', 'identification'))

identification/id_Gd.m

@@ -15,12 +15,5 @@ initializeSimConf(struct('cl_time', 0));
 %% Close Loop
 [Gd_cl_20, Gd_cl_20_raw] = identifyGd(struct('cl', true));
 
-%%
+%% Save the identified transfer functions
-freqs = logspace(0, 3, 1000);
-bodeFig({Gd_ol_20(1, 1), Gd_cl_20(1, 1)}, freqs, struct('ylabel', 'Amplitude [m/m]'))
-legend({'OL', 'CL'});
-
-exportFig('transmissibility_ol_cl', 'half-normal');
-
-%%
 save('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');

identification/id_Gd_plots.m

@@ -0,0 +1,12 @@
+%%
+clear; close all; clc;
+
+%% Load the identified transfer functions
+load('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');
+
+%%
+freqs = logspace(0, 3, 1000);
+bodeFig({Gd_ol_20(1, 1), Gd_cl_20(1, 1)}, freqs, struct('ylabel', 'Amplitude [m/m]'))
+legend({'OL', 'CL'});
+
+exportFig('transmissibility_ol_cl', 'half-normal', struct('path', 'identification'));

identification/id_main.m

@@ -0,0 +1,37 @@
+%%
+clear; close all; clc;
+
+%% Plant Identification
+% Compute the transfer function of G for multiple masses
+run id_G.m
+
+% Plot de obtained transfer functions
+run id_G_plots.m
+
+%% Identification of transfer function from ground motion to displacement
+% Compute the transfer function of Gd
+run id_Gd.m
+
+% Plot de obtained transfer functions
+run id_Gd_plots.m
+
+%% Identification of the micro-station
+% Compute the transfer functions
+run id_micro_station.m
+
+% Plot de obtained transfer functions
+run id_micro_station_plots.m
+
+%% Identification of all the stages
+% Compute the transfer functions of each stage from act. to sens.
+run id_stages.m
+
+% Plot de obtained transfer functions
+run id_stages_plots.m
+
+%% Identification of the nass
+% Compute the transfer functions
+run id_nass.m
+
+% Plot de obtained transfer functions
+run id_nass.m

identification/id_micro_station.m

@@ -27,12 +27,6 @@ G_h_h = preprocessIdTf(G_h_h_raw, 10, 10000);
 G_h_h.InputName  = {'Fux', 'Fuy', 'Fuz'};
 G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
 
-% Bode Plot of the linearized function
-bodeFig({G_h_h(1, 1), G_h_h(2, 2), G_h_h(3, 3)})
-legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
-legend('location', 'southwest')
-exportFig('id_marc_h_to_h', 'normal-normal', struct('path', 'Identification'))
-
 %% Granite
 % Input/Output definition
 io(1) = linio([mdl, '/Micro-Station/F_granite'],1,'input');
@@ -46,12 +40,6 @@ G_g_g = preprocessIdTf(G_g_g_raw, 10, 10000);
 G_g_g.InputName  = {'Fgx', 'Fgy', 'Fgz'};
 G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
 
-% Bode Plot of the linearized function
-bodeFig({G_g_g(1, 1), G_g_g(2, 2), G_g_g(3, 3)})
-legend({'$F_{g_x} \rightarrow D_{g_x}$', '$F_{g_y} \rightarrow D_{g_y}$', '$F_{g_z} \rightarrow D_{g_z}$'})
-legend('location', 'southwest')
-exportFig('id_marc_g_to_g', 'normal-normal', struct('path', 'Identification'))
-
 %% Micro Hexapod to Granite
 % Input/Output definition
 io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
@@ -66,13 +54,5 @@ G_h_g = preprocessIdTf(G_h_g_raw, 10, 10000);
 G_h_g.InputName  = {'Fhx', 'Fhy', 'Fhz'};
 G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
 
-% Bode Plot of the linearized function
+%% Save the obtained transfer functions
-bodeFig({G_h_g(1, 1), G_h_g(2, 2), G_h_g(3, 3)})
+save('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
-legend({'$F_{h_x} \rightarrow D_{g_x}$', '$F_{h_y} \rightarrow D_{g_y}$', '$F_{h_z} \rightarrow D_{g_z}$'})
-legend('location', 'southwest')
-exportFig('id_marc_h_to_g', 'normal-normal', struct('path', 'Identification'))
-
-%%
-save('./mat/id_G_h_h.mat', 'G_h_h');
-save('./mat/id_G_g_g.mat', 'G_g_g');
-save('./mat/id_G_h_g.mat', 'G_h_g');

identification/id_micro_station_plots.m

@@ -0,0 +1,29 @@
+%%
+clear; close all; clc;
+
+%% Load the obtained transfer functions
+load('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
+
+%% Micro-Hexapod
+
+bodeFig({G_h_h(1, 1), G_h_h(2, 2), G_h_h(3, 3)})
+legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
+legend('location', 'southwest')
+exportFig('id_marc_h_to_h', 'normal-normal', struct('path', 'identification'))
+
+%% Granite
+
+% Bode Plot of the linearized function
+bodeFig({G_g_g(1, 1), G_g_g(2, 2), G_g_g(3, 3)})
+legend({'$F_{g_x} \rightarrow D_{g_x}$', '$F_{g_y} \rightarrow D_{g_y}$', '$F_{g_z} \rightarrow D_{g_z}$'})
+legend('location', 'southwest')
+exportFig('id_marc_g_to_g', 'normal-normal', struct('path', 'identification'))
+
+%% Micro Hexapod to Granite
+
+% Bode Plot of the linearized function
+bodeFig({G_h_g(1, 1), G_h_g(2, 2), G_h_g(3, 3)})
+legend({'$F_{h_x} \rightarrow D_{g_x}$', '$F_{h_y} \rightarrow D_{g_y}$', '$F_{h_z} \rightarrow D_{g_z}$'})
+legend('location', 'southwest')
+exportFig('id_marc_h_to_g', 'normal-normal', struct('path', 'identification'))
+

identification/id_nass.m

@@ -0,0 +1,24 @@
+%% Script Description
+% Identification of the NASS from cartesian actuation
+% to cartesian displacement.
+
+%%
+clear; close all; clc;
+
+%%
+initializeSample(struct('mass', 1));
+
+G_nass_1 = identifyNass();
+
+%%
+initializeSample(struct('mass', 20));
+
+G_nass_20 = identifyNass();
+
+%%
+initializeSample(struct('mass', 50));
+
+G_nass_50 = identifyNass();
+
+%% Save Transfer Functions
+save('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');

identification/id_nass_plots.m

@@ -1,24 +1,8 @@
-%% Script Description
-% Identification of the NASS from cartesian actuation
-% to cartesian displacement.
-
 %%
 clear; close all; clc;
 
-%%
+%% Load Transfer Functions
-initializeSample(struct('mass', 1));
+load('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
-
-G_nass_1 = identifyNass();
-
-%%
-initializeSample(struct('mass', 20));
-
-G_nass_20 = identifyNass();
-
-%%
-initializeSample(struct('mass', 50));
-
-G_nass_50 = identifyNass();
 
 %%
 freqs = logspace(1, 4, 1000);
@@ -28,28 +12,25 @@ legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
         '$F_{n_y} \rightarrow D_{n_y}$ - $M = 1Kg$', ...
         '$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$'})
 legend('location', 'southwest')
-exportFig('nass_cart_xyz', 'normal-normal')
+exportFig('nass_cart_xyz', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_nass_1(1, 1), G_nass_20(1, 1), G_nass_50(1, 1)}, struct('phase', true))
 legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
         '$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
         '$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('nass_cart_x_mass', 'normal-normal')
+exportFig('nass_cart_x_mass', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_nass_1(2, 2), G_nass_20(2, 2), G_nass_50(2, 2)}, struct('phase', true))
 legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
         '$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
         '$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('nass_cart_y_mass', 'normal-normal')
+exportFig('nass_cart_y_mass', 'normal-normal', struct('path', 'identification'))
 
 bodeFig({G_nass_1(3, 3), G_nass_20(3, 3), G_nass_50(3, 3)}, struct('phase', true))
 legend({'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$', ...
         '$F_{n_z} \rightarrow D_{n_z}$ - $M = 20Kg$', ...
         '$F_{n_z} \rightarrow D_{n_z}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('nass_cart_z_mass', 'normal-normal')
+exportFig('nass_cart_z_mass', 'normal-normal', struct('path', 'identification'))
-
-%% Save Transfer Functions
-save('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');

identification/id_stages_plots.m

@@ -6,45 +6,45 @@
 clear; close all; clc
 
 %% Load Data
-load('./mat/identified_tf.mat');
+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')
+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')
+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')
+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')
+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')
+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')
+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')
+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')
+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')
+exportFig('id_nass_coupling', 'normal-normal', struct('path', 'identification'))

init_perturbations.m

@@ -10,3 +10,8 @@ Wxg = Wxg*(s/(0.5e6)^(1/3) + 2*pi*10)^3/(s + 2*pi*10)^3;
 Wxg = Wxg/(1+s/(2*pi*2000));
 
 save('./mat/weight_Wxg.mat', 'Wxg');
+
+%% Sensor Noise
+Wn = tf(1e-12);
+
+save('./mat/weight_Wn.mat', 'Wn');

main.m

@@ -16,3 +16,6 @@ run run_simulations.m
 
 %% Demonstration of displacement of all the stages
 run init_data_demonstration.m
+
+%% Identification
+open id_main.m