Minor update of identification script

identification/index.org

@@ -221,26 +221,13 @@ hold off;
 
 ** Init
 #+begin_src matlab :results none
-%% Initialize Ground
+  initializeGround();
-initializeGround();
+  initializeGranite();
-
+  initializeTy();
-%% Initialize Granite
+  initializeRy();
-initializeGranite();
+  initializeRz();
-
+  initializeMicroHexapod();
-%% Initialize Translation stage
+  initializeAxisc();
-initializeTy();
-
-%% Initialize Tilt Stage
-initializeRy();
-
-%% Initialize Spindle
-initializeRz();
-
-%% Initialize Hexapod Symétrie
-initializeMicroHexapod();
-
-%% Initialize Center of gravity compensation
-initializeAxisc();
 #+end_src
 
 ** Center of Mass of each solid body
@@ -300,10 +287,10 @@ initializeAxisc();
   stages = {'gbot', 'gtop', 'ty', 'ry', 'rz', 'hexa'}
 
   n_stg = 2;
-  n_dir = 2; % x, y, z, Rx, Ry, Rz
+  n_dir = 5; % x, y, z, Rx, Ry, Rz
   n_exc = 2; % x, y, z
 
-  f = logspace(1, 3, 1000);
+  f = logspace(0, 3, 1000);
 
   figure;
   hold on;
@@ -312,7 +299,7 @@ initializeAxisc();
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
   ylabel('Amplitude [m/N]');
   hold off;
-  xlim([10, 1000]);
+  xlim([1, 200]);
 #+end_src
 
 #+begin_src matlab
@@ -331,6 +318,9 @@ initializeAxisc();
       plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
       set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
       ylabel('Amplitude [m/N]');
+      if n_dir == 3
+        xlabel('Frequency [Hz]');
+      end
       hold off;
       xlim([10, 1000]);
       ylim([1e-12, 1e-6]);
@@ -338,6 +328,16 @@ initializeAxisc();
   end
 #+end_src
 
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/identification_comp_bot_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:identification_comp_bot_stages
+#+CAPTION: caption ([[./figs/identification_comp_bot_stages.png][png]], [[./figs/identification_comp_bot_stages.pdf][pdf]])
+[[file:figs/identification_comp_bot_stages.png]]
+
+
 #+begin_src matlab
   dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
   stages = {'ry', 'rz', 'hexa'}
@@ -354,6 +354,9 @@ initializeAxisc();
       plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
       set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
       ylabel('Amplitude [m/N]');
+      if n_dir == 3
+        xlabel('Frequency [Hz]');
+      end
       hold off;
       xlim([10, 1000]);
       ylim([1e-12, 1e-6]);
@@ -361,6 +364,16 @@ initializeAxisc();
   end
 #+end_src
 
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/identification_comp_mid_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:identification_comp_mid_stages
+#+CAPTION: caption ([[./figs/identification_comp_mid_stages.png][png]], [[./figs/identification_comp_mid_stages.pdf][pdf]])
+[[file:figs/identification_comp_mid_stages.png]]
+
+
 #+begin_src matlab
   dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
   stages = {'hexa'}
@@ -370,13 +383,16 @@ initializeAxisc();
   figure;
   for n_stg = 1
     for n_dir = 1:3
-      subplot(3, 2, (n_dir-1)*2 + n_stg);
+      subplot(3, 1, (n_dir-1)*2 + n_stg);
       title(['F ', dirs{n_dir}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
       hold on;
       plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg+4) + n_dir, n_dir, :)))./((2*pi*freqs).^2)');
       plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
       set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
       ylabel('Amplitude [m/N]');
+      if n_dir == 3
+        xlabel('Frequency [Hz]');
+      end
       hold off;
       xlim([10, 1000]);
       ylim([1e-12, 1e-6]);
@@ -384,54 +400,14 @@ initializeAxisc();
   end
 #+end_src
 
-** Bis
+#+HEADER: :tangle no :exports results :results none :noweb yes
-#+begin_src matlab :results none
+#+begin_src matlab :var filepath="figs/identification_comp_top_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
-  %% Initialize Ground
+  <<plt-matlab>>
-  initializeGround();
-
-  %% Initialize Granite
-  initializeGranite(struct('rigid', false));
-
-  %% Initialize Translation stage
-  initializeTy(struct('rigid', false));
-
-  %% Initialize Tilt Stage
-  initializeRy(struct('rigid', false));
-
-  %% Initialize Spindle
-  initializeRz(struct('rigid', false));
-
-  %% Initialize Hexapod Symétrie
-  initializeMicroHexapod(struct('rigid', false));
-
-  %% Initialize Center of gravity compensation
-  initializeAxisc();
 #+end_src
 
-For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
+#+NAME: fig:identification_comp_top_stages
-#+begin_src matlab
+#+CAPTION: caption ([[./figs/identification_comp_top_stages.png][png]], [[./figs/identification_comp_top_stages.pdf][pdf]])
-  dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
+[[file:figs/identification_comp_top_stages.png]]
-  stages = {'gtop', 'ty', 'ry', 'rz', 'hexa'}
-
-  n_stg = 5;
-  n_exc = 3;
-
-  f = logspace(0, 3, 1000);
-
-  figure;
-  for n_dir = 1:6
-    subplot(2, 3, n_dir);
-    title(['F', dirs{n_exc}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
-    hold on;
-    plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg) + n_dir, n_exc, :)))./((2*pi*freqs).^2)');
-    plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_exc}]), f, 'Hz'))));
-    set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-    ylabel('Amplitude [m/N]');
-    hold off;
-    xlim([10, 1000]);
-    ylim([1e-12, 1e-6]);
-  end
-#+end_src
 
 * ZIP file containing the data and matlab files                      :ignore:
 #+begin_src bash :exports none :results none