diff --git a/hac_lac/index.html b/hac_lac/index.html deleted file mode 100644 index 42a78c0..0000000 --- a/hac_lac/index.html +++ /dev/null @@ -1,264 +0,0 @@ - - - - - - - -HAC-LAC - - - - - - - - - - - - - -
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HAC-LAC

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Author: Dehaeze Thomas

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Created: 2019-10-08 mar. 11:13

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- - diff --git a/hac_lac/index.org b/hac_lac/index.org deleted file mode 100644 index 27d9f2c..0000000 --- a/hac_lac/index.org +++ /dev/null @@ -1,42 +0,0 @@ -#+TITLE: HAC-LAC -: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 matlab/modal_frf_coh.m -#+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: diff --git a/hac_lac/matlab-old/hac_lac_iff_control.m b/hac_lac/matlab-old/hac_lac_iff_control.m deleted file mode 100644 index e2c1173..0000000 --- a/hac_lac/matlab-old/hac_lac_iff_control.m +++ /dev/null @@ -1,17 +0,0 @@ -%% -clear; close all; clc; - -%% Load Plant -load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz'); - -%% -fs = 10; - -K_light_vc_iff = generateDiagPidControl(G_iff_light_vc.G_cart, fs); -K_light_pz_iff = generateDiagPidControl(G_iff_light_pz.G_cart, fs); - -K_heavy_vc_iff = generateDiagPidControl(G_iff_heavy_vc.G_cart, fs); -K_heavy_pz_iff = generateDiagPidControl(G_iff_heavy_pz.G_cart, fs); - -%% Save the MIMO control -save('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff'); diff --git a/hac_lac/matlab-old/hac_lac_iff_control_plots.m b/hac_lac/matlab-old/hac_lac_iff_control_plots.m deleted file mode 100644 index 3d15d51..0000000 --- a/hac_lac/matlab-old/hac_lac_iff_control_plots.m +++ /dev/null @@ -1,117 +0,0 @@ -%% -clear; close all; clc; - -%% Load plant and controller -load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz'); -load('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff'); - -%% Load Configuration -load('./mat/config.mat', 'save_fig', 'freqs'); - -%% Plot the Loop gain for Translations - Light VC -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz'))), 'DisplayName', 'x'); -plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz'))), 'DisplayName', 'y'); -plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz'))), 'DisplayName', 'z'); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Amplitude [m/N]'); -hold off; -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz')))); -set(gca,'xscale','log'); -yticks(-180:90:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -hold off; -linkaxes([ax1,ax2],'x'); - -if save_fig; exportFig('loop_gain_fb_iff_light_vc_trans', 'normal-normal', struct('path', 'active_damping')); end - -%% Plot the Loop gain for Rotations - Light VC -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(4, 4)*G_iff_light_vc.G_cart(4, 4), freqs, 'Hz'))), 'DisplayName', 'Rx'); -plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(5, 5)*G_iff_light_vc.G_cart(5, 5), freqs, 'Hz'))), 'DisplayName', 'Ry'); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Amplitude [m/N]'); -hold off; -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(4, 4)*G_iff_light_vc.G_cart(4, 4), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(5, 5)*G_iff_light_vc.G_cart(5, 5), freqs, 'Hz')))); -set(gca,'xscale','log'); -yticks(-180:90:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -hold off; -linkaxes([ax1,ax2],'x'); - -if save_fig; exportFig('loop_gain_fb_iff_light_vc_rot', 'normal-normal', struct('path', 'active_damping')); end - -%% Plot the Loop gain for Translations - Light PZ -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(1, 1)*G_iff_light_pz.G_cart(1, 1), freqs, 'Hz'))), 'DisplayName', 'x'); -plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(2, 2)*G_iff_light_pz.G_cart(2, 2), freqs, 'Hz'))), 'DisplayName', 'y'); -plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(3, 3)*G_iff_light_pz.G_cart(3, 3), freqs, 'Hz'))), 'DisplayName', 'z'); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Amplitude [m/N]'); -hold off; -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(1, 1)*G_iff_light_pz.G_cart(1, 1), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(2, 2)*G_iff_light_pz.G_cart(2, 2), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(3, 3)*G_iff_light_pz.G_cart(3, 3), freqs, 'Hz')))); -set(gca,'xscale','log'); -yticks(-180:90:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -hold off; -linkaxes([ax1,ax2],'x'); - -if save_fig; exportFig('loop_gain_fb_iff_light_pz_trans', 'normal-normal', struct('path', 'active_damping')); end - -%% Plot the Loop gain for Rotations - Light PZ -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(4, 4)*G_iff_light_pz.G_cart(4, 4), freqs, 'Hz'))), 'DisplayName', 'Rx'); -plot(freqs, abs(squeeze(freqresp(K_light_pz_iff(5, 5)*G_iff_light_pz.G_cart(5, 5), freqs, 'Hz'))), 'DisplayName', 'Ry'); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Amplitude [m/N]'); -hold off; -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(4, 4)*G_iff_light_pz.G_cart(4, 4), freqs, 'Hz')))); -plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_pz_iff(5, 5)*G_iff_light_pz.G_cart(5, 5), freqs, 'Hz')))); -set(gca,'xscale','log'); -yticks(-180:90:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -hold off; -linkaxes([ax1,ax2],'x'); - -if save_fig; exportFig('loop_gain_fb_iff_light_pz_rot', 'normal-normal', struct('path', 'active_damping')); end \ No newline at end of file diff --git a/hac_lac/matlab-old/hac_lac_iff_simulation.m b/hac_lac/matlab-old/hac_lac_iff_simulation.m deleted file mode 100644 index bd81675..0000000 --- a/hac_lac/matlab-old/hac_lac_iff_simulation.m +++ /dev/null @@ -1,11 +0,0 @@ -%% -clear; close all; clc; - -%% Initialize Simulation and Inputs -initializeExperiment('tomography', 'light'); - -%% Run Closed Loop Simulations -runSimulation('vc', 'light', 'cl', 'iff'); -runSimulation('pz', 'light', 'cl', 'iff'); -% runSimulation('vc', 'heavy', 'cl', 'iff'); -% runSimulation('pz', 'heavy', 'cl', 'iff'); \ No newline at end of file diff --git a/hac_lac/matlab-old/hac_lac_main.m b/hac_lac/matlab-old/hac_lac_main.m deleted file mode 100644 index 3a24ffc..0000000 --- a/hac_lac/matlab-old/hac_lac_main.m +++ /dev/null @@ -1,2 +0,0 @@ -%% -clear; close all; clc;