Removed unused hac-lac folder
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<?xml version="1.0" encoding="utf-8"?>
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<!-- 2019-10-08 mar. 11:13 -->
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<title>HAC-LAC</title>
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<meta name="author" content="Dehaeze Thomas" />
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#org-div-home-and-up
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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<script type="text/javascript">
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/*
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@licstart The following is the entire license notice for the
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JavaScript code in this tag.
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Copyright (C) 2012-2019 Free Software Foundation, Inc.
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The JavaScript code in this tag is free software: you can
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redistribute it and/or modify it under the terms of the GNU
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General Public License (GNU GPL) as published by the Free Software
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Foundation, either version 3 of the License, or (at your option)
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any later version. The code is distributed WITHOUT ANY WARRANTY;
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without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
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As additional permission under GNU GPL version 3 section 7, you
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may distribute non-source (e.g., minimized or compacted) forms of
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that code without the copy of the GNU GPL normally required by
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section 4, provided you include this license notice and a URL
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through which recipients can access the Corresponding Source.
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@licend The above is the entire license notice
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for the JavaScript code in this tag.
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*/
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/*]]>*///-->
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</head>
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<body>
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<div id="org-div-home-and-up">
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<a accesskey="h" href="../index.html"> UP </a>
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|
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">HAC-LAC</h1>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2019-10-08 mar. 11:13</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
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</div>
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</body>
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</html>
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@ -1,42 +0,0 @@
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#+TITLE: HAC-LAC
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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@ -1,17 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Plant
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load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
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%%
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fs = 10;
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K_light_vc_iff = generateDiagPidControl(G_iff_light_vc.G_cart, fs);
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K_light_pz_iff = generateDiagPidControl(G_iff_light_pz.G_cart, fs);
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K_heavy_vc_iff = generateDiagPidControl(G_iff_heavy_vc.G_cart, fs);
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K_heavy_pz_iff = generateDiagPidControl(G_iff_heavy_pz.G_cart, fs);
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%% Save the MIMO control
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save('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff');
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%%
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clear; close all; clc;
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%% Load plant and controller
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load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
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load('./mat/K_fb_iff.mat', 'K_light_vc_iff', 'K_light_pz_iff', 'K_heavy_vc_iff', 'K_heavy_pz_iff');
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%% Load Configuration
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Plot the Loop gain for Translations - Light VC
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figure;
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% Amplitude
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ax1 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz'))), 'DisplayName', 'x');
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plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz'))), 'DisplayName', 'y');
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plot(freqs, abs(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz'))), 'DisplayName', 'z');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(1, 1)*G_iff_light_vc.G_cart(1, 1), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(2, 2)*G_iff_light_vc.G_cart(2, 2), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_light_vc_iff(3, 3)*G_iff_light_vc.G_cart(3, 3), freqs, 'Hz'))));
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('loop_gain_fb_iff_light_vc_trans', 'normal-normal', struct('path', 'active_damping')); end
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%% Plot the Loop gain for Rotations - Light VC
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figure;
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% Amplitude
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ax1 = subplot(2,1,1);
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hold on;
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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
|
||||
@ -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');
|
||||
@ -1,2 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
Loading…
Reference in New Issue
Block a user