Remove preprocessIdTf. Improve identification scripts
This commit is contained in:
Thomas Dehaeze
@@ -7,19 +7,22 @@
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clear; close all; clc;
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%%
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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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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G_1_vc = identifyG();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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G_1_pz = identifyG();
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%%
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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initializeSample(struct('mass', 50));
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[G_50, G_50_raw] = identifyG();
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G_50_vc = identifyG();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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G_50_pz = 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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save('./mat/G_f_to_d.mat', 'G_1_vc', 'G_1_pz', 'G_50_vc', 'G_50_pz');
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@@ -2,62 +2,114 @@
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');
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load('./mat/G_f_to_d.mat', 'G_1_vc', 'G_1_pz', 'G_50_vc', 'G_50_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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freqs = logspace(0, 3, 1000);
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bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, freqs, struct('phase', true))
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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', 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', 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', 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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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_y_mass', 'half-normal')
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bodeFig({G_1(3, 3), G_20(3, 3), G_50(3, 3)}, struct('phase', true))
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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', struct('path', 'identification'))
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%%
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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', struct('path', 'identification'))
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%%
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freqs = logspace(-1, 3, 1000);
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_1_vc('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_1_pz('Dx', 'Fnx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_50_vc('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_50_pz('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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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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legend({'$1Kg$', ...
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'$20Kg$', ...
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'$50Kg$'})
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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', struct('path', 'identification'))
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_1_vc('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_1_pz('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_50_vc('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_50_pz('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-1800:90:1800);
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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('comp_models_plant_x_x', 'normal-normal', struct('path', 'identification')); end
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%%
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_1_vc('Dz', 'Fnz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_1_pz('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_50_vc('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_50_pz('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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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 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_1_vc('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_1_pz('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_50_vc('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_50_pz('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-1800:90:1800);
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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('comp_models_plant_z_z', 'normal-normal', struct('path', 'identification')); end
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%% Plot all the coupling
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figure;
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for i_input = 1:3
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for i_output = 1:3
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subaxis(3,3,3*(i_input-1)+i_output);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_1_vc(i_output, i_input), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_1_pz(i_output, i_input), freqs, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlim([freqs(1) freqs(end)]); ylim([1e-12, 1e-2]);
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yticks([1e-12, 1e-8, 1e-4]); xticks([0.1 1 10 100 1000]);
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if i_output > 1; set(gca,'yticklabel',[]); end
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if i_input < 3; set(gca,'xticklabel',[]); end
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hold off;
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end
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end
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if save_fig; exportFig('comp_models_plant_coupling_all', 'full-tall', struct('path', 'identification')); end
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%% Plot some coupling
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_1_vc('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light - $Fx \to Dx$');
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plot(freqs, abs(squeeze(freqresp(G_1_pz('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light - $Fx \to Dx$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_1_vc('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy - $Fx \to Dy$');
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plot(freqs, abs(squeeze(freqresp(G_1_pz('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy - $Fx \to Dy$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_1_vc('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'VC - Heavy - $Fx \to Dz$');
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plot(freqs, abs(squeeze(freqresp(G_1_pz('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'PZ - Heavy - $Fx \to Dz$');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/m]');
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legend('Location', 'southwest');
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xticks('manual'); xlim([freqs(1) freqs(end)]);
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hold off;
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if save_fig; exportFig('comp_models_plant_coupling', 'normal-normal', struct('path', 'identification')); end
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@@ -1,19 +1,28 @@
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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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% from Ground Motion to measured 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 - Light Sample
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initializeSample(struct('mass', 1));
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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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initializeNanoHexapod(struct('actuator', 'lorentz'));
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Gd_ol_1_vc = 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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initializeNanoHexapod(struct('actuator', 'piezo'));
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Gd_ol_1_pz = identifyGd(struct('cl', false));
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%% Open Loop - Heavy Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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Gd_ol_50_vc = identifyGd(struct('cl', false));
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initializeNanoHexapod(struct('actuator', 'piezo'));
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Gd_ol_50_pz = identifyGd(struct('cl', false));
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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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save('./mat/G_xw_to_d.mat', ...
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'Gd_ol_1_vc', 'Gd_ol_1_pz', 'Gd_ol_50_vc', 'Gd_ol_50_pz');
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@@ -2,11 +2,38 @@
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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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load('./mat/G_xw_to_d.mat', ...
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'Gd_ol_1_vc', 'Gd_ol_1_pz', 'Gd_ol_50_vc', 'Gd_ol_50_pz');
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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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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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exportFig('transmissibility_ol_cl', 'half-normal', struct('path', 'identification'));
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%% Transfer function from ground displacement to measured displacement
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(Gd_ol_1_vc('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(Gd_ol_1_pz('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(Gd_ol_50_vc('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(Gd_ol_50_pz('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]');
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hold off;
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legend('Location', 'southwest');
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if save_fig; exportFig('comp_models_xw_to_d', 'normal-normal', struct('path', 'identification')); end
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%% Transfer function from direct force to measured displacement
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(Gd_ol_1_vc('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(Gd_ol_1_pz('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(Gd_ol_50_vc('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(Gd_ol_50_pz('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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hold off;
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legend('Location', 'southwest');
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if save_fig; exportFig('comp_models_fi_to_d', 'normal-normal', struct('path', 'identification')); end
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@@ -8,7 +8,7 @@ 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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%% Identification of transfer function from disturbances to displacement
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% Compute the transfer function of Gd
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run id_Gd.m
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@@ -22,16 +22,12 @@ 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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% Compare the measurements of Marc with the model
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run id_micro_station_comp_meas.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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@@ -11,48 +11,21 @@ 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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mdl = 'sim_micro_station';
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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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io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
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io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
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io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
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io(4) = linio([mdl, '/Micro-Station/Dg_inertial'],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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G_ms = linearize(mdl, io, 0);
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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
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
|
||||
io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_h_g_raw = linearize(mdl,io, 0);
|
||||
G_h_g_raw = G_h_g_raw(1:3, 1:3);
|
||||
G_h_g = preprocessIdTf(G_h_g_raw, 10, 10000);
|
||||
|
||||
% Input/Output names
|
||||
G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
|
||||
G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
|
||||
G_ms.InputName = {'Fmx', 'Fmy', 'Fmz', 'Fgx', 'Fgy', 'Fgz'};
|
||||
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', 'Dgx', 'Dgy', 'Dgz'};
|
||||
|
||||
%% Save the obtained transfer functions
|
||||
save('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
|
||||
save('./mat/id_micro_station.mat', 'G_ms');
|
||||
|
||||
100
identification/id_micro_station_comp_meas.m
Normal file
100
identification/id_micro_station_comp_meas.m
Normal file
@@ -0,0 +1,100 @@
|
||||
%% Script Description
|
||||
% Compare identification from the Simscape model
|
||||
% with the identification on the real system.
|
||||
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Load the obtained transfer functions
|
||||
load('./mat/id_micro_station.mat', 'G_ms');
|
||||
|
||||
%% Load Configuration file
|
||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
||||
|
||||
%% Get Measurement Object
|
||||
load('2018_01_12.mat', 'm_object');
|
||||
|
||||
%% Get Measurements Data
|
||||
opts = struct('freq_min', 10, 'est_backend', 'idfrd');
|
||||
meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {'tx', 'tx'}, opts);
|
||||
|
||||
%% Granite to Granite
|
||||
figure;
|
||||
% Amplitude
|
||||
ax1 = subaxis(2,1,1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
ylabel('Amplitude [m/N]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
legend({'Model', 'Meas.'});
|
||||
hold off;
|
||||
% Phase
|
||||
ax2 = subaxis(2,1,2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
if save_fig; exportFig('comp_meas_g_g', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
%% Hexapod to Hexapod
|
||||
figure;
|
||||
% Amplitude
|
||||
ax1 = subaxis(2,1,1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
ylabel('Amplitude [m/N]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
legend({'Model', 'Meas.'});
|
||||
hold off;
|
||||
% Phase
|
||||
ax2 = subaxis(2,1,2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
if save_fig; exportFig('comp_meas_m_m', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
%% Hexapod to Granite
|
||||
figure;
|
||||
% Amplitude
|
||||
ax1 = subaxis(2,1,1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
ylabel('Amplitude [m/N]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
legend({'Model', 'Meas.'});
|
||||
hold off;
|
||||
% Phase
|
||||
ax2 = subaxis(2,1,2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
|
||||
set(gca,'xscale','log');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
if save_fig; exportFig('comp_meas_m_g', 'normal-normal', struct('path', 'identification')); end
|
||||
@@ -2,28 +2,28 @@
|
||||
clear; close all; clc;
|
||||
|
||||
%% Load the obtained transfer functions
|
||||
load('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
|
||||
load('./mat/id_micro_station.mat', 'G_ms');
|
||||
|
||||
%% Load Configuration file
|
||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
||||
|
||||
%% Micro-Hexapod
|
||||
|
||||
bodeFig({G_h_h(1, 1), G_h_h(2, 2), G_h_h(3, 3)})
|
||||
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
|
||||
bodeFig({G_ms('Dmx', 'Fmx'), G_ms('Dmy', 'Fmy'), G_ms('Dmz', 'Fmz')}, freqs)
|
||||
legend({'$F_{hx} \to D_{hx}$', '$F_{hy} \to D_{hy}$', '$F_{hz} \to D_{hz}$'})
|
||||
legend('location', 'southwest')
|
||||
exportFig('id_marc_h_to_h', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
if save_fig; exportFig('id_marc_m_m', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
%% Granite
|
||||
|
||||
% Bode Plot of the linearized function
|
||||
bodeFig({G_g_g(1, 1), G_g_g(2, 2), G_g_g(3, 3)})
|
||||
legend({'$F_{g_x} \rightarrow D_{g_x}$', '$F_{g_y} \rightarrow D_{g_y}$', '$F_{g_z} \rightarrow D_{g_z}$'})
|
||||
bodeFig({G_ms('Dgx', 'Fgx'), G_ms('Dgy', 'Fgy'), G_ms('Dgz', 'Fgz')}, freqs)
|
||||
legend({'$F_{gx} \to D_{gx}$', '$F_{gy} \to D_{gy}$', '$F_{gz} \to D_{gz}$'})
|
||||
legend('location', 'southwest')
|
||||
exportFig('id_marc_g_to_g', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
if save_fig; exportFig('id_marc_g_g', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
%% 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({'$F_{h_x} \rightarrow D_{g_x}$', '$F_{h_y} \rightarrow D_{g_y}$', '$F_{h_z} \rightarrow D_{g_z}$'})
|
||||
bodeFig({G_ms('Dmx', 'Fgx'), G_ms('Dmy', 'Fgy'), G_ms('Dmz', 'Fgz')}, freqs)
|
||||
legend({'$F_{hx} \to D_{gx}$', '$F_{hy} \to D_{gy}$', '$F_{hz} \to D_{gz}$'})
|
||||
legend('location', 'southwest')
|
||||
exportFig('id_marc_h_to_g', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
if save_fig; exportFig('id_marc_m_g', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
%% 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');
|
||||
@@ -1,36 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Load Transfer Functions
|
||||
load('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
|
||||
|
||||
%%
|
||||
freqs = logspace(1, 4, 1000);
|
||||
|
||||
bodeFig({G_nass_1(1, 1), G_nass_1(2, 2), G_nass_1(3, 3)}, struct('phase', true))
|
||||
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', 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', 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', 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', struct('path', 'identification'))
|
||||
@@ -8,27 +8,20 @@ clear; close all; clc;
|
||||
%%
|
||||
initializeSample(struct('mass', 20));
|
||||
|
||||
%% Options for preprocessing the identified transfer functions
|
||||
f_low = 10; % [Hz]
|
||||
f_high = 10000; % [Hz]
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'Micro_Station_Identification';
|
||||
mdl = 'sim_nano_station';
|
||||
|
||||
%% Y-Translation Stage
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'input');
|
||||
io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'openinput');
|
||||
io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_ty_raw = linearize(mdl,io, 0);
|
||||
|
||||
% Post-process the linearized function
|
||||
G_ty = preprocessIdTf(G_ty_raw, f_low, f_high);
|
||||
G_ty = linearize(mdl,io, 0);
|
||||
|
||||
% Input/Output names
|
||||
G_ty.InputName = {'Fy'};
|
||||
@@ -36,14 +29,11 @@ G_ty.OutputName = {'Dy'};
|
||||
|
||||
%% Tilt Stage
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'input');
|
||||
io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'openinput');
|
||||
io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_ry_raw = linearize(mdl,io, 0);
|
||||
|
||||
% Post-process the linearized function
|
||||
G_ry = preprocessIdTf(G_ry_raw, f_low, f_high);
|
||||
G_ry = linearize(mdl,io, 0);
|
||||
|
||||
% Input/Output names
|
||||
G_ry.InputName = {'My'};
|
||||
@@ -51,14 +41,11 @@ G_ry.OutputName = {'Ry'};
|
||||
|
||||
%% Spindle
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'input');
|
||||
io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'openinput');
|
||||
io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_rz_raw = linearize(mdl,io, 0);
|
||||
|
||||
% Post-process the linearized function
|
||||
G_rz = preprocessIdTf(G_rz_raw, f_low, f_high);
|
||||
G_rz = linearize(mdl,io, 0);
|
||||
|
||||
% Input/Output names
|
||||
G_rz.InputName = {'Mz'};
|
||||
@@ -66,14 +53,11 @@ G_rz.OutputName = {'Rz'};
|
||||
|
||||
%% Hexapod Symetrie
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'input');
|
||||
io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'openinput');
|
||||
io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_hexa_raw = linearize(mdl,io, 0);
|
||||
|
||||
% Post-process the linearized function
|
||||
G_hexa = preprocessIdTf(G_hexa_raw, f_low, f_high);
|
||||
G_hexa = linearize(mdl,io, 0);
|
||||
|
||||
% Input/Output names
|
||||
G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
|
||||
@@ -81,14 +65,11 @@ G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhe
|
||||
|
||||
%% NASS
|
||||
% Input/Output definition
|
||||
io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'input');
|
||||
io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'openinput');
|
||||
io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
|
||||
|
||||
% Run the linearization
|
||||
G_nass_raw = linearize(mdl,io, 0);
|
||||
|
||||
% Post-process the linearized function
|
||||
G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
|
||||
G_nass = linearize(mdl,io, 0);
|
||||
|
||||
% Input/Output names
|
||||
G_nass.InputName = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
|
||||
|
||||
@@ -10,41 +10,41 @@ 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({'$F_{y} \rightarrow D_{y}$'})
|
||||
legend({'$F_{y} \to D_{y}$'})
|
||||
exportFig('id_ty', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% Tilt Stage
|
||||
bodeFig({G_ry}, struct('phase', true))
|
||||
legend({'$M_{y} \rightarrow R_{y}$'})
|
||||
legend({'$M_{y} \to R_{y}$'})
|
||||
exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
%% Spindle
|
||||
bodeFig({G_rz}, struct('phase', true))
|
||||
legend({'$M_{z} \rightarrow R_{z}$'})
|
||||
legend({'$M_{z} \to R_{z}$'})
|
||||
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({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
|
||||
legend({'$F_{h_x} \to D_{h_x}$', '$F_{h_y} \to D_{h_y}$', '$F_{h_z} \to D_{h_z}$'})
|
||||
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({'$M_{h_x} \rightarrow R_{h_x}$', '$M_{h_y} \rightarrow R_{h_y}$', '$M_{h_z} \rightarrow R_{h_z}$'})
|
||||
legend({'$M_{h_x} \to R_{h_x}$', '$M_{h_y} \to R_{h_y}$', '$M_{h_z} \to R_{h_z}$'})
|
||||
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({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_x} \rightarrow D_{h_y}$', '$F_{h_x} \rightarrow D_{h_z}$'})
|
||||
legend({'$F_{h_x} \to D_{h_x}$', '$F_{h_x} \to D_{h_y}$', '$F_{h_x} \to D_{h_z}$'})
|
||||
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({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_z} \rightarrow D_{n_z}$'})
|
||||
legend({'$F_{n_x} \to D_{n_x}$', '$F_{n_y} \to D_{n_y}$', '$F_{n_z} \to D_{n_z}$'})
|
||||
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({'$M_{n_x} \rightarrow R_{n_x}$', '$M_{n_y} \rightarrow R_{n_y}$', '$M_{n_z} \rightarrow R_{n_z}$'})
|
||||
legend({'$M_{n_x} \to R_{n_x}$', '$M_{n_y} \to R_{n_y}$', '$M_{n_z} \to R_{n_z}$'})
|
||||
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({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{n_y}$', '$F_{n_x} \rightarrow D_{n_z}$'})
|
||||
legend({'$F_{n_x} \to D_{n_x}$', '$F_{n_x} \to D_{n_y}$', '$F_{n_x} \to D_{n_z}$'})
|
||||
exportFig('id_nass_coupling', 'normal-normal', struct('path', 'identification'))
|
||||
|
||||
BIN
identification/sim_micro_station.slx
Normal file
BIN
identification/sim_micro_station.slx
Normal file
Binary file not shown.
BIN
identification/sim_nano_station.slx
Normal file
BIN
identification/sim_nano_station.slx
Normal file
Binary file not shown.
Reference in New Issue
Block a user