Add and modify identification scripts

Identification/identification_G.m

@@ -22,14 +22,21 @@ initializeSample(struct('mass', 50));
 [G_50, G_50_raw] = identifyG();
 
 %%
-freqs = logspace(1, 4, 1000);
+freqs = logspace(0, 3, 1000);
 
-bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, struct('phase', true))
+bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, freqs, struct('phase', true))
 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', 'normal-normal')
+exportFig('G_xyz_1', 'normal-normal')
+
+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')
 
 bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
 legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
@@ -43,7 +50,7 @@ legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
         '$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
         '$F_{n_y} \rightarrow D_{y}$ - $M = 50Kg$'})
 legend('location', 'southwest')
-exportFig('G_y_mass', 'normal-normal')
+exportFig('G_y_mass', 'half-normal')
 
 bodeFig({G_1(3, 3), G_20(3, 3), G_50(3, 3)}, struct('phase', true))
 legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
@@ -52,5 +59,26 @@ legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
 legend('location', 'southwest')
 exportFig('G_z_mass', 'normal-normal')
 
+
+%%
+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')
+
 %%
 save('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');
+
+
+%%
+freqs = logspace(-1, 3, 1000);
+bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
+ylabel('Amplitude [m/N]');
+legend({'$1Kg$', ...
+        '$20Kg$', ...
+        '$50Kg$'})
+legend('location', 'southwest')
+set(gca,'YTick',[1e-8, 1e-6, 1e-4])
+ylim([1e-9, 1e-3])
+exportFig('G_x_mass', 'half-short', struct('tikz', true))

Identification/identification_Gd.m

@@ -5,34 +5,22 @@
 %%
 clear; close all; clc;
 
-%% Options for preprocessing the identified transfer functions
-f_low = 10;
-f_high = 10000;
+%%
+initializeSample(struct('mass', 20));
+initializeSimConf(struct('cl_time', 0));
 
-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
+%% Open Loop
+[Gd_ol_20, Gd_ol_20_raw] = identifyGd(struct('cl', false));
 
-%% Name of the Simulink File
-mdl = 'Assemblage';
-
-%% NASS
-% Input/Output definition
-io(1) = linio([mdl, '/Micro-Station/Gm'],1,'input');
-io(2) = linio([mdl, '/Micro-Station/Sample'],1,'output');
-
-% Run the linearization
-Gd_xg_to_d_raw = linearize(mdl,io, 0);
-
-Gd_xg_to_d = preprocessIdTf(Gd_xg_to_d_raw, f_low, f_high);
-
-% Input/Output names
-Gd_xg_to_d.InputName  = {'Dgx', 'Dgy', 'Dgz'};
-Gd_xg_to_d.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
-
-% Bode Plot of the linearized function
-bodeFig({Gd_xg_to_d(1, 1), Gd_xg_to_d(2, 2), Gd_xg_to_d(3, 3)}, struct('phase', true))
-legend({'$Dg_{x} \rightarrow D_{x}$', '$Dg_{y} \rightarrow D_{y}$', '$Dg_{z} \rightarrow D_{z}$'})
+%% Close Loop
+[Gd_cl_20, Gd_cl_20_raw] = identifyGd(struct('cl', true));
 
 %%
-save('./mat/Gd_xg_to_d.mat', 'Gd_xg_to_d');
+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/identification_stages_run.m

@@ -6,7 +6,7 @@
 clear; close all; clc;
 
 %%
-initializeSample(struct('mass', 10));
+initializeSample(struct('mass', 20));
 
 %% Options for preprocessing the identified transfer functions
 f_low  = 10;    % [Hz]
@@ -85,14 +85,14 @@ io(1) = linio([mdl, '/Micro-Station/Fn'],          1,'input');
 io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
 
 % Run the linearization
-c = linearize(mdl,io, 0);
+G_nass_raw = linearize(mdl,io, 0);
 
 % Post-process the linearized function
 G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
 
 % Input/Output names
 G_nass.InputName  = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
-G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Dnass_x', 'Dnass_y', 'Dnass_z'};
+G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Rnass_x', 'Rnass_y', 'Rnass_z'};
 
 %% Save all transfer function
-save('../mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
+save('./mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')