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Change the way control is generated. Add script to test control

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This commit is contained in:
Thomas Dehaeze
2018-06-21 11:45:02 +02:00
parent 156dd833bd
commit 601078cdab
7 changed files with 159 additions and 15 deletions
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62
Analysis/ground_motion_ol_cl.m
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@@ -1,13 +1,24 @@
%%
clear; close all; clc;
%% Used to get Ts
run init_sim_configuration;
%% Used to get sim_conf.Ts
load('./mat/sim_conf.mat', 'sim_conf');
%% Load simulation results
gm_ol = load('./data/ground_motion_ol.mat', 'Dsample');
gm_cl = load('./data/ground_motion.mat', 'Dsample');
%%
figure;
hold on;
plot(gm_ol.Dsample.Data(:, 1),gm_ol.Dsample.Data(:, 3))
plot(gm_cl.Dsample.Data(:, 1),gm_cl.Dsample.Data(:, 3))
legend({'OL', 'CL'})
hold off;
xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $z$ [m]');
exportFig('gm_control_xz', 'half-short')
%% Compare OL and CL - Time
figure;
hold on;
@@ -41,12 +52,45 @@ xlabel('Time [s]'); ylabel('Displacement [m]');
exportFig('gm_control_time_z', 'normal-normal')
%% Compare OL and CL - Time
figure;
hold on;
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 4));
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 4));
legend({'$\theta_x$ - OL', '$\theta_x$ - CL'})
hold off;
xlabel('Time [s]'); ylabel('Angle [rad]');
exportFig('gm_control_time_rx', 'normal-normal')
%% Compare OL and CL - Time
figure;
hold on;
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 5));
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 5));
legend({'$\theta_y$ - OL', '$\theta_y$ - CL'})
hold off;
xlabel('Time [s]'); ylabel('Angle [rad]');
exportFig('gm_control_time_ry', 'normal-normal')
%% Compare OL and CL - Time
figure;
hold on;
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 6));
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 6));
legend({'$\theta_z$ - OL', '$\theta_z$ - CL'})
hold off;
xlabel('Time [s]'); ylabel('Angle [rad]');
exportFig('gm_control_time_rz', 'normal-normal')
%% Compare OL and CL - PSD
han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
[psd_x_ol, freqs_x_ol] = pwelch(gm_ol.Dsample.Data(:, 1), han_windows_ol, 0, [], 1/Ts);
[psd_x_ol, freqs_x_ol] = pwelch(gm_ol.Dsample.Data(:, 1), han_windows_ol, 0, [], 1/sim_conf.Ts);
han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
[psd_x, freqs_x] = pwelch(gm_cl.Dsample.Data(:, 1), han_windows, 0, [], 1/Ts);
[psd_x, freqs_x] = pwelch(gm_cl.Dsample.Data(:, 1), han_windows, 0, [], 1/sim_conf.Ts);
figure;
hold on;
@@ -54,17 +98,17 @@ plot(freqs_x_ol, sqrt(psd_x_ol));
plot(freqs_x, sqrt(psd_x));
set(gca,'xscale','log'); set(gca,'yscale','log');
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
legend({'y - OL', 'y - CL'})
legend({'x - OL', 'x - CL'})
hold off;
exportFig('gm_control_psd_x', 'normal-normal')
%% Compare OL and CL - PSD
han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
[psd_y_ol, freqs_y_ol] = pwelch(gm_ol.Dsample.Data(:, 2), han_windows_ol, 0, [], 1/Ts);
[psd_y_ol, freqs_y_ol] = pwelch(gm_ol.Dsample.Data(:, 2), han_windows_ol, 0, [], 1/sim_conf.Ts);
han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
[psd_y, freqs_y] = pwelch(gm_cl.Dsample.Data(:, 2), han_windows, 0, [], 1/Ts);
[psd_y, freqs_y] = pwelch(gm_cl.Dsample.Data(:, 2), han_windows, 0, [], 1/sim_conf.Ts);
figure;
hold on;
@@ -87,10 +131,10 @@ dz_ol = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3), freqs, 'Hz')));
dz_cl = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3)*S(3, 3), freqs, 'Hz')));
han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
[psd_z_ol, freqs_z_ol] = pwelch(gm_ol.Dsample.Data(:, 3), han_windows_ol, 0, [], 1/Ts);
[psd_z_ol, freqs_z_ol] = pwelch(gm_ol.Dsample.Data(:, 3), han_windows_ol, 0, [], 1/sim_conf.Ts);
han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
[psd_z, freqs_z] = pwelch(gm_cl.Dsample.Data(:, 3), han_windows, 0, [], 1/Ts);
[psd_z, freqs_z] = pwelch(gm_cl.Dsample.Data(:, 3), han_windows, 0, [], 1/sim_conf.Ts);
figure;
hold on;

2
Analysis/tomography_experiment.m
View File

@@ -62,4 +62,4 @@ exportFig('tomo_psd_rotations', 'normal-normal')
%%
save('../data/tomography_exp_ol.mat', 'Dmeas')
save('./data/tomography_exp_ol.mat', 'Dmeas')

40
Analysis/tomography_ol_cl.m
View File

@@ -1,7 +1,22 @@
tomo_ol = load('../data/tomography_exp_ol.mat', 'Dmeas');
tomo_cl = load('../data/tomography_exp_001.mat', 'Dmeas');
%%
clear; close all; clc;
%%
tomo_ol = load('./data/tomography_exp_ol.mat', 'Dmeas');
tomo_cl = load('./data/tomography_exp.mat', 'Dmeas');
%% Compare OL and CL - Time
figure;
hold on;
plot(tomo_ol.Dmeas.Time, tomo_ol.Dmeas.Data(:, 1));
plot(tomo_cl.Dmeas.Time, tomo_cl.Dmeas.Data(:, 1));
legend({'x - OL', 'x - CL'})
hold off;
xlabel('Time [s]'); ylabel('Displacement [m]');
exportFig('tomo_control_time_x', 'normal-normal')
figure;
hold on;
plot(tomo_ol.Dmeas.Time, tomo_ol.Dmeas.Data(:, 2));
@@ -13,6 +28,27 @@ xlabel('Time [s]'); ylabel('Displacement [m]');
exportFig('tomo_control_time_y', 'normal-normal')
figure;
hold on;
plot(tomo_ol.Dmeas.Time, tomo_ol.Dmeas.Data(:, 3));
plot(tomo_cl.Dmeas.Time, tomo_cl.Dmeas.Data(:, 3));
legend({'z - OL', 'z - CL'})
hold off;
xlabel('Time [s]'); ylabel('Displacement [m]');
exportFig('tomo_control_time_z', 'normal-normal')
%%
figure;
hold on;
plot(tomo_ol.Dmeas.Data(:, 1),tomo_ol.Dmeas.Data(:, 3))
plot(tomo_cl.Dmeas.Data(:, 1),tomo_cl.Dmeas.Data(:, 3))
legend({'OL', 'CL'})
hold off;
xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $z$ [m]');
%% Compare OL and CL - PSD
han_windows_ol = hanning(ceil(length(tomo_ol.Dmeas.Time)/10));
[psd_y_ol, freqs_y_ol] = pwelch(tomo_ol.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);