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Add PSD and CAS analysis for cascade control

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Thomas Dehaeze 2020-03-23 14:45:26 +01:00
parent 0303b7b944
commit 67e9d2a6c2
5 changed files with 153 additions and 0 deletions
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org/control_cascade.org
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@ -668,6 +668,159 @@ And we simulate the system.
load('./mat/cascade_hac_lac.mat', 'cascade_hac_lac'); load('./mat/cascade_hac_lac.mat', 'cascade_hac_lac');
#+end_src #+end_src
#+begin_src matlab
n_av = 4;
han_win = hanning(ceil(length(cascade_hac_lac.Em.En.Data(:,1))/n_av));
#+end_src
#+begin_src matlab
t = cascade_hac_lac.Em.En.Time;
Ts = t(2)-t(1);
[pxx_ol, f] = pwelch(tomo_align_dist.Em.En.Data, han_win, [], [], 1/Ts);
[pxx_ca, ~] = pwelch(cascade_hac_lac.Em.En.Data, han_win, [], [], 1/Ts);
#+end_src
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 3, 1);
hold on;
plot(f, sqrt(pxx_ol(:, 1)))
plot(f, sqrt(pxx_ca(:, 1)))
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{D_x}$ [$m/\sqrt{Hz}$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax2 = subplot(2, 3, 2);
hold on;
plot(f, sqrt(pxx_ol(:, 2)))
plot(f, sqrt(pxx_ca(:, 2)))
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{D_y}$ [$m/\sqrt{Hz}$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax3 = subplot(2, 3, 3);
hold on;
plot(f, sqrt(pxx_ol(:, 3)))
plot(f, sqrt(pxx_ca(:, 3)))
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{D_z}$ [$m/\sqrt{Hz}$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax4 = subplot(2, 3, 4);
hold on;
plot(f, sqrt(pxx_ol(:, 4)))
plot(f, sqrt(pxx_ca(:, 4)))
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{R_x}$ [$rad/\sqrt{Hz}$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax5 = subplot(2, 3, 5);
hold on;
plot(f, sqrt(pxx_ol(:, 5)))
plot(f, sqrt(pxx_ca(:, 5)))
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{R_y}$ [$rad/\sqrt{Hz}$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax6 = subplot(2, 3, 6);
hold on;
plot(f, sqrt(pxx_ol(:, 6)), 'DisplayName', '$\mu$-Station')
plot(f, sqrt(pxx_ca(:, 6)), 'DisplayName', 'Cascade')
hold off;
xlabel('Frequency [Hz]');
ylabel('$\Gamma_{R_z}$ [$rad/\sqrt{Hz}$]');
legend('location', 'southwest');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
xlim([f(2), f(end)])
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/cascade_hac_lac_tomography_psd.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:cascade_hac_lac_tomography_psd
#+caption: ASD of the position error ([[./figs/cascade_hac_lac_tomography_psd.png][png]], [[./figs/cascade_hac_lac_tomography_psd.pdf][pdf]])
[[file:figs/cascade_hac_lac_tomography_psd.png]]
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 3, 1);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 1))))))
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 1))))))
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $D_x$ [$m$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax2 = subplot(2, 3, 2);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 2))))))
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 2))))))
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $D_y$ [$m$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax3 = subplot(2, 3, 3);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 3))))))
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 3))))))
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $D_z$ [$m$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax4 = subplot(2, 3, 4);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 4))))))
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 4))))))
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $R_x$ [$rad$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax5 = subplot(2, 3, 5);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 5))))))
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 5))))))
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $R_y$ [$rad$]');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ax6 = subplot(2, 3, 6);
hold on;
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 6))))), 'DisplayName', '$\mu$-Station')
plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ca(:, 6))))), 'DisplayName', 'Cascade')
hold off;
xlabel('Frequency [Hz]');
ylabel('CAS $R_z$ [$rad$]');
legend('location', 'southwest');
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
xlim([f(2), f(end)])
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/cascade_hac_lac_tomography_cas.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:cascade_hac_lac_tomography_cas
#+caption: Cumulative Amplitude Spectrum of the position error ([[./figs/cascade_hac_lac_tomography_cas.png][png]], [[./figs/cascade_hac_lac_tomography_cas.pdf][pdf]])
[[file:figs/cascade_hac_lac_tomography_cas.png]]
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
ax1 = subplot(2, 3, 1); ax1 = subplot(2, 3, 1);