Remove unused analysis folder
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<!-- 2019-10-08 mar. 11:13 -->
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<title>Some analysis</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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<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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<script type="text/javascript" src="../js/jquery.min.js"></script>
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<script type="text/javascript" src="../js/bootstrap.min.js"></script>
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<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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<script type="text/javascript" src="../js/readtheorg.js"></script>
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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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</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">Some analysis</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: Some analysis
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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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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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@ -1,28 +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_xg_to_d.mat', 'G_xg_to_d');
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%% Load shape of the perturbation
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load('./mat/perturbations.mat', 'Wxg');
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%% Effect of the perturbation on the output
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freqs = logspace(-1, 3, 1000);
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dx_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(1, 1), freqs, 'Hz')));
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dy_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(2, 2), freqs, 'Hz')));
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dz_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3), freqs, 'Hz')));
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figure;
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hold on;
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plot(freqs, dx_out, 'DisplayName', 'Effect of $Dg$ on $D_{x}$');
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plot(freqs, dy_out, 'DisplayName', 'Effect of $Dg$ on $D_{y}$');
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plot(freqs, dz_out, 'DisplayName', 'Effect of $Dg$ on $D_{z}$');
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xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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legend('location', 'southwest');
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xlim([freqs(1), freqs(end)]);
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hold off;
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exportFig('ground_motion_effect', 'normal-normal')
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@ -1,13 +0,0 @@
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%%
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Dmeas.Data = Dmeas.Data - Dmeas.Data(1, :);
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%%
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figure;
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hold on;
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plot(r_setpoint.Time, r_setpoint.Data(:, 2));
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plot(Dmeas.Time, Dmeas.Data(:, 2));
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legend({'Setpoint', 'Ty'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('set_time_translations', 'normal-normal')
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@ -1,46 +0,0 @@
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%%
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clear; close all; clc;
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%%
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load('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');
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%%
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load('./mat/perturbations.mat', 'Wxg')
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%%
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load('./mat/G_gm_to_dh.mat', 'G_gm_to_dh')
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load('./mat/psd_ground_motion.mat', 'psd_f', 'pxx')
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%%
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bodeFig({Gd_ol_20(1, 1), G_gm_to_dh})
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%% PSD
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freqs = logspace(-2, 2, 1000);
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gm_ol = abs(squeeze(freqresp(Wxg*Gd_ol_20(1, 1), freqs, 'Hz')));
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gm_cl = abs(squeeze(freqresp(Wxg*Gd_cl_20(1, 1), freqs, 'Hz')));
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figure;
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hold on;
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plot(freqs, gm_ol)
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plot(freqs, gm_cl)
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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hold off;
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%% CAS
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freqs = logspace(-1, 2, 1000);
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gm_ol = abs(squeeze(freqresp(Wxg*Gd_ol_20(1, 1), freqs, 'Hz')));
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gm_cl = abs(squeeze(freqresp(Wxg*Gd_cl_20(1, 1), freqs, 'Hz')));
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dw = freqs - [0, freqs(1:end-1)];
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figure;
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hold on;
|
||||
plot(freqs, cumsum(gm_ol'.*dw))
|
||||
plot(freqs, cumsum(gm_cl'.*dw))
|
||||
set(gca, 'XScale', 'log');
|
||||
% set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('CAS [m]');
|
||||
hold off;
|
||||
@ -1,150 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% 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;
|
||||
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 1));
|
||||
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 1));
|
||||
legend({'x - OL', 'x - CL'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('gm_control_time_x', 'normal-normal')
|
||||
|
||||
%% Compare OL and CL - Time
|
||||
figure;
|
||||
hold on;
|
||||
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 2));
|
||||
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 2));
|
||||
legend({'y - OL', 'y - CL'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('gm_control_time_y', 'normal-normal')
|
||||
|
||||
%% Compare OL and CL - Time
|
||||
figure;
|
||||
hold on;
|
||||
plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 3));
|
||||
plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 3));
|
||||
legend({'z - OL', 'z - CL'})
|
||||
hold off;
|
||||
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/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/sim_conf.Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
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({'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/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/sim_conf.Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs_y_ol, sqrt(psd_y_ol));
|
||||
plot(freqs_y, sqrt(psd_y));
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
|
||||
legend({'y - OL', 'y - CL'})
|
||||
hold off;
|
||||
|
||||
exportFig('gm_control_psd_y', 'normal-normal')
|
||||
|
||||
%% Compare OL and CL - PSD
|
||||
load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
|
||||
load('./mat/perturbations.mat', 'Wxg');
|
||||
load('./mat/T_S.mat', 'S', 'T');
|
||||
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
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/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/sim_conf.Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs_z_ol, sqrt(psd_z_ol), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg \to D_x$ - OL (sim)');
|
||||
plot(freqs, dz_ol, '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg \to D_x$ - OL (th)');
|
||||
plot(freqs_z, sqrt(psd_z), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg \to D_x$ - CL (sim)');
|
||||
plot(freqs, dz_cl, '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg \to D_x$ - CL (th)');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
|
||||
legend('location', 'southwest');
|
||||
hold off;
|
||||
|
||||
exportFig('gm_control_psd_z', 'normal-normal')
|
||||
@ -1,218 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%%
|
||||
exp_ol = load('./data/exp_open_loop.mat', 'Dmeas');
|
||||
exp_cl = load('./data/exp_close_loop_xyz.mat', 'Dmeas');
|
||||
exp_without_nass = load('./data/exp_whitout_nass.mat', 'Dmeas');
|
||||
load('./mat/sim_conf.mat', 'sim_conf');
|
||||
|
||||
exp_without_nass.Dmeas.Data(:, 3) = exp_without_nass.Dmeas.Data(:, 3) - exp_without_nass.Dmeas.Data(end, 3);
|
||||
|
||||
Fs = ceil((length(exp_without_nass.Dmeas.Time(:))-1)/exp_without_nass.Dmeas.Time(end));
|
||||
|
||||
%%
|
||||
N = length(exp_without_nass.Dmeas.Data(:, 1));
|
||||
figure;
|
||||
hold on;
|
||||
% plot(exp_without_nass.Dmeas.Data(end-6300:end, 1),exp_without_nass.Dmeas.Data(end-6300:end, 2))
|
||||
plot(exp_without_nass.Dmeas.Data(N-6600:N-6200, 1),exp_without_nass.Dmeas.Data(N-6600:N-6200, 2))
|
||||
plot(exp_cl.Dmeas.Data(6:end, 1),exp_cl.Dmeas.Data(6:end, 2))
|
||||
xlim([-1e-6, 1e-6]);
|
||||
ylim([-1e-6, 1e-6]);
|
||||
hold off;
|
||||
xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
|
||||
|
||||
|
||||
%% With and without NASS
|
||||
steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
|
||||
steady_i = 6;
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_without_nass.Dmeas.Data(steady_i:end, 1),exp_without_nass.Dmeas.Data(steady_i:end, 2))
|
||||
plot(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2))
|
||||
xlim([-1e-6, 1e-6]);
|
||||
ylim([-1e-6, 1e-6]);
|
||||
hold off;
|
||||
xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
|
||||
|
||||
exportFig('exp_w_wo_nass_xy', 'half-short')
|
||||
|
||||
%% Video of the simulation
|
||||
close all;
|
||||
|
||||
figure(1);
|
||||
hold on;
|
||||
grid;
|
||||
xlim([-1e-6, 1e-6]);
|
||||
ylim([-1e-6, 1e-6]);
|
||||
xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
|
||||
|
||||
% Set up the movie.
|
||||
writerObj = VideoWriter('open_loop.avi'); % Name it.
|
||||
writerObj.FrameRate = 30; % How many frames per second.
|
||||
open(writerObj);
|
||||
|
||||
% Open Loop
|
||||
N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
|
||||
step_i = ceil(Fs/writerObj.FrameRate);
|
||||
for i=1:step_i:N
|
||||
% We just use pause but pretend you have some really complicated thing here...
|
||||
pause(0.01);
|
||||
figure(1);
|
||||
plot(exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 1),exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0 0.4470 0.7410])
|
||||
frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
|
||||
writeVideo(writerObj, frame);
|
||||
end
|
||||
|
||||
% Close Loop
|
||||
N = length(exp_cl.Dmeas.Data(:, 1));
|
||||
step_i = ceil(Fs/writerObj.FrameRate);
|
||||
first_i = 6;
|
||||
for i=first_i:step_i:N
|
||||
% We just use pause but pretend you have some really complicated thing here...
|
||||
pause(0.01);
|
||||
figure(1);
|
||||
plot(exp_cl.Dmeas.Data(i:min(i+step_i, N), 1),exp_cl.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0.8500 0.3250 0.0980])
|
||||
frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
|
||||
writeVideo(writerObj, frame);
|
||||
end
|
||||
|
||||
hold off
|
||||
close(writerObj); % Saves the movie.
|
||||
|
||||
|
||||
%% Video of the simulation
|
||||
close all;
|
||||
|
||||
figure(1);
|
||||
hold on;
|
||||
xlim([-40, 40]);
|
||||
ylim([-40, 40]);
|
||||
yticks([-40 -20 0 20 40])
|
||||
xticks([-40 -20 0 20 40])
|
||||
grid on;
|
||||
xlabel('Displacement - $x$ [nm]'); ylabel('Displacement - $y$ [nm]');
|
||||
|
||||
set(gcf, 'pos', [20 20 300 300]);
|
||||
|
||||
% Set up the movie.
|
||||
writerObj = VideoWriter('close_loop_zoom.avi'); % Name it.
|
||||
writerObj.FrameRate = 30; % How many frames per second.
|
||||
open(writerObj);
|
||||
|
||||
% Open Loop
|
||||
N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
|
||||
step_i = ceil(Fs/writerObj.FrameRate);
|
||||
for i=1:step_i:N
|
||||
% We just use pause but pretend you have some really complicated thing here...
|
||||
pause(0.01);
|
||||
figure(1);
|
||||
plot(1e9*exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 1),1e9*exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0 0.4470 0.7410])
|
||||
frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
|
||||
writeVideo(writerObj, frame);
|
||||
end
|
||||
|
||||
% Close Loop
|
||||
N = length(exp_cl.Dmeas.Data(:, 1));
|
||||
step_i = ceil(Fs/writerObj.FrameRate);
|
||||
first_i = 6;
|
||||
for i=first_i:step_i:N
|
||||
% We just use pause but pretend you have some really complicated thing here...
|
||||
pause(0.01);
|
||||
figure(1);
|
||||
plot(1e9*exp_cl.Dmeas.Data(i:min(i+step_i, N), 1),1e9*exp_cl.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0.8500 0.3250 0.0980])
|
||||
frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
|
||||
writeVideo(writerObj, frame);
|
||||
end
|
||||
|
||||
hold off
|
||||
close(writerObj); % Saves the movie.
|
||||
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_without_nass.Dmeas.Data(steady_i:end, 2));
|
||||
plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_cl.Dmeas.Data(steady_i:end, 2));
|
||||
legend({'$y$ - without NASS', '$y$ - with NASS'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('exp_w_wo_nass_y', 'half-small')
|
||||
|
||||
|
||||
|
||||
%% Compare OL and CL - Time
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 1));
|
||||
plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 1));
|
||||
legend({'x - OL', 'x - CL'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('exp_control_time_x', 'normal-normal')
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 2));
|
||||
plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 2));
|
||||
legend({'y - OL', 'y - CL'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('exp_control_time_y', 'normal-normal')
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_ol.Dmeas.Time, exp_ol.Dmeas.Data(:, 3));
|
||||
plot(exp_cl.Dmeas.Time, exp_cl.Dmeas.Data(:, 3));
|
||||
legend({'z - OL', 'z - CL'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('exp_control_time_z', 'normal-normal')
|
||||
|
||||
%%
|
||||
steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
|
||||
% steady_i = 1;
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(exp_ol.Dmeas.Data(steady_i:end, 1),exp_ol.Dmeas.Data(steady_i:end, 2))
|
||||
plot(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2))
|
||||
legend({'OL', 'CL'})
|
||||
hold off;
|
||||
xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $y$ [m]');
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot3(exp_ol.Dmeas.Data(steady_i:end, 1),exp_ol.Dmeas.Data(steady_i:end, 2),exp_ol.Dmeas.Data(steady_i:end, 3))
|
||||
plot3(exp_cl.Dmeas.Data(steady_i:end, 1),exp_cl.Dmeas.Data(steady_i:end, 2),exp_cl.Dmeas.Data(steady_i:end, 3))
|
||||
legend({'OL', 'CL'})
|
||||
hold off;
|
||||
xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $y$ [m]'); zlabel('Displacement - $z$ [m]');
|
||||
|
||||
|
||||
%% Compare OL and CL - PSD
|
||||
han_windows_ol = hanning(ceil(length(exp_ol.Dmeas.Time(steady_i:end))/2));
|
||||
[psd_x_ol, freqs_x_ol] = pwelch(exp_ol.Dmeas.Data(steady_i:end, 1), han_windows_ol, 0, [], 1/sim_conf.Ts);
|
||||
|
||||
han_windows_cl = hanning(ceil(length(exp_cl.Dmeas.Time(steady_i:end))/2));
|
||||
[psd_x, freqs_x] = pwelch(exp_cl.Dmeas.Data(steady_i:end, 1), han_windows_cl, 0, [], 1/sim_conf.Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
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({'x - OL', 'x - CL'})
|
||||
hold off;
|
||||
|
||||
exportFig('exp_psd_x', 'normal-normal')
|
||||
@ -1,65 +0,0 @@
|
||||
%%
|
||||
Dmeas.Data = Dmeas.Data - Dmeas.Data(1, :);
|
||||
|
||||
%% Time domain X-Y-Z
|
||||
figure;
|
||||
hold on;
|
||||
plot(Dmeas.Time, Dmeas.Data(:, 1));
|
||||
plot(Dmeas.Time, Dmeas.Data(:, 2));
|
||||
plot(Dmeas.Time, Dmeas.Data(:, 3));
|
||||
legend({'x', 'y', 'z'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('tomo_time_translations', 'normal-normal')
|
||||
|
||||
%% Time domain angles
|
||||
figure;
|
||||
hold on;
|
||||
plot(Dmeas.Time, Dmeas.Data(:, 4));
|
||||
plot(Dmeas.Time, Dmeas.Data(:, 5));
|
||||
legend({'$\theta_x$', '$\theta_y$'})
|
||||
hold off;
|
||||
xlabel('Time [s]'); ylabel('Displacement [m]');
|
||||
|
||||
exportFig('tomo_time_rotations', 'normal-normal')
|
||||
|
||||
%% PSD X-Y-Z
|
||||
han_windows = hanning(ceil(length(Dmeas.Time)/10));
|
||||
|
||||
[psd_x, freqs_x] = pwelch(Dmeas.Data(:, 1), han_windows, 0, [], 1/Ts);
|
||||
[psd_y, freqs_y] = pwelch(Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
|
||||
[psd_z, freqs_z] = pwelch(Dmeas.Data(:, 3), han_windows, 0, [], 1/Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs_x, sqrt(psd_x));
|
||||
plot(freqs_y, sqrt(psd_y));
|
||||
plot(freqs_z, sqrt(psd_z));
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
|
||||
legend({'x', 'y', 'z'})
|
||||
hold off;
|
||||
|
||||
exportFig('tomo_psd_translations', 'normal-normal')
|
||||
|
||||
%% PSD X-Y-Z
|
||||
han_windows = hanning(ceil(length(Dmeas.Time)/10));
|
||||
|
||||
[psd_x, freqs_x] = pwelch(Dmeas.Data(:, 4), han_windows, 0, [], 1/Ts);
|
||||
[psd_y, freqs_y] = pwelch(Dmeas.Data(:, 5), han_windows, 0, [], 1/Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs_x, sqrt(psd_x));
|
||||
plot(freqs_y, sqrt(psd_y));
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
xlabel('Frequency [Hz]'); ylabel('PSD [$rad/s/\sqrt{Hz}$]');
|
||||
legend({'$\theta_x$', '$\theta_y$'})
|
||||
hold off;
|
||||
|
||||
exportFig('tomo_psd_rotations', 'normal-normal')
|
||||
|
||||
|
||||
%%
|
||||
save('./data/tomography_exp_ol.mat', 'Dmeas')
|
||||
@ -1,68 +0,0 @@
|
||||
%%
|
||||
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));
|
||||
plot(tomo_cl.Dmeas.Time, tomo_cl.Dmeas.Data(:, 2));
|
||||
legend({'y - OL', 'y - CL'})
|
||||
hold off;
|
||||
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);
|
||||
|
||||
han_windows = hanning(ceil(length(tomo_cl.Dmeas.Time)/10));
|
||||
[psd_y, freqs_y] = pwelch(tomo_cl.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs_y_ol, sqrt(psd_y_ol));
|
||||
plot(freqs_y, sqrt(psd_y));
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
|
||||
legend({'y - OL', 'y - CL'})
|
||||
hold off;
|
||||
|
||||
exportFig('tomo_control_psd_y', 'normal-normal')
|
||||
Loading…
Reference in New Issue
Block a user