Removed old files about identification
This commit is contained in:
parent
897681e195
commit
884a2d4799
@ -1,115 +0,0 @@
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Plant
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figure;
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% Amplitude
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ax1 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('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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hold off;
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% Phase
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ax2 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('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_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('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 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('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 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('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_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('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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subplot(3,3,3*(i_input-1)+i_output);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart(i_output, i_input), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart(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_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light - $Fx \to Dx$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('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_light_vc.G_cart('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy - $Fx \to Dy$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('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_light_vc.G_cart('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'VC - Heavy - $Fx \to Dz$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('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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@ -1,77 +0,0 @@
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%%
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clear; close all; clc;
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%% Load the identified transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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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(G_light_vc.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_dg('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_dg('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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%%
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_dg('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_dg('Dx', 'Dgx'), 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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%% 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(G_light_vc.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('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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%%
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Ry', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('Ry', 'Fsx'), 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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%%
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_fs('Rz', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_fs('Rz', 'Fsx'), 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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%%
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clear; close all; clc;
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%% Load the identified transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_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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figure;
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% Amplitude
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ax1 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), 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 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), 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_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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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('G_iff', 'normal-normal', struct('path', 'identification')); end
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%% Coupling
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'k-');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm2', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm3', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm4', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm5', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm6', 'F1'), freqs, 'Hz'))), 'k--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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hold off;
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if save_fig; exportFig('G_iff_coupling', 'normal-normal', struct('path', 'identification')); end
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%% Script Description
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% Determine if we take into account the flexibilities,
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% does that changes a lot
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%%
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clear; close all; clc;
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%% Initialize all the stage by default
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run init_data.m
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_micro_station_id';
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%% Micro-Hexapod
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% Input/Output definition
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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');
|
|
||||||
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
|
|
||||||
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
|
|
||||||
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
|
|
||||||
|
|
||||||
|
|
||||||
%% Run the linearization
|
|
||||||
initializeTy();
|
|
||||||
|
|
||||||
G_ms_flexible = linearize(mdl, io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_ms_flexible.InputName = {'Fmx', 'Fmy', 'Fmz',...
|
|
||||||
'Fgx', 'Fgy', 'Fgz'};
|
|
||||||
G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
|
|
||||||
'Tyx', 'Tyy', 'Tyz', ...
|
|
||||||
'Ryx', 'Ryy', 'Ryz', ...
|
|
||||||
'Dgx', 'Dgy', 'Dgz'};
|
|
||||||
|
|
||||||
%% Run the linearization
|
|
||||||
initializeTy(struct('rigid', true));
|
|
||||||
|
|
||||||
G_ms_ty_rigid = linearize(mdl, io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_ms_ty_rigid.InputName = {'Fmx', 'Fmy', 'Fmz',...
|
|
||||||
'Fgx', 'Fgy', 'Fgz'};
|
|
||||||
G_ms_ty_rigid.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
|
|
||||||
'Tyx', 'Tyy', 'Tyz', ...
|
|
||||||
'Ryx', 'Ryy', 'Ryz', ...
|
|
||||||
'Dgx', 'Dgy', 'Dgz'};
|
|
||||||
|
|
||||||
%% Save the obtained transfer functions
|
|
||||||
save('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');
|
|
||||||
@ -1,99 +0,0 @@
|
|||||||
%% Script Description
|
|
||||||
% Determine if we take into account the flexibilities,
|
|
||||||
% does that changes a lot
|
|
||||||
|
|
||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load Configuration file
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%% Load the obtained transfer functions
|
|
||||||
load('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');
|
|
||||||
|
|
||||||
%% 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'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
|
|
||||||
|
|
||||||
%%
|
|
||||||
dir = 'y';
|
|
||||||
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))), '--');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Flexible', 'Ty - Rigid'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), 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');
|
|
||||||
|
|
||||||
%%
|
|
||||||
dir = 'y';
|
|
||||||
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Flexible', 'Ty - Rigid'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), 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');
|
|
||||||
|
|
||||||
%%
|
|
||||||
dir = 'z';
|
|
||||||
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Flexible', 'Ty - Rigid'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), 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');
|
|
||||||
@ -1,42 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Identification of the micro-station
|
|
||||||
% Compute the transfer functions
|
|
||||||
run id_micro_station.m
|
|
||||||
|
|
||||||
% Plot de obtained transfer functions
|
|
||||||
run id_micro_station_plots.m
|
|
||||||
|
|
||||||
% Compare the measurements of Marc with the model
|
|
||||||
run id_micro_station_comp_meas.m
|
|
||||||
|
|
||||||
%% Identification of the nano-station
|
|
||||||
% Run the identification
|
|
||||||
run id_nano_station.m
|
|
||||||
|
|
||||||
% Plot the plant for feedback control
|
|
||||||
run id_G_cart_plots.m
|
|
||||||
|
|
||||||
% Plot the transfer function from disturbances to displacement
|
|
||||||
run id_G_d_plots.m
|
|
||||||
|
|
||||||
% Plot the transfer function for IFF control
|
|
||||||
run id_G_iff_plots.m
|
|
||||||
|
|
||||||
%% Identification of all the stages
|
|
||||||
% Compute the transfer functions of each stage from act. to sens.
|
|
||||||
run id_stages.m
|
|
||||||
|
|
||||||
% Plot de obtained transfer functions
|
|
||||||
run id_stages_plots.m
|
|
||||||
|
|
||||||
%% Identification of the variation of the plant
|
|
||||||
run id_plant_variation.m
|
|
||||||
|
|
||||||
run id_plant_variation_plots.m
|
|
||||||
|
|
||||||
%% Study the effect of the flexibility of each Stage
|
|
||||||
run id_flexible_rigid.m
|
|
||||||
|
|
||||||
run id_flexible_rigid_plots.m
|
|
||||||
@ -1,37 +0,0 @@
|
|||||||
%% Script Description
|
|
||||||
% Make the same identification as Marc did
|
|
||||||
% Should comment out the nano-hexapod and sample before
|
|
||||||
% runing this script.
|
|
||||||
|
|
||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Options for Linearized
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = 0;
|
|
||||||
|
|
||||||
%% Name of the Simulink File
|
|
||||||
mdl = 'sim_micro_station_id';
|
|
||||||
|
|
||||||
%% Micro-Hexapod
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
|
|
||||||
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
|
|
||||||
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
|
|
||||||
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
|
|
||||||
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_ms = linearize(mdl, io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_ms.InputName = {'Fmx', 'Fmy', 'Fmz',...
|
|
||||||
'Fgx', 'Fgy', 'Fgz'};
|
|
||||||
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
|
|
||||||
'Tyx', 'Tyy', 'Tyz', ...
|
|
||||||
'Ryx', 'Ryy', 'Ryz', ...
|
|
||||||
'Dgx', 'Dgy', 'Dgz'};
|
|
||||||
|
|
||||||
%% Save the obtained transfer functions
|
|
||||||
save('./mat/id_micro_station.mat', 'G_ms');
|
|
||||||
@ -1,105 +0,0 @@
|
|||||||
%% 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'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
|
|
||||||
|
|
||||||
%% Granite to Granite
|
|
||||||
for dir = 'xyz'
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Model', 'Meas.'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), 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_' dir], 'normal-normal', struct('path', 'identification')); end
|
|
||||||
end
|
|
||||||
|
|
||||||
%% Hexapod to Hexapod
|
|
||||||
for dir = 'xyz'
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Model', 'Meas.'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), 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_' dir], 'normal-normal', struct('path', 'identification')); end
|
|
||||||
end
|
|
||||||
|
|
||||||
%% Hexapod to Granite
|
|
||||||
for dir = 'xyz'
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend({'Model', 'Meas.'});
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), 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_' dir], 'normal-normal', struct('path', 'identification')); end
|
|
||||||
end
|
|
||||||
@ -1,29 +0,0 @@
|
|||||||
%%
|
|
||||||
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');
|
|
||||||
|
|
||||||
%% Micro-Hexapod
|
|
||||||
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')
|
|
||||||
|
|
||||||
if save_fig; exportFig('id_marc_m_m', 'normal-normal', struct('path', 'identification')); end
|
|
||||||
|
|
||||||
%% Granite
|
|
||||||
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')
|
|
||||||
|
|
||||||
if save_fig; exportFig('id_marc_g_g', 'normal-normal', struct('path', 'identification')); end
|
|
||||||
|
|
||||||
%% Micro Hexapod to Granite
|
|
||||||
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')
|
|
||||||
|
|
||||||
if save_fig; exportFig('id_marc_m_g', 'normal-normal', struct('path', 'identification')); end
|
|
||||||
@ -1,30 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%%
|
|
||||||
K = tf(zeros(6));
|
|
||||||
K_iff = tf(zeros(6));
|
|
||||||
save('./mat/controllers.mat', 'K', 'K_iff', '-append');
|
|
||||||
|
|
||||||
initializeInputs();
|
|
||||||
|
|
||||||
%% Light Sample
|
|
||||||
initializeSample(struct('mass', 1));
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'lorentz'));
|
|
||||||
G_light_vc = identifyPlant();
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
|
||||||
G_light_pz = identifyPlant();
|
|
||||||
|
|
||||||
%% Heavy Sample
|
|
||||||
initializeSample(struct('mass', 50));
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'lorentz'));
|
|
||||||
G_heavy_vc = identifyPlant();
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
|
||||||
G_heavy_pz = identifyPlant();
|
|
||||||
|
|
||||||
%% Save the obtained transfer functions
|
|
||||||
save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
|
|
||||||
@ -1,28 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%%
|
|
||||||
K = tf(zeros(6));
|
|
||||||
K_iff = tf(zeros(6));
|
|
||||||
save('./mat/controllers.mat', 'K', 'K_iff', '-append');
|
|
||||||
|
|
||||||
%% Light Sample
|
|
||||||
initializeSample(struct('mass', 50));
|
|
||||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
|
||||||
|
|
||||||
%% Vertical Configuration
|
|
||||||
initializeInputs();
|
|
||||||
G_vert_init = identifyPlant();
|
|
||||||
|
|
||||||
initializeInputs(struct('Rz', 90));
|
|
||||||
G_vert_turn = identifyPlant();
|
|
||||||
|
|
||||||
%% Tilted configuration
|
|
||||||
initializeInputs(struct('Ry', 3));
|
|
||||||
G_tilt_init = identifyPlant();
|
|
||||||
|
|
||||||
initializeInputs(struct('Ry', 3, 'Rz', 90));
|
|
||||||
G_tilt_turn = identifyPlant();
|
|
||||||
|
|
||||||
%% Save
|
|
||||||
save('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
|
|
||||||
@ -1,24 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load
|
|
||||||
load('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn')
|
|
||||||
|
|
||||||
%%
|
|
||||||
bodeFig({G_vert_init.G_dleg(1, 1), ...
|
|
||||||
G_vert_init.G_dleg(2, 2), ...
|
|
||||||
G_vert_init.G_dleg(3, 3), ...
|
|
||||||
G_vert_init.G_dleg(4, 4), ...
|
|
||||||
G_vert_init.G_dleg(5, 5), ...
|
|
||||||
G_vert_init.G_dleg(6, 6)}, struct('phase', true));
|
|
||||||
xlim([1, 500]);
|
|
||||||
|
|
||||||
%%
|
|
||||||
bodeFig({G_vert_init.G_dleg(1, 1), ...
|
|
||||||
G_vert_turn.G_dleg(1, 1),}, struct('phase', true));
|
|
||||||
xlim([1, 500]);
|
|
||||||
|
|
||||||
%%
|
|
||||||
bodeFig({G_vert_init.G_dleg(1, 1), ...
|
|
||||||
G_tilt_init.G_dleg(1, 1),}, struct('phase', true));
|
|
||||||
xlim([1, 500]);
|
|
||||||
@ -1,79 +0,0 @@
|
|||||||
%% Script Description
|
|
||||||
% Run an identification of each stage from input to output
|
|
||||||
% Save all computed transfer functions into one .mat file
|
|
||||||
|
|
||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%%
|
|
||||||
initializeSample(struct('mass', 20));
|
|
||||||
|
|
||||||
%% Options for Linearized
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = 0;
|
|
||||||
|
|
||||||
%% Name of the Simulink File
|
|
||||||
mdl = 'sim_nano_station_id';
|
|
||||||
|
|
||||||
%% Y-Translation Stage
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_ty = linearize(mdl,io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_ty.InputName = {'Fy'};
|
|
||||||
G_ty.OutputName = {'Dy'};
|
|
||||||
|
|
||||||
%% Tilt Stage
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_ry = linearize(mdl,io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_ry.InputName = {'My'};
|
|
||||||
G_ry.OutputName = {'Ry'};
|
|
||||||
|
|
||||||
%% Spindle
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_rz = linearize(mdl,io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_rz.InputName = {'Mz'};
|
|
||||||
G_rz.OutputName = {'Rz'};
|
|
||||||
|
|
||||||
%% Hexapod Symetrie
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_hexa = linearize(mdl,io, 0);
|
|
||||||
|
|
||||||
% Input/Output names
|
|
||||||
G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
|
|
||||||
G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhexa_z'};
|
|
||||||
|
|
||||||
%% NASS
|
|
||||||
% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'openinput');
|
|
||||||
io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
|
|
||||||
|
|
||||||
% Run the linearization
|
|
||||||
G_nass = linearize(mdl,io, 0);
|
|
||||||
|
|
||||||
% 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', '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')
|
|
||||||
@ -1,50 +0,0 @@
|
|||||||
%% Script Description
|
|
||||||
% From the identification, plot all the
|
|
||||||
% transfer funcions.
|
|
||||||
|
|
||||||
%%
|
|
||||||
clear; close all; clc
|
|
||||||
|
|
||||||
%% Load Data
|
|
||||||
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({'$F_{y} \to D_{y}$'})
|
|
||||||
exportFig('id_ty', 'normal-normal', struct('path', 'identification'))
|
|
||||||
|
|
||||||
%% Tilt Stage
|
|
||||||
bodeFig({G_ry}, struct('phase', true))
|
|
||||||
legend({'$M_{y} \to R_{y}$'})
|
|
||||||
exportFig('id_ry', 'normal-normal', struct('path', 'identification'))
|
|
||||||
|
|
||||||
%% Spindle
|
|
||||||
bodeFig({G_rz}, struct('phase', true))
|
|
||||||
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({'$F_{h_x} \to D_{h_x}$', '$F_{h_y} \to D_{h_y}$', '$F_{h_z} \to D_{h_z}$'})
|
|
||||||
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({'$M_{h_x} \to R_{h_x}$', '$M_{h_y} \to R_{h_y}$', '$M_{h_z} \to R_{h_z}$'})
|
|
||||||
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({'$F_{h_x} \to D_{h_x}$', '$F_{h_x} \to D_{h_y}$', '$F_{h_x} \to D_{h_z}$'})
|
|
||||||
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({'$F_{n_x} \to D_{n_x}$', '$F_{n_y} \to D_{n_y}$', '$F_{n_z} \to D_{n_z}$'})
|
|
||||||
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({'$M_{n_x} \to R_{n_x}$', '$M_{n_y} \to R_{n_y}$', '$M_{n_z} \to R_{n_z}$'})
|
|
||||||
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({'$F_{n_x} \to D_{n_x}$', '$F_{n_x} \to D_{n_y}$', '$F_{n_x} \to D_{n_z}$'})
|
|
||||||
exportFig('id_nass_coupling', 'normal-normal', struct('path', 'identification'))
|
|
||||||
Loading…
Reference in New Issue
Block a user