Add inertial sensor on the simscape model. Ident. same as Marc.
The identification now uses inertial sensors. Also, we compare the identification with the measurement results.
This commit is contained in:
Thomas Dehaeze
parent
d59349f5d4
commit
88b903e8d2
BIN
Assemblage.slx
BIN
Assemblage.slx
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2
Data.m
2
Data.m
@ -18,7 +18,7 @@ ground.shape = [2, 2, 0.5]; % m
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granite = struct();
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granite.m = smiData.Solid(5).mass;
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granite.k.ax = 1e10; % x-y-z Stiffness of the granite [N/m]
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granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m]
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granite.ksi.ax = 10;
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granite = updateDamping(granite);
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139
Identification/compare_measurements.m
Normal file
139
Identification/compare_measurements.m
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@ -0,0 +1,139 @@
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%% Script Description
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%
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%%
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clear;
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close all;
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clc
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%% Get Measurement Object
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% load('~/ownCloud/Measurements/2017-11-17 - Marc/data/2017_11_17.mat', 'm_object')
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load([char(java.lang.System.getProperty('user.home')), '\ownCloud\Measurements\2018-01-12 - Marc\data\2018_01_12_pc.mat'], 'm_object')
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%% Get Measurements
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% Define Options for measurements
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meas_opts = struct( ...
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'coh_min', 50, ...
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'freq_min', 20 ...
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);
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measure_dirs = {{'tx', 'tx'}, {'ty', 'ty'}, {'tz', 'tz'}};
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% Get measures
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measures = getAllMeasure(m_object, 'marble', 'hexa', measure_dirs, meas_opts);
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%%
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load('../data/id_G_h_h.mat', 'G_h_h');
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load('../data/id_G_g_g.mat', 'G_g_g');
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load('../data/id_G_h_g.mat', 'G_h_g');
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%%
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freqs = logspace(-1, 3, 2000);
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%% Granite to Granite
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figure;
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hold on;
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plot(measures.Fmx.Dmx.freq_filt, abs(measures.Fmx.Dmx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_x \rightarrow D(granite)_x$');
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exportFig('comp_model_meas_Fmx_Dmx');
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%
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figure;
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hold on;
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plot(measures.Fmy.Dmy.freq_filt, abs(measures.Fmy.Dmy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_y \rightarrow D(granite)_y$');
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exportFig('comp_model_meas_Fmy_Dmy');
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%
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figure;
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hold on;
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plot(measures.Fmz.Dmz.freq_filt, abs(measures.Fmz.Dmz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_z \rightarrow D(granite)_z$');
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exportFig('comp_model_meas_Fmz_Dmz');
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%% Hexapod to Hexapod
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figure;
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hold on;
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plot(measures.Fhx.Dhx.freq_filt, abs(measures.Fhx.Dhx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(\mu Hexapod)_x$');
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exportFig('comp_model_meas_Fhx_Dhx');
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%
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figure;
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hold on;
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plot(measures.Fhy.Dhy.freq_filt, abs(measures.Fhy.Dhy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(\mu Hexapod)_y$');
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exportFig('comp_model_meas_Fhy_Dhy');
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%
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figure;
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hold on;
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plot(measures.Fhz.Dhz.freq_filt, abs(measures.Fhz.Dhz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(\mu Hexapod)_z$');
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exportFig('comp_model_meas_Fhz_Dhz');
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%% Hexapod to Granite
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figure;
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hold on;
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plot(measures.Fhx.Dmx.freq_filt, abs(measures.Fhx.Dmx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(Granite)_x$');
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exportFig('comp_model_meas_Fhx_Dmx');
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%
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figure;
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hold on;
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plot(measures.Fhy.Dmy.freq_filt, abs(measures.Fhy.Dmy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(Granite)_y$');
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exportFig('comp_model_meas_Fhy_Dmy');
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%
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figure;
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hold on;
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plot(measures.Fhz.Dmz.freq_filt, abs(measures.Fhz.Dmz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(Granite)_z$');
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exportFig('comp_model_meas_Fhz_Dmz');
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@ -19,10 +19,6 @@ bode_opts.MagScale = 'log';
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bode_opts.PhaseWrapping = 'on';
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bode_opts.PhaseVisible = 'on';
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%% Options for preprocessing the identified transfer functions
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f_low = 10;
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f_high = 1000;
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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@ -33,45 +29,57 @@ mdl = 'Assemblage';
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%% Micro-Hexapod
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% Input/Output definition
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io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
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io(2) = linio([mdl, '/Micro_Hexapod'],1,'output');
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io(2) = linio([mdl, '/meas_micro_hexapod'],1,'output');
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% Run the linearization
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G_micro_hexapod_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
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G_h_h = linearize(mdl,io, 0);
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G_h_h = G_h_h(1:3, 1:3);
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G_h_h = minreal(G_h_h);
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% Input/Output names
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G_micro_hexapod.InputName = {'Fy'};
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G_micro_hexapod.OutputName = {'Dy'};
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G_h_h.InputName = {'Fux', 'Fuy', 'Fuz'};
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G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_micro_hexapod(1, 1), bode_opts)
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bode(G_h_h(1, 1), bode_opts)
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%% Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Granite_F'],1,'input');
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io(2) = linio([mdl, '/Granite'],1,'output');
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io(2) = linio([mdl, '/meas_granite'],1,'output');
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% Run the linearization
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G_micro_hexapod_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
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G_g_g = linearize(mdl,io, 0);
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G_g_g = minreal(G_g_g);
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% Input/Output names
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G_micro_hexapod.InputName = {'Fy'};
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G_micro_hexapod.OutputName = {'Dy'};
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G_g_g.InputName = {'Fgx', 'Fgy', 'Fgz'};
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G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_micro_hexapod(1, 1), bode_opts)
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bode(G_h_h(2, 2), bode_opts)
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%% Micro Hexapod to Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
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io(2) = linio([mdl, '/meas_granite'],1,'output');
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%% Functions
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function G = preprocessIdTf(G0, f_low, f_high)
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[~,G1] = freqsep(G0, 2*pi*f_low);
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[G2,~] = freqsep(G1, 2*pi*f_high);
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G = minreal(G2);
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end
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% Run the linearization
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G_h_g = linearize(mdl,io, 0);
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G_h_g = G_h_g(1:3, 1:3);
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G_h_g = minreal(G_h_g);
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% Input/Output names
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G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
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G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_h_g(2, 2), bode_opts)
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%%
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save('../data/id_G_h_h.mat', 'G_h_h');
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save('../data/id_G_g_g.mat', 'G_g_g');
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save('../data/id_G_h_g.mat', 'G_h_g');
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