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.

Data.m

@@ -18,7 +18,7 @@ ground.shape = [2, 2, 0.5]; % m
 granite = struct();
 
 granite.m = smiData.Solid(5).mass;
-granite.k.ax = 1e10; % x-y-z Stiffness of the granite [N/m]
+granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m]
 granite.ksi.ax = 10;
 
 granite = updateDamping(granite);

Identification/compare_measurements.m

@@ -0,0 +1,139 @@
+%% Script Description
+%
+
+%%
+clear;
+close all;
+clc
+
+%% Get Measurement Object
+% load('~/ownCloud/Measurements/2017-11-17 - Marc/data/2017_11_17.mat', 'm_object')
+load([char(java.lang.System.getProperty('user.home')), '\ownCloud\Measurements\2018-01-12 - Marc\data\2018_01_12_pc.mat'], 'm_object')
+
+%% Get Measurements
+% Define Options for measurements
+meas_opts = struct( ...
+    'coh_min',  50, ...
+    'freq_min', 20  ...
+);
+
+measure_dirs = {{'tx', 'tx'}, {'ty', 'ty'}, {'tz', 'tz'}};
+
+% Get measures
+measures = getAllMeasure(m_object, 'marble', 'hexa', measure_dirs, meas_opts);
+
+%%
+load('../data/id_G_h_h.mat', 'G_h_h');
+load('../data/id_G_g_g.mat', 'G_g_g');
+load('../data/id_G_h_g.mat', 'G_h_g');
+
+%%
+freqs = logspace(-1, 3, 2000);
+
+%% Granite to Granite
+figure;
+hold on;
+plot(measures.Fmx.Dmx.freq_filt, abs(measures.Fmx.Dmx.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_g_g(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(Granite)_x \rightarrow D(granite)_x$');
+exportFig('comp_model_meas_Fmx_Dmx');
+
+%
+figure;
+hold on;
+plot(measures.Fmy.Dmy.freq_filt, abs(measures.Fmy.Dmy.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_g_g(2, 2), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(Granite)_y \rightarrow D(granite)_y$');
+exportFig('comp_model_meas_Fmy_Dmy');
+
+%
+figure;
+hold on;
+plot(measures.Fmz.Dmz.freq_filt, abs(measures.Fmz.Dmz.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_g_g(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(Granite)_z \rightarrow D(granite)_z$');
+exportFig('comp_model_meas_Fmz_Dmz');
+
+%% Hexapod to Hexapod
+figure;
+hold on;
+plot(measures.Fhx.Dhx.freq_filt, abs(measures.Fhx.Dhx.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_h(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(\mu Hexapod)_x$');
+exportFig('comp_model_meas_Fhx_Dhx');
+
+%
+figure;
+hold on;
+plot(measures.Fhy.Dhy.freq_filt, abs(measures.Fhy.Dhy.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_h(2, 2), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(\mu Hexapod)_y$');
+exportFig('comp_model_meas_Fhy_Dhy');
+
+%
+figure;
+hold on;
+plot(measures.Fhz.Dhz.freq_filt, abs(measures.Fhz.Dhz.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_h(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(\mu Hexapod)_z$');
+exportFig('comp_model_meas_Fhz_Dhz');
+
+%% Hexapod to Granite
+figure;
+hold on;
+plot(measures.Fhx.Dmx.freq_filt, abs(measures.Fhx.Dmx.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_g(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(Granite)_x$');
+exportFig('comp_model_meas_Fhx_Dmx');
+
+%
+figure;
+hold on;
+plot(measures.Fhy.Dmy.freq_filt, abs(measures.Fhy.Dmy.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_g(2, 2), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(Granite)_y$');
+exportFig('comp_model_meas_Fhy_Dmy');
+
+%
+figure;
+hold on;
+plot(measures.Fhz.Dmz.freq_filt, abs(measures.Fhz.Dmz.resp_filt))
+plot(freqs, abs(squeeze(freqresp(G_h_g(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
+legend({'meas.', 'id.'}, 'location', 'northwest');
+title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(Granite)_z$');
+exportFig('comp_model_meas_Fhz_Dmz');

Identification/identification_marc.m

@@ -19,10 +19,6 @@ bode_opts.MagScale        = 'log';
 bode_opts.PhaseWrapping   = 'on';
 bode_opts.PhaseVisible    = 'on';
 
-%% Options for preprocessing the identified transfer functions
-f_low = 10;
-f_high = 1000;
-
 %% Options for Linearized
 options = linearizeOptions;
 options.SampleTime = 0;
@@ -33,45 +29,57 @@ mdl = 'Assemblage';
 %% Micro-Hexapod
 % Input/Output definition
 io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
-io(2) = linio([mdl, '/Micro_Hexapod'],1,'output');
+io(2) = linio([mdl, '/meas_micro_hexapod'],1,'output');
 
 % Run the linearization
-G_micro_hexapod_raw = linearize(mdl,io, 0);
+G_h_h = linearize(mdl,io, 0);
-
+G_h_h = G_h_h(1:3, 1:3);
-% Post-process the linearized function
+G_h_h = minreal(G_h_h);
-G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
 
 % Input/Output names
-G_micro_hexapod.InputName  = {'Fy'};
+G_h_h.InputName  = {'Fux', 'Fuy', 'Fuz'};
-G_micro_hexapod.OutputName = {'Dy'};
+G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
 
 % Bode Plot of the linearized function
 figure;
-bode(G_micro_hexapod(1, 1), bode_opts)
+bode(G_h_h(1, 1), bode_opts)
 
 %% Granite
 % Input/Output definition
 io(1) = linio([mdl, '/Granite_F'],1,'input');
-io(2) = linio([mdl, '/Granite'],1,'output');
+io(2) = linio([mdl, '/meas_granite'],1,'output');
 
 % Run the linearization
-G_micro_hexapod_raw = linearize(mdl,io, 0);
+G_g_g = linearize(mdl,io, 0);
-
+G_g_g = minreal(G_g_g);
-% Post-process the linearized function
-G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
 
 % Input/Output names
-G_micro_hexapod.InputName  = {'Fy'};
+G_g_g.InputName  = {'Fgx', 'Fgy', 'Fgz'};
-G_micro_hexapod.OutputName = {'Dy'};
+G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
 
 % Bode Plot of the linearized function
 figure;
-bode(G_micro_hexapod(1, 1), bode_opts)
+bode(G_h_h(2, 2), bode_opts)
 
+%% Micro Hexapod to Granite
+% Input/Output definition
+io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
+io(2) = linio([mdl, '/meas_granite'],1,'output');
 
-%% Functions
+% Run the linearization
-function G = preprocessIdTf(G0, f_low, f_high)
+G_h_g = linearize(mdl,io, 0);
-    [~,G1] = freqsep(G0, 2*pi*f_low);
+G_h_g = G_h_g(1:3, 1:3);
-    [G2,~] = freqsep(G1, 2*pi*f_high);
+G_h_g = minreal(G_h_g);
-    G = minreal(G2);
+
-end
+% Input/Output names
+G_h_g.InputName  = {'Fhx', 'Fhy', 'Fhz'};
+G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
+
+% Bode Plot of the linearized function
+figure;
+bode(G_h_g(2, 2), bode_opts)
+
+%%
+save('../data/id_G_h_h.mat', 'G_h_h');
+save('../data/id_G_g_g.mat', 'G_g_g');
+save('../data/id_G_h_g.mat', 'G_h_g');