Removed old matlab files about control
This commit is contained in:
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ae148d1248
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897681e195
@ -1,90 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load Simulation Results
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sim_light_vc_ol = load('./mat/sim_light_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_light_vc_cl = load('./mat/sim_light_vc_cl.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_light_pz_ol = load('./mat/sim_light_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_light_pz_cl = load('./mat/sim_light_pz_cl.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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%% Start after few seconds
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T_init = 1;
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%% Plot X against Y in OL - Piezo and Voice Coil
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figure;
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hold on;
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plot(1e9*sim_light_vc_ol.Dx, 1e9*sim_light_vc_ol.Dy);
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plot(1e9*sim_light_pz_ol.Dx, 1e9*sim_light_pz_ol.Dy);
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hold off;
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xlabel('X Displacement [nm]'); ylabel('Y Displacement [nm]');
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xlim([-1000 1000]); ylim([-1000 1000]);
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xticks(-1000:200:1000); yticks(-1000:200:1000);
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legend({'VC - Light - OL', 'PZ - Light - OL'});
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if save_fig; exportFig('xy_ol_vc_pz', 'normal-normal', struct('path', 'control')); end
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%% Plot X against Y in CL - Piezo and Voice Coil
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figure;
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hold on;
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plot(1e9*sim_light_vc_cl.Dx, 1e9*sim_light_vc_cl.Dy);
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plot(1e9*sim_light_pz_cl.Dx, 1e9*sim_light_pz_cl.Dy);
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hold off;
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xlabel('X Displacement [nm]'); ylabel('Y Displacement [nm]');
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xlim([-500 500]); ylim([-500 500]);
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xticks(-500:100:500); yticks(-500:100:500);
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legend({'VC - Light - CL', 'PZ - Light - CL'});
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if save_fig; exportFig('xy_cl_vc_pz', 'normal-normal', struct('path', 'control')); end
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%% Compute the RMS Values
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i_init = find(sim_light_vc_ol.time > T_init, 1);
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rms_light_vc_ol = rms(sqrt(sim_light_vc_ol.Dx(i_init:end).^2+sim_light_vc_ol.Dy(i_init:end).^2));
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rms_light_pz_ol = rms(sqrt(sim_light_pz_ol.Dx(i_init:end).^2+sim_light_pz_ol.Dy(i_init:end).^2));
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rms_light_vc_cl = rms(sqrt(sim_light_vc_cl.Dx(i_init:end).^2+sim_light_vc_cl.Dy(i_init:end).^2));
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rms_light_pz_cl = rms(sqrt(sim_light_pz_cl.Dx(i_init:end).^2+sim_light_pz_cl.Dy(i_init:end).^2));
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fprintf(' \t OL \t CL [nm RMS]\n');
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fprintf('PZ \t %.0f \t %.0f \n', 1e9*rms_light_pz_ol, 1e9*rms_light_pz_cl);
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fprintf('VC \t %.0f \t %.0f \n\n', 1e9*rms_light_vc_ol, 1e9*rms_light_vc_cl);
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%% Compute the PSD
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sim_light_vc_ol.psd = computePsdDispl(sim_light_vc_ol, 1, 2);
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sim_light_pz_ol.psd = computePsdDispl(sim_light_pz_ol, 1, 2);
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sim_light_vc_cl.psd = computePsdDispl(sim_light_vc_cl, 1, 2);
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sim_light_pz_cl.psd = computePsdDispl(sim_light_pz_cl, 1, 2);
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%% PSD Open Loop and Close Loop for the X direction
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx, 'DisplayName', 'VC - $T_x$ - OL');
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx, 'DisplayName', 'PZ - $T_x$ - OL');
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set(gca,'ColorOrderIndex',1);
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plot(sim_light_vc_cl.psd.f, sim_light_vc_cl.psd.dx, '--', 'DisplayName', 'VC - $T_x$ - CL');
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plot(sim_light_pz_cl.psd.f, sim_light_pz_cl.psd.dx, '--', 'DisplayName', 'PZ - $T_x$ - CL');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
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hold off;
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legend('Location', 'southwest');
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if save_fig; exportFig('psd_ol_cl_pz_vc_light_tx', 'normal-normal', struct('path', 'control')); end
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%% PSD Open Loop and Close Loop for the Z direction
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz, 'DisplayName', 'VC - $T_z$ - OL');
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz, 'DisplayName', 'PZ - $T_z$ - OL');
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set(gca,'ColorOrderIndex',1);
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plot(sim_light_vc_cl.psd.f, sim_light_vc_cl.psd.dz, '--', 'DisplayName', 'VC - $T_z$ - CL');
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plot(sim_light_pz_cl.psd.f, sim_light_pz_cl.psd.dz, '--', 'DisplayName', 'PZ - $T_z$ - CL');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
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hold off;
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legend('Location', 'southwest');
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if save_fig; exportFig('psd_ol_cl_pz_vc_light_tz', 'normal-normal', struct('path', 'control')); end
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@ -1,15 +0,0 @@
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%%
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clear; close all; clc;
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%% Initialize Simulation and Inputs
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initializeExperiment('tomography', 'light');
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%% Run Close Loop Simulations
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runSimulation('vc', 'light', 'cl', 'none');
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runSimulation('pz', 'light', 'cl', 'none');
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% runSimulation('vc', 'heavy', 'cl', 'none');
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% runSimulation('pz', 'heavy', 'cl', 'none');
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%%
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opts_inputs = struct('Dw', true);
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initializeInputs(opts_inputs);
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@ -1,34 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Controllers
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load('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
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%% Closed Loop - Light Sample
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initializeSample(struct('mass', 1));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K = K_light_vc; %#ok
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save('./mat/controllers.mat', 'K');
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Gd_cl_light_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K = K_light_pz; %#ok
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save('./mat/controllers.mat', 'K');
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Gd_cl_light_pz = identifyPlant();
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%% Closed Loop - Heavy Sample
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initializeSample(struct('mass', 50));
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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K = K_heavy_vc; %#ok
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save('./mat/controllers.mat', 'K');
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G_cl_heavy_vc = identifyPlant();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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K = K_heavy_pz;
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save('./mat/controllers.mat', 'K');
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G_cl_heavy_pz = identifyPlant();
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%% Save the identified transfer functions
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save('./mat/G_cl.mat', 'G_cl_light_vc', 'G_cl_light_pz', 'G_cl_heavy_vc', 'G_cl_heavy_pz');
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%%
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clear; close all; clc;
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%% Load System and Damped System
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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('./mat/G_cl.mat', 'G_cl_light_vc', 'G_cl_light_pz', 'G_cl_heavy_vc', 'G_cl_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% From xw to d
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC - OL');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ - OL');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_cl_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light VC - CL');
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plot(freqs, abs(squeeze(freqresp(G_cl_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light PZ - CL');
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hold off;
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xlim([freqs(1) freqs(end)]);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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legend('Location', 'southwest');
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if save_fig; exportFig('damping_comp_xw', 'normal-normal', struct('path', 'active_damping')); end
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%% From fi to d
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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('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC - OL');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ - OL');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_cl_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light VC - CL');
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plot(freqs, abs(squeeze(freqresp(G_cl_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Light PZ - CL');
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hold off;
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xlim([freqs(1) freqs(end)]);
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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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legend('Location', 'southwest');
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if save_fig; exportFig('damping_comp_fi', 'normal-normal', struct('path', 'active_damping')); end
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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.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%%
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s = tf('s');
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%%
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% bodeFig({minreal(G_light_vc.G_cart(1, 1))}, struct('phase', true));
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%%
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% sisotool(minreal(G_light_vc.G_cart(6, 6)))
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K_light_vc = tf(zeros(6));
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K_light_vc(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
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K_light_vc(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
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K_light_vc(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
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K_light_vc(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
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K_light_vc(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
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K_light_vc(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
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%%
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i = 6;
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bodeFig({-G_light_vc.G_plant(i, i)*K_light_vc(i, i)}, struct('phase', true))
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%%
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% sisotool(minreal(G_light_pz.G_plant(1, 1)))
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K_light_pz = tf(zeros(6));
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% K_light_pz(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
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% K_light_pz(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
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% K_light_pz(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
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% K_light_pz(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
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% K_light_pz(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
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% K_light_pz(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
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%%
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K_heavy_vc = tf(zeros(6));
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K_heavy_pz = tf(zeros(6));
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%%
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save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
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%% Automatic generation of controllers
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% fs = 100;
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%
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% K_light_vc = generateDiagPidControl(G_light_vc.G_cart, fs);
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% K_light_pz = generateDiagPidControl(G_light_pz.G_cart, fs);
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%
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% K_heavy_vc = generateDiagPidControl(G_heavy_vc.G_cart, fs);
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% K_heavy_pz = generateDiagPidControl(G_heavy_pz.G_cart, fs);
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%% Save the MIMO control
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% save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
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@ -1,25 +0,0 @@
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%%
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clear; close all; clc;
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%% Generate Control Laws for the Undamped System
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run control_generate.m
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%% Run the simulation and save results
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% Run open loop simulations
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run control_ol_sim.m
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% Run closed loop simulations
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run control_cl_sim.m
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% Compute PSD in open loop
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run control_ol_psd.m
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% Plots to compare OL and CL for PZ and VC
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run control_cl_ol_plots.m
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%% Identify the Closed Loop Transfer Functions
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% Compute the closed loop transfer functions
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run control_cl_tf.m
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% Compare OL and CL transfer functions
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run control_cl_tf_comp.m
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@ -1,87 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load Simulation Results
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sim_light_vc_ol = load('./mat/sim_light_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_light_pz_ol = load('./mat/sim_light_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_heavy_vc_ol = load('./mat/sim_heavy_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_heavy_pz_ol = load('./mat/sim_heavy_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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%%
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sim_light_vc_ol.psd = computePsdDispl(sim_light_vc_ol, 1, 2);
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sim_light_pz_ol.psd = computePsdDispl(sim_light_pz_ol, 1, 2);
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sim_heavy_vc_ol.psd = computePsdDispl(sim_heavy_vc_ol, 1, 2);
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sim_heavy_pz_ol.psd = computePsdDispl(sim_heavy_pz_ol, 1, 2);
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%% PSD Plot of translations
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
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if save_fig; exportFig('psd_ol_vc_light_trans', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of rotations
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.rx);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.ry);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Rx$', 'PSD $Rz$'})
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if save_fig; exportFig('psd_ol_vc_light_rot', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of translations
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figure;
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hold on;
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
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if save_fig; exportFig('psd_ol_pz_light_trans', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of rotations
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figure;
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hold on;
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.rx);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.ry);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
legend({'PSD $Rx$', 'PSD $Rz$'})
|
||||
|
||||
if save_fig; exportFig('psd_ol_pz_light_rot', 'normal-normal', struct('path', 'control')); end
|
||||
|
||||
|
||||
%% PSD Plot of translations
|
||||
figure;
|
||||
hold on;
|
||||
plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
|
||||
plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
|
||||
plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx, '--');
|
||||
plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy, '--');
|
||||
plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz, '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
|
||||
xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
|
||||
hold off;
|
||||
legend({'PSD $Tx$ - VC', 'PSD $Tz$ - VC', 'PSD $Tz$ - VC', 'PSD $Tx$ - PZ', 'PSD $Tz$ - PZ', 'PSD $Tz$ - PZ'})
|
||||
|
||||
if save_fig; exportFig('psd_ol_pz_vc_light_trans', 'wide-tall', struct('path', 'control')); end
|
||||
@ -1,11 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Initialize Simulation and Inputs
|
||||
initializeExperiment('tomography', 'light');
|
||||
|
||||
%% Run Open Loop Simulations
|
||||
runSimulation('vc', 'light', 'ol', 'none');
|
||||
runSimulation('pz', 'light', 'ol', 'none');
|
||||
% runSimulation('vc', 'heavy', 'ol', 'none');
|
||||
% runSimulation('pz', 'heavy', 'ol', 'none');
|
||||
Loading…
Reference in New Issue
Block a user