Renamed a few scripts
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commit
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14
.gitignore
vendored
14
.gitignore
vendored
@ -7,12 +7,12 @@
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# Compiled MEX binaries (all platforms)
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*.mex*
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# Packaged app and toolbox files
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*.mlappinstall
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*.mltbx
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# Generated helpsearch folders
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helpsearch*/
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# Packaged app and toolbox files
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*.mlappinstall
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*.mltbx
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# Generated helpsearch folders
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helpsearch*/
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# Simulink code generation folders
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slprj/
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@ -28,4 +28,4 @@ octave-workspace
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Assemblage_grt_rtw/
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Figures/
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data/
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Videos/
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movies/
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@ -21,64 +21,5 @@ initializeSample(struct('mass', 50));
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[G_50, G_50_raw] = identifyG();
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%%
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freqs = logspace(0, 3, 1000);
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bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, freqs, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_1', 'normal-normal')
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bodeFig({G_20(1, 1), G_20(2, 2), G_20(3, 3)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_20', 'normal-normal')
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_x_mass', 'normal-normal')
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bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, struct('phase', true))
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legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_y_mass', 'half-normal')
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bodeFig({G_1(3, 3), G_20(3, 3), G_50(3, 3)}, struct('phase', true))
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legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_z_mass', 'normal-normal')
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%%
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bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
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legend({'$M = 1Kg$', ...
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'$M = 20Kg$', ...
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'$M = 50Kg$'})
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exportFig('G_y_mass_article', 'half-normal')
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%%
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%% Save the obtained transfer functions
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save('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');
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%%
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freqs = logspace(-1, 3, 1000);
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
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ylabel('Amplitude [m/N]');
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legend({'$1Kg$', ...
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'$20Kg$', ...
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'$50Kg$'})
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legend('location', 'southwest')
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set(gca,'YTick',[1e-8, 1e-6, 1e-4])
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ylim([1e-9, 1e-3])
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exportFig('G_x_mass', 'half-short', struct('tikz', true))
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63
identification/id_G_plots.m
Normal file
63
identification/id_G_plots.m
Normal file
@ -0,0 +1,63 @@
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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_f_to_d.mat', 'G_1', 'G_20', 'G_50');
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%%
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freqs = logspace(0, 3, 1000);
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bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, freqs, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_1', 'normal-normal')
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bodeFig({G_20(1, 1), G_20(2, 2), G_20(3, 3)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$'})
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legend('location', 'southwest')
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exportFig('G_xyz_20', 'normal-normal')
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
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'$F_{n_x} \rightarrow D_{x}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_x_mass', 'normal-normal')
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bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, struct('phase', true))
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legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
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'$F_{n_y} \rightarrow D_{y}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_y_mass', 'half-normal')
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bodeFig({G_1(3, 3), G_20(3, 3), G_50(3, 3)}, struct('phase', true))
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legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$', ...
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'$F_{n_z} \rightarrow D_{z}$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('G_z_mass', 'normal-normal')
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%%
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bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
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legend({'$M = 1Kg$', ...
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'$M = 20Kg$', ...
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'$M = 50Kg$'})
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exportFig('G_y_mass_article', 'half-normal')
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%%
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freqs = logspace(-1, 3, 1000);
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bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
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ylabel('Amplitude [m/N]');
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legend({'$1Kg$', ...
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'$20Kg$', ...
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'$50Kg$'})
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legend('location', 'southwest')
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set(gca,'YTick',[1e-8, 1e-6, 1e-4])
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ylim([1e-9, 1e-3])
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exportFig('G_x_mass', 'half-short')
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@ -57,16 +57,15 @@ mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 2) = mass((T_mas
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1)-2*pi*( 20/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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% opts_inputs = struct(...
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% 'ty', ty, ...
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% 'ry', ry, ...
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% 'rz', rz, ...
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% 'u_hexa', u_hexa, ...
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% 'mass', mass ...
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% );
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opts_inputs = struct(...
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'ty', ty, ...
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'ry', ry, ...
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'rz', rz, ...
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'u_hexa', u_hexa, ...
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'mass', mass ...
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);
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% initializeInputs(opts_inputs);
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initializeInputs();
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initializeInputs(opts_inputs);
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%% Initialize SolidWorks Data
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initializeSmiData();
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