[REFACTORING] Huge changes, WIP.

Analysis/analysis_perturbations.m

@@ -0,0 +1,28 @@
+%%
+clear; close all; clc;
+
+%% Load Plant
+load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
+
+%% Load shape of the perturbation
+load('./mat/weight_Wxg.mat', 'Wxg');
+
+%% Effect of the perturbation on the output
+freqs = logspace(-1, 3, 1000);
+
+dx_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(1, 1), freqs, 'Hz')));
+dy_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(2, 2), freqs, 'Hz')));
+dz_out = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3), freqs, 'Hz')));
+
+figure;
+hold on;
+plot(freqs, dx_out, 'DisplayName', 'Effect of $Dg$ on $D_{x}$');
+plot(freqs, dy_out, 'DisplayName', 'Effect of $Dg$ on $D_{y}$');
+plot(freqs, dz_out, 'DisplayName', 'Effect of $Dg$ on $D_{z}$');
+xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+legend('location', 'southwest');
+xlim([freqs(1), freqs(end)]);
+hold off;
+
+exportFig('ground_motion_effect', 'normal-normal')

Analysis/ground_motion_experiment.m

@@ -1,15 +1,20 @@
 %% Load open loop data
-gm_ol = load('../data/ground_motion_001.mat');
+% gm_ol = load('../data/ground_motion_001.mat');
+%%
+clear; close all; clc;
 
 %%
-Dmeas.Data = Dmeas.Data - Dmeas.Data(1, :);
+sim Assemblage
+
+%%
+Dsample.Data = Dsample.Data - Dsample.Data(1, :);
 
 %% Time domain X-Y-Z
 figure;
 hold on;
-plot(Dmeas.Time, Dmeas.Data(:, 1));
-plot(Dmeas.Time, Dmeas.Data(:, 2));
-plot(Dmeas.Time, Dmeas.Data(:, 3));
+plot(Dsample.Time, Dsample.Data(:, 1));
+plot(Dsample.Time, Dsample.Data(:, 2));
+plot(Dsample.Time, Dsample.Data(:, 3));
 legend({'x', 'y', 'z'})
 hold off;
 xlabel('Time [s]'); ylabel('Displacement [m]');
@@ -19,21 +24,21 @@ exportFig('tomo_time_translations', 'normal-normal')
 %% Time domain angles
 figure;
 hold on;
-plot(Dmeas.Time, Dmeas.Data(:, 4));
-plot(Dmeas.Time, Dmeas.Data(:, 5));
-plot(Dmeas.Time, Dmeas.Data(:, 6));
+plot(Dsample.Time, Dsample.Data(:, 4));
+plot(Dsample.Time, Dsample.Data(:, 5));
+plot(Dsample.Time, Dsample.Data(:, 6));
 legend({'$\theta_x$', '$\theta_y$', '$\theta_z$'})
 hold off;
-xlabel('Time [s]'); ylabel('Displacement [m]');
+xlabel('Time [s]'); ylabel('Angle [rad]');
 
 exportFig('tomo_time_rotations', 'normal-normal')
 
 %% PSD X-Y-Z
-han_windows = hanning(ceil(length(Dmeas.Time)/10));
+han_windows = hanning(ceil(length(Dsample.Time)/10));
 
-[psd_x, freqs_x] = pwelch(Dmeas.Data(:, 1), han_windows, 0, [], 1/Ts);
-[psd_y, freqs_y] = pwelch(Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
-[psd_z, freqs_z] = pwelch(Dmeas.Data(:, 3), han_windows, 0, [], 1/Ts);
+[psd_x, freqs_x] = pwelch(Dsample.Data(:, 1), han_windows, 0, [], 1/Ts);
+[psd_y, freqs_y] = pwelch(Dsample.Data(:, 2), han_windows, 0, [], 1/Ts);
+[psd_z, freqs_z] = pwelch(Dsample.Data(:, 3), han_windows, 0, [], 1/Ts);
 
 figure;
 hold on;
@@ -48,11 +53,11 @@ hold off;
 exportFig('tomo_psd_translations', 'normal-normal')
 
 %% PSD X-Y-Z
-han_windows = hanning(ceil(length(Dmeas.Time)/10));
+han_windows = hanning(ceil(length(Dsample.Time)/10));
 
-[psd_x, freqs_x] = pwelch(Dmeas.Data(:, 4), han_windows, 0, [], 1/Ts);
-[psd_y, freqs_y] = pwelch(Dmeas.Data(:, 5), han_windows, 0, [], 1/Ts);
-[psd_z, freqs_z] = pwelch(Dmeas.Data(:, 6), han_windows, 0, [], 1/Ts);
+[psd_x, freqs_x] = pwelch(Dsample.Data(:, 4), han_windows, 0, [], 1/Ts);
+[psd_y, freqs_y] = pwelch(Dsample.Data(:, 5), han_windows, 0, [], 1/Ts);
+[psd_z, freqs_z] = pwelch(Dsample.Data(:, 6), han_windows, 0, [], 1/Ts);
 
 figure;
 hold on;
@@ -66,6 +71,5 @@ hold off;
 
 exportFig('tomo_psd_rotations', 'normal-normal')
 
-
 %%
-save('../data/ground_motion.mat', 'Dmeas')
+save('./data/ground_motion.mat', 'Dsample')

Analysis/ground_motion_ol_cl.m

@@ -1,25 +1,70 @@
-gm_ol = load('../data/ground_motion_ol.mat', 'Dmeas');
-gm_cl = load('../data/ground_motion_001.mat', 'Dmeas');
+%%
+clear; close all; clc;
 
+%% Used to get Ts
+run init_sim_configuration;
+
+%% Load simulation results
+gm_ol = load('./data/ground_motion_ol.mat', 'Dsample');
+gm_cl = load('./data/ground_motion.mat', 'Dsample');
 
 %% Compare OL and CL - Time
 figure;
 hold on;
-plot(gm_ol.Dmeas.Time, gm_ol.Dmeas.Data(:, 2));
-plot(gm_cl.Dmeas.Time, gm_cl.Dmeas.Data(:, 2));
+plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 1));
+plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 1));
+legend({'x - OL', 'x - CL'})
+hold off;
+xlabel('Time [s]'); ylabel('Displacement [m]');
+
+exportFig('gm_control_time_x', 'normal-normal')
+
+%% Compare OL and CL - Time
+figure;
+hold on;
+plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 2));
+plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 2));
 legend({'y - OL', 'y - CL'})
 hold off;
 xlabel('Time [s]'); ylabel('Displacement [m]');
 
 exportFig('gm_control_time_y', 'normal-normal')
 
+%% Compare OL and CL - Time
+figure;
+hold on;
+plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 3));
+plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 3));
+legend({'z - OL', 'z - CL'})
+hold off;
+xlabel('Time [s]'); ylabel('Displacement [m]');
+
+exportFig('gm_control_time_z', 'normal-normal')
 
 %% Compare OL and CL - PSD
-han_windows_ol = hanning(ceil(length(gm_ol.Dmeas.Time)/10));
-[psd_y_ol, freqs_y_ol] = pwelch(gm_ol.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
+han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
+[psd_x_ol, freqs_x_ol] = pwelch(gm_ol.Dsample.Data(:, 1), han_windows_ol, 0, [], 1/Ts);
 
-han_windows = hanning(ceil(length(gm_cl.Dmeas.Time)/10));
-[psd_y, freqs_y] = pwelch(gm_cl.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
+han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
+[psd_x, freqs_x] = pwelch(gm_cl.Dsample.Data(:, 1), han_windows, 0, [], 1/Ts);
+
+figure;
+hold on;
+plot(freqs_x_ol, sqrt(psd_x_ol));
+plot(freqs_x, sqrt(psd_x));
+set(gca,'xscale','log'); set(gca,'yscale','log');
+xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
+legend({'y - OL', 'y - CL'})
+hold off;
+
+exportFig('gm_control_psd_x', 'normal-normal')
+
+%% Compare OL and CL - PSD
+han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
+[psd_y_ol, freqs_y_ol] = pwelch(gm_ol.Dsample.Data(:, 2), han_windows_ol, 0, [], 1/Ts);
+
+han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
+[psd_y, freqs_y] = pwelch(gm_cl.Dsample.Data(:, 2), han_windows, 0, [], 1/Ts);
 
 figure;
 hold on;
@@ -31,3 +76,31 @@ legend({'y - OL', 'y - CL'})
 hold off;
 
 exportFig('gm_control_psd_y', 'normal-normal')
+
+%% Compare OL and CL - PSD
+load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
+load('./mat/weight_Wxg.mat', 'Wxg');
+load('./mat/T_S.mat', 'S', 'T');
+
+freqs = logspace(-1, 3, 1000);
+dz_ol = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3), freqs, 'Hz')));
+dz_cl = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3)*S(3, 3), freqs, 'Hz')));
+
+han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
+[psd_z_ol, freqs_z_ol] = pwelch(gm_ol.Dsample.Data(:, 3), han_windows_ol, 0, [], 1/Ts);
+
+han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
+[psd_z, freqs_z] = pwelch(gm_cl.Dsample.Data(:, 3), han_windows, 0, [], 1/Ts);
+
+figure;
+hold on;
+plot(freqs_z_ol, sqrt(psd_z_ol), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg  \rightarrow D_x$ - OL (sim)');
+plot(freqs, dz_ol, '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg  \rightarrow D_x$ - OL (th)');
+plot(freqs_z, sqrt(psd_z), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg  \rightarrow D_x$ - CL (sim)');
+plot(freqs, dz_cl, '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg  \rightarrow D_x$ - CL (th)');
+set(gca,'xscale','log'); set(gca,'yscale','log');
+xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
+legend('location', 'southwest');
+hold off;
+
+exportFig('gm_control_psd_z', 'normal-normal')