Remove unused matlab files about active damping
This commit is contained in:
parent
7ca627ff91
commit
ae148d1248
@ -1,28 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% IFF: Integral Force Feedback Control
|
|
||||||
% Generate the IFF Control Laws
|
|
||||||
run iff_control.m
|
|
||||||
|
|
||||||
% Identification of the TF of damped system
|
|
||||||
run iff_identification.m
|
|
||||||
|
|
||||||
% Compare undamped and damped system
|
|
||||||
run iff_comp_tf.m
|
|
||||||
|
|
||||||
% Generate Control Laws with the damped system
|
|
||||||
run iff_fb_control.m
|
|
||||||
|
|
||||||
% Plot Loop Gains for the new control laws
|
|
||||||
run iff_fb_control_plots.m
|
|
||||||
|
|
||||||
% Simulation of the damped system
|
|
||||||
run iff_simulation.m
|
|
||||||
|
|
||||||
% Plot results of the simulations
|
|
||||||
run iff_results.m
|
|
||||||
|
|
||||||
%% DVF: Direct Velocity Feedback
|
|
||||||
% Generate the DVF Control Laws
|
|
||||||
run dvf_control.m
|
|
||||||
@ -1,22 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load the identified transfer functions
|
|
||||||
load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
|
|
||||||
|
|
||||||
%% Load Configuration file
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%%
|
|
||||||
s = tf('s');
|
|
||||||
|
|
||||||
%%
|
|
||||||
% sisotool(-G_heavy_pz.G_dvf('Vnx', 'Fnx'))
|
|
||||||
|
|
||||||
K_dvf_light_vc = tf(eye(6));
|
|
||||||
K_dvf_light_pz = tf(eye(6));
|
|
||||||
K_dvf_heavy_vc = tf(eye(6));
|
|
||||||
K_dvf_heavy_pz = tf(eye(6));
|
|
||||||
|
|
||||||
%%
|
|
||||||
save('./mat/K_dvf_crit.mat', 'K_dvf_light_vc', 'K_dvf_light_pz', 'K_dvf_heavy_vc', 'K_dvf_heavy_pz');
|
|
||||||
@ -1,74 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load System and Damped System
|
|
||||||
load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
|
|
||||||
load('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
|
|
||||||
|
|
||||||
%% Load Configuration file
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%% New Plant damped
|
|
||||||
figure;
|
|
||||||
% Amplitude
|
|
||||||
ax1 = subplot(2,1,1);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
|
|
||||||
set(gca,'ColorOrderIndex',1);
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
||||||
ylabel('Amplitude [m/N]');
|
|
||||||
set(gca, 'XTickLabel',[]);
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
hold off;
|
|
||||||
% Phase
|
|
||||||
ax2 = subplot(2,1,2);
|
|
||||||
hold on;
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-');
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '-');
|
|
||||||
set(gca,'ColorOrderIndex',1);
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
|
||||||
set(gca,'xscale','log');
|
|
||||||
ylim([-180, 180]);
|
|
||||||
yticks([-180, -90, 0, 90, 180]);
|
|
||||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
|
||||||
hold off;
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
xlim([freqs(1) freqs(end)]);
|
|
||||||
|
|
||||||
if save_fig; exportFig('damping_comp_plant', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
|
|
||||||
%% From xw to d
|
|
||||||
figure;
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
|
|
||||||
set(gca,'ColorOrderIndex',1);
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
hold off;
|
|
||||||
xlim([freqs(1) freqs(end)]);
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
|
|
||||||
if save_fig; exportFig('damping_comp_xw', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
|
|
||||||
%% From fi to d
|
|
||||||
figure;
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light VC');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '-', 'DisplayName', 'Light PZ');
|
|
||||||
set(gca,'ColorOrderIndex',1);
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_vc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff_light_pz.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'DisplayName', 'Damped');
|
|
||||||
hold off;
|
|
||||||
xlim([freqs(1) freqs(end)]);
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
|
||||||
legend('Location', 'southwest');
|
|
||||||
|
|
||||||
if save_fig; exportFig('damping_comp_fi', 'normal-normal', struct('path', 'active_damping')); end
|
|
||||||
@ -1,22 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load the identified transfer functions
|
|
||||||
load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
|
|
||||||
|
|
||||||
%% Load Configuration file
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%%
|
|
||||||
s = tf('s');
|
|
||||||
|
|
||||||
%%
|
|
||||||
% sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s)
|
|
||||||
|
|
||||||
K_iff_light_vc = 48/s*tf(eye(6));
|
|
||||||
K_iff_light_pz = 1500/s*tf(eye(6));
|
|
||||||
K_iff_heavy_vc = 20/s*tf(eye(6));
|
|
||||||
K_iff_heavy_pz = 535/s*tf(eye(6));
|
|
||||||
|
|
||||||
%%
|
|
||||||
save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
|
|
||||||
@ -1,34 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load IFF Controllers
|
|
||||||
load('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
|
|
||||||
|
|
||||||
%% Light Sample
|
|
||||||
initializeSample(struct('mass', 1));
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'lorentz'));
|
|
||||||
K_iff = K_iff_light_vc; %#ok
|
|
||||||
save('./mat/controllers.mat', 'K_iff');
|
|
||||||
G_iff_light_vc = identifyPlant();
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
|
||||||
K_iff = K_iff_light_pz; %#ok
|
|
||||||
save('./mat/controllers.mat', 'K_iff');
|
|
||||||
G_iff_light_pz = identifyPlant();
|
|
||||||
|
|
||||||
%% Heavy Sample
|
|
||||||
initializeSample(struct('mass', 50));
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'lorentz'));
|
|
||||||
K_iff = K_iff_heavy_vc; %#ok
|
|
||||||
save('./mat/controllers.mat', 'K_iff');
|
|
||||||
G_iff_heavy_vc = identifyPlant();
|
|
||||||
|
|
||||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
|
||||||
K_iff = K_iff_heavy_pz;
|
|
||||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
|
||||||
G_iff_heavy_pz = identifyPlant();
|
|
||||||
|
|
||||||
%% Save the obtained transfer functions
|
|
||||||
save('./mat/G_iff.mat', 'G_iff_light_vc', 'G_iff_light_pz', 'G_iff_heavy_vc', 'G_iff_heavy_pz');
|
|
||||||
@ -1,39 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Load Configuration file
|
|
||||||
load('./mat/config.mat', 'save_fig', 'freqs');
|
|
||||||
|
|
||||||
%% Load Simulation Results
|
|
||||||
sim_light_vc_ol = load('./mat/sim_light_vc_ol_none.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
sim_light_pz_ol = load('./mat/sim_light_pz_ol_none.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
|
|
||||||
sim_light_vc_cl = load('./mat/sim_light_vc_cl_none.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
sim_light_pz_cl = load('./mat/sim_light_pz_cl_none.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
|
|
||||||
sim_light_vc_ol_iff = load('./mat/sim_light_vc_ol_iff.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
sim_light_pz_ol_iff = load('./mat/sim_light_pz_ol_iff.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
|
|
||||||
sim_light_vc_cl_iff = load('./mat/sim_light_vc_cl_iff.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
sim_light_pz_cl_iff = load('./mat/sim_light_pz_cl_iff.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
|
|
||||||
|
|
||||||
%%
|
|
||||||
figure;
|
|
||||||
hold on;
|
|
||||||
plot(sim_light_vc_ol.Dx, sim_light_vc_ol.Dy);
|
|
||||||
plot(sim_light_vc_cl.Dx, sim_light_vc_cl.Dy);
|
|
||||||
plot(sim_light_vc_ol_iff.Dx, sim_light_vc_ol_iff.Dy);
|
|
||||||
plot(sim_light_vc_cl_iff.Dx, sim_light_vc_cl_iff.Dy);
|
|
||||||
hold off;
|
|
||||||
|
|
||||||
%%
|
|
||||||
rms(sqrt(sim_light_vc_ol.Dx.^2+sim_light_vc_ol.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_vc_cl.Dx.^2+sim_light_vc_cl.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_vc_ol_iff.Dx.^2+sim_light_vc_ol_iff.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_vc_cl_iff.Dx.^2+sim_light_vc_cl_iff.Dy.^2))
|
|
||||||
|
|
||||||
%%
|
|
||||||
rms(sqrt(sim_light_pz_ol.Dx.^2+sim_light_pz_ol.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_pz_cl.Dx.^2+sim_light_pz_cl.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_pz_ol_iff.Dx.^2+sim_light_pz_ol_iff.Dy.^2))
|
|
||||||
rms(sqrt(sim_light_pz_cl_iff.Dx.^2+sim_light_pz_cl_iff.Dy.^2))
|
|
||||||
@ -1,11 +0,0 @@
|
|||||||
%%
|
|
||||||
clear; close all; clc;
|
|
||||||
|
|
||||||
%% Initialize Simulation and Inputs
|
|
||||||
initializeExperiment('tomography', 'light');
|
|
||||||
|
|
||||||
%% Run Open Loop Simulations
|
|
||||||
runSimulation('vc', 'light', 'ol', 'iff');
|
|
||||||
runSimulation('pz', 'light', 'ol', 'iff');
|
|
||||||
% runSimulation('vc', 'heavy', 'ol', 'iff');
|
|
||||||
% runSimulation('pz', 'heavy', 'ol', 'iff');
|
|
||||||
Loading…
Reference in New Issue
Block a user