Move one function
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@ -41,6 +41,7 @@
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* Introduction :ignore:
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* General Subsystems
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<<sec:helping functions>>
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** Generate Reference Signals
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@ -191,6 +192,153 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
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end
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#+end_src
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** Function that initialize the disturbances
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/initDisturbances.m
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:header-args:matlab+: :comments none :mkdirp yes
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:header-args:matlab+: :eval no :results none
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:END:
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<<sec:initDisturbances>>
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This Matlab function is accessible [[file:src/initDisturbances.m][here]].
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#+begin_src matlab
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function [] = initDisturbances(opts_param)
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% initDisturbances - Initialize the disturbances
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%
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% Syntax: [] = initDisturbances(opts_param)
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%
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% Inputs:
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% - opts_param -
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#+end_src
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*** Default values for the Options
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#+begin_src matlab
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%% Default values for opts
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opts = struct();
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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#+end_src
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*** Load Data
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#+begin_src matlab
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load('./disturbances/mat/dist_psd.mat', 'dist_f');
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#+end_src
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We remove the first frequency point that usually is very large.
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#+begin_src matlab :exports none
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dist_f.f = dist_f.f(2:end);
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dist_f.psd_gm = dist_f.psd_gm(2:end);
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dist_f.psd_ty = dist_f.psd_ty(2:end);
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dist_f.psd_rz = dist_f.psd_rz(2:end);
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#+end_src
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*** Parameters
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We define some parameters that will be used in the algorithm.
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#+begin_src matlab
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Fs = 2*dist_f.f(end); % Sampling Frequency of data is twice the maximum frequency of the PSD vector [Hz]
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N = 2*length(dist_f.f); % Number of Samples match the one of the wanted PSD
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T0 = N/Fs; % Signal Duration [s]
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df = 1/T0; % Frequency resolution of the DFT [Hz]
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% Also equal to (dist_f.f(2)-dist_f.f(1))
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t = linspace(0, T0, N+1)'; % Time Vector [s]
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Ts = 1/Fs; % Sampling Time [s]
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#+end_src
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*** Ground Motion
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#+begin_src matlab
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phi = dist_f.psd_gm;
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C = zeros(N/2,1);
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for i = 1:N/2
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C(i) = sqrt(phi(i)*df);
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end
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Ground Motion - x direction [m]
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% Dwx = struct('time', t, 'signals', struct('values', u));
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Dwx = u;
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Ground Motion - y direction [m]
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Dwy = u;
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Ground Motion - z direction [m]
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Dwz = u;
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#+end_src
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*** Translation Stage - X direction
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#+begin_src matlab
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phi = dist_f.psd_ty; % TODO - we take here the vertical direction which is wrong but approximate
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C = zeros(N/2,1);
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for i = 1:N/2
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C(i) = sqrt(phi(i)*df);
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end
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty x [N]
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Fty_x = u;
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#+end_src
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*** Translation Stage - Z direction
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#+begin_src matlab
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phi = dist_f.psd_ty;
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C = zeros(N/2,1);
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for i = 1:N/2
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C(i) = sqrt(phi(i)*df);
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end
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty z [N]
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Fty_z = u;
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#+end_src
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*** Spindle - Z direction
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#+begin_src matlab
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phi = dist_f.psd_rz;
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C = zeros(N/2,1);
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for i = 1:N/2
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C(i) = sqrt(phi(i)*df);
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end
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theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
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Cx = [0 ; C.*complex(cos(theta),sin(theta))];
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Cx = [Cx; flipud(conj(Cx(2:end)))];;
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u = N/sqrt(2)*ifft(Cx); % Disturbance Force Rz z [N]
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Frz_z = u;
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#+end_src
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*** Direct Forces
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#+begin_src matlab
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u = zeros(length(t), 6);
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Fd = u;
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#+end_src
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*** Set initial value to zero
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#+begin_src matlab
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Dwx = Dwx - Dwx(1);
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Dwy = Dwy - Dwy(1);
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Dwz = Dwz - Dwz(1);
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Fty_x = Fty_x - Fty_x(1);
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Fty_z = Fty_z - Fty_z(1);
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Frz_z = Frz_z - Frz_z(1);
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#+end_src
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*** Save
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#+begin_src matlab
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save('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
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#+end_src
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* Initialize Elements
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:PROPERTIES:
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:ID: a0819dea-8d7a-4d55-b961-2b2ca2312344
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