Add freq analysis for active damping techniques

active_damping/index.org

@@ -2199,25 +2199,22 @@ Inertial Control:
 #+CAPTION: Comparison of one off-diagonal plant for different damping technique applied ([[./figs/plant_comp_damping_coupling.png][png]], [[./figs/plant_comp_damping_coupling.pdf][pdf]])
 [[file:figs/plant_comp_damping_coupling.png]]
 ** Tomography Experiment
-
+*** Load the Simulation Data
 #+begin_src matlab
-  load('./active_damping/mat/tomo_exp.mat', 'En', 'En_iff', 'En_dvf', 'En_ine');
+  load('./active_damping/mat/tomo_exp.mat', 'En', 'En_iff_hpf', 'En_dvf', 'En_ine');
+  En_iff = En_iff_hpf;
   t = linspace(0, 3, length(En(:,1)));
 #+end_src
 
+*** Frequency Domain Analysis
+Window used for =pwelch= function.
 #+begin_src matlab
-  rms(sqrt(En(:, 1).^2 + En(:, 2).^2     + En(:, 3).^2))
-  rms(sqrt(En_ine(:, 1).^2 + En_ine(:, 2).^2 + En_ine(:, 3).^2))
-  rms(sqrt(En_dvf(:, 1).^2 + En_dvf(:, 2).^2 + En_dvf(:, 3).^2))
-  rms(sqrt(En_iff(:, 1).^2 + En_iff(:, 2).^2 + En_iff(:, 3).^2))
-#+end_src
-
-*** Frequency Domain
-#+begin_src matlab
-  Ts = t(2)-t(1); % Sample Time for the Data [s]
-
   n_av = 8;
   han_win = hanning(ceil(length(En(:, 1))/n_av));
+#+end_src
+
+#+begin_src matlab :exports none
+  Ts = t(2)-t(1); % Sample Time for the Data [s]
 
   [pxx,     f] = pwelch(En(:,     1), han_win, [], [], 1/Ts);
   [pxx_ine, ~] = pwelch(En_ine(:, 1), han_win, [], [], 1/Ts);
@@ -2250,22 +2247,7 @@ Inertial Control:
   [prz_iff, ~] = pwelch(En_iff(:, 6), han_win, [], [], 1/Ts);
 #+end_src
 
-#+begin_src matlab
-  figure;
-  hold on;
-  plot(f, prx_ine,    'DisplayName', 'Inertial')
-  plot(f, prx_dvf,    'DisplayName', 'DVF')
-  plot(f, prx_iff,    'DisplayName', 'IFF')
-  plot(f, prx, 'k--', 'DisplayName', 'Undamped')
-  hold off;
-  xlabel('Frequency [Hz]');
-  ylabel('Power Spectral Density [$m^2/Hz$]');
-  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
-  legend('location', 'northeast');
-  xlim([1, 500]);
-#+end_src
-
-#+begin_src matlab
+#+begin_src matlab :exports none
   figure;
   hold on;
   plot(f, pxx_ine,    'DisplayName', 'Inertial')
@@ -2277,9 +2259,90 @@ Inertial Control:
   ylabel('Power Spectral Density [$m^2/Hz$]');
   set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
   legend('location', 'northeast');
-  xlim([1, 500]);
+  xlim([2, 500]);
 #+end_src
 
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/act_damp_tomo_exp_comp_psd_trans.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+NAME: fig:act_damp_tomo_exp_comp_psd_trans
+#+CAPTION: PSD of the translation errors for applied Active Damping techniques ([[./figs/act_damp_tomo_exp_comp_psd_trans.png][png]], [[./figs/act_damp_tomo_exp_comp_psd_trans.pdf][pdf]])
+[[file:figs/act_damp_tomo_exp_comp_psd_trans.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  plot(f, prx_ine,    'DisplayName', 'Inertial')
+  plot(f, prx_dvf,    'DisplayName', 'DVF')
+  plot(f, prx_iff,    'DisplayName', 'IFF')
+  plot(f, prx, 'k--', 'DisplayName', 'Undamped')
+  hold off;
+  xlabel('Frequency [Hz]');
+  ylabel('Power Spectral Density [$m^2/Hz$]');
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  legend('location', 'northeast');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/act_damp_tomo_exp_comp_psd_rot.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+NAME: fig:act_damp_tomo_exp_comp_psd_rot
+#+CAPTION: PSD of the rotation errors for applied Active Damping techniques ([[./figs/act_damp_tomo_exp_comp_psd_rot.png][png]], [[./figs/act_damp_tomo_exp_comp_psd_rot.pdf][pdf]])
+[[file:figs/act_damp_tomo_exp_comp_psd_rot.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  plot(f, flip(-cumtrapz(flip(f), flip(pxx_ine))),    'DisplayName', 'Inertial')
+  plot(f, flip(-cumtrapz(flip(f), flip(pxx_dvf))),    'DisplayName', 'DVF')
+  plot(f, flip(-cumtrapz(flip(f), flip(pxx_iff))),    'DisplayName', 'IFF')
+  plot(f, flip(-cumtrapz(flip(f), flip(pxx))), 'k--', 'DisplayName', 'Undamped')
+  hold off;
+  xlabel('Frequency [Hz]');
+  ylabel('Power Spectral Density [$m^2/Hz$]');
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  legend('location', 'northeast');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/act_damp_tomo_exp_comp_cps_trans.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+NAME: fig:act_damp_tomo_exp_comp_cps_trans
+#+CAPTION: CPS of the translation errors for applied Active Damping techniques ([[./figs/act_damp_tomo_exp_comp_cps_trans.png][png]], [[./figs/act_damp_tomo_exp_comp_cps_trans.pdf][pdf]])
+[[file:figs/act_damp_tomo_exp_comp_cps_trans.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  plot(f, flip(-cumtrapz(flip(f), flip(prx_ine))),    'DisplayName', 'Inertial')
+  plot(f, flip(-cumtrapz(flip(f), flip(prx_dvf))),    'DisplayName', 'DVF')
+  plot(f, flip(-cumtrapz(flip(f), flip(prx_iff))),    'DisplayName', 'IFF')
+  plot(f, flip(-cumtrapz(flip(f), flip(prx))), 'k--', 'DisplayName', 'Undamped')
+  hold off;
+  xlabel('Frequency [Hz]');
+  ylabel('Power Spectral Density [$m^2/Hz$]');
+  set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+  legend('location', 'northeast');
+  xlim([2, 500]);
+#+end_src
+
+#+HEADER: :tangle no :exports results :results none :noweb yes
+#+begin_src matlab :var filepath="figs/act_damp_tomo_exp_comp_cps_rot.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
+<<plt-matlab>>
+#+end_src
+
+#+NAME: fig:act_damp_tomo_exp_comp_cps_rot
+#+CAPTION: CPS of the rotation errors for applied Active Damping techniques ([[./figs/act_damp_tomo_exp_comp_cps_rot.png][png]], [[./figs/act_damp_tomo_exp_comp_cps_rot.pdf][pdf]])
+[[file:figs/act_damp_tomo_exp_comp_cps_rot.png]]
+
 * Useful Functions
 ** prepareTomographyExperiment
 :PROPERTIES: