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Add one figure

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Thomas Dehaeze 2020-04-05 17:15:03 +02:00
parent 1cfa38277b
commit dd4780f875
3 changed files with 62 additions and 2 deletions
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@ -1402,10 +1402,70 @@ We can see here that for the soft nano-hexapod:
[[file:figs/opt_stiffness_payload_mass_all.png]]
*** Total variation
We now plot the total change of dynamics due to change of the payload (Figure [[fig:opt_stiffness_payload_impedance_fz_dz]]):
We now plot the total change of dynamics due to change of the payload (Figures [[fig:opt_stiffness_payload_impedance_all_fz_dz]] and [[fig:opt_stiffness_payload_impedance_fz_dz]]):
- mass from 1kg to 50kg
- main resonance from 50Hz to 500Hz
#+begin_src matlab :exports none
freqs = logspace(-1, 3, 1000);
figure;
ax1 = subplot(2, 1, 1);
hold on;
for i = 1:length(Ks)
for j = 1:length(Fs)
set(gca,'ColorOrderIndex',i);
plot(freqs, abs(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-');
end
for j = 1:length(Ms)
set(gca,'ColorOrderIndex',i);
plot(freqs, abs(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-');
end
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
ax2 = subplot(2, 1, 2);
hold on;
for i = 1:length(Ks)
for j = 1:length(Fs)
set(gca,'ColorOrderIndex',i);
if j == 1
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
'DisplayName', sprintf('$K = %.0e$ [N/m]', Ks(i)));
else
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
'HandleVisibility', 'off');
end
end
for j = 1:length(Ms)
set(gca,'ColorOrderIndex',i);
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ez', 'Fz'), freqs, 'Hz')))), '-', ...
'HandleVisibility', 'off');
end
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
ylim([-270, 90]);
yticks([-360:90:360]);
legend('location', 'southwest');
linkaxes([ax1,ax2],'x');
xlim([freqs(1), freqs(end)]);
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/opt_stiffness_payload_impedance_all_fz_dz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:opt_stiffness_payload_impedance_all_fz_dz
#+caption: Dynamics from $\mathcal{F}_z$ to $\mathcal{X}_z$ for varying payload dynamics, both for a soft nano-hexapod and a stiff nano-hexapod ([[./figs/opt_stiffness_payload_impedance_all_fz_dz.png][png]], [[./figs/opt_stiffness_payload_impedance_all_fz_dz.pdf][pdf]])
[[file:figs/opt_stiffness_payload_impedance_all_fz_dz.png]]
#+begin_src matlab :exports none
i = 1;
@ -1430,10 +1490,10 @@ We now plot the total change of dynamics due to change of the payload (Figure [[
hold on;
for j = 1:length(Fs)
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
end
for j = 1:length(Ms)
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
end
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');