5587309cfa
Add many scripts to: - define all the inputs for various experiments - plot the time and frequency data - identify the plant
86 lines
2.0 KiB
Matlab
86 lines
2.0 KiB
Matlab
%% Script Description
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% Run an identification of each stage from input to output
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% Save all computed transfer functions into one .mat file
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%%
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clear;
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close all;
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clc
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%% Define options for bode plots
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bode_opts = bodeoptions;
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bode_opts.Title.FontSize = 12;
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bode_opts.XLabel.FontSize = 12;
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bode_opts.YLabel.FontSize = 12;
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bode_opts.FreqUnits = 'Hz';
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bode_opts.MagUnits = 'abs';
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bode_opts.MagScale = 'log';
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bode_opts.PhaseWrapping = 'on';
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bode_opts.PhaseVisible = 'on';
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'Assemblage';
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%% Micro-Hexapod
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% Input/Output definition
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io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
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io(2) = linio([mdl, '/meas_micro_hexapod'],1,'output');
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% Run the linearization
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G_h_h = linearize(mdl,io, 0);
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G_h_h = G_h_h(1:3, 1:3);
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G_h_h = minreal(G_h_h);
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% Input/Output names
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G_h_h.InputName = {'Fux', 'Fuy', 'Fuz'};
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G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_h_h(1, 1), bode_opts)
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%% Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Granite_F'],1,'input');
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io(2) = linio([mdl, '/meas_granite'],1,'output');
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% Run the linearization
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G_g_g = linearize(mdl,io, 0);
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G_g_g = minreal(G_g_g);
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% Input/Output names
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G_g_g.InputName = {'Fgx', 'Fgy', 'Fgz'};
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G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_h_h(2, 2), bode_opts)
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%% Micro Hexapod to Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
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io(2) = linio([mdl, '/meas_granite'],1,'output');
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% Run the linearization
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G_h_g = linearize(mdl,io, 0);
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G_h_g = G_h_g(1:3, 1:3);
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G_h_g = minreal(G_h_g);
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% Input/Output names
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G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
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G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_h_g(2, 2), bode_opts)
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%%
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save('../mat/id_G_h_h.mat', 'G_h_h');
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save('../mat/id_G_g_g.mat', 'G_g_g');
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save('../mat/id_G_h_g.mat', 'G_h_g');
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