151 lines
4.7 KiB
Matlab
151 lines
4.7 KiB
Matlab
%%
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clear; close all; clc;
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%% Used to get sim_conf.Ts
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load('./mat/sim_conf.mat', 'sim_conf');
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%% Load simulation results
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gm_ol = load('./data/ground_motion_ol.mat', 'Dsample');
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gm_cl = load('./data/ground_motion.mat', 'Dsample');
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%%
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figure;
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hold on;
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plot(gm_ol.Dsample.Data(:, 1),gm_ol.Dsample.Data(:, 3))
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plot(gm_cl.Dsample.Data(:, 1),gm_cl.Dsample.Data(:, 3))
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legend({'OL', 'CL'})
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hold off;
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xlabel('Displacement - $x$ [s]'); ylabel('Displacement - $z$ [m]');
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exportFig('gm_control_xz', 'half-short')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 1));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 1));
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legend({'x - OL', 'x - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('gm_control_time_x', 'normal-normal')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 2));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 2));
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legend({'y - OL', 'y - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('gm_control_time_y', 'normal-normal')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 3));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 3));
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legend({'z - OL', 'z - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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exportFig('gm_control_time_z', 'normal-normal')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 4));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 4));
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legend({'$\theta_x$ - OL', '$\theta_x$ - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Angle [rad]');
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exportFig('gm_control_time_rx', 'normal-normal')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 5));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 5));
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legend({'$\theta_y$ - OL', '$\theta_y$ - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Angle [rad]');
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exportFig('gm_control_time_ry', 'normal-normal')
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%% Compare OL and CL - Time
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figure;
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hold on;
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plot(gm_ol.Dsample.Time, gm_ol.Dsample.Data(:, 6));
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plot(gm_cl.Dsample.Time, gm_cl.Dsample.Data(:, 6));
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legend({'$\theta_z$ - OL', '$\theta_z$ - CL'})
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hold off;
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xlabel('Time [s]'); ylabel('Angle [rad]');
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exportFig('gm_control_time_rz', 'normal-normal')
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%% Compare OL and CL - PSD
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han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
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[psd_x_ol, freqs_x_ol] = pwelch(gm_ol.Dsample.Data(:, 1), han_windows_ol, 0, [], 1/sim_conf.Ts);
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han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
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[psd_x, freqs_x] = pwelch(gm_cl.Dsample.Data(:, 1), han_windows, 0, [], 1/sim_conf.Ts);
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figure;
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hold on;
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plot(freqs_x_ol, sqrt(psd_x_ol));
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plot(freqs_x, sqrt(psd_x));
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set(gca,'xscale','log'); set(gca,'yscale','log');
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xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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legend({'x - OL', 'x - CL'})
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hold off;
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exportFig('gm_control_psd_x', 'normal-normal')
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%% Compare OL and CL - PSD
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han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
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[psd_y_ol, freqs_y_ol] = pwelch(gm_ol.Dsample.Data(:, 2), han_windows_ol, 0, [], 1/sim_conf.Ts);
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han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
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[psd_y, freqs_y] = pwelch(gm_cl.Dsample.Data(:, 2), han_windows, 0, [], 1/sim_conf.Ts);
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figure;
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hold on;
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plot(freqs_y_ol, sqrt(psd_y_ol));
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plot(freqs_y, sqrt(psd_y));
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set(gca,'xscale','log'); set(gca,'yscale','log');
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xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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legend({'y - OL', 'y - CL'})
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hold off;
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exportFig('gm_control_psd_y', 'normal-normal')
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%% Compare OL and CL - PSD
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load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
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load('./mat/weight_Wxg.mat', 'Wxg');
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load('./mat/T_S.mat', 'S', 'T');
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freqs = logspace(-1, 3, 1000);
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dz_ol = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3), freqs, 'Hz')));
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dz_cl = squeeze(abs(freqresp(Wxg*G_xg_to_d(3, 3)*S(3, 3), freqs, 'Hz')));
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han_windows_ol = hanning(ceil(length(gm_ol.Dsample.Time)/10));
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[psd_z_ol, freqs_z_ol] = pwelch(gm_ol.Dsample.Data(:, 3), han_windows_ol, 0, [], 1/sim_conf.Ts);
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han_windows = hanning(ceil(length(gm_cl.Dsample.Time)/10));
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[psd_z, freqs_z] = pwelch(gm_cl.Dsample.Data(:, 3), han_windows, 0, [], 1/sim_conf.Ts);
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figure;
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hold on;
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plot(freqs_z_ol, sqrt(psd_z_ol), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg \rightarrow D_x$ - OL (sim)');
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plot(freqs, dz_ol, '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$Dg \rightarrow D_x$ - OL (th)');
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plot(freqs_z, sqrt(psd_z), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg \rightarrow D_x$ - CL (sim)');
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plot(freqs, dz_cl, '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$Dg \rightarrow D_x$ - CL (th)');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
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legend('location', 'southwest');
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hold off;
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exportFig('gm_control_psd_z', 'normal-normal')
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