7575aee987
Lot's of new things: - try to use less .mat files - computation of setpoint and error in the cartesian frame fixed to the granite - change of base to have the errors w.r.t. the NASS base - add script to plot setpoint, position and error
106 lines
3.4 KiB
Matlab
106 lines
3.4 KiB
Matlab
%% Script Description
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% Compare identification from the Simscape model
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% with the identification on the real system.
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%%
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clear; close all; clc;
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%% Load the obtained transfer functions
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load('./mat/id_micro_station.mat', 'G_ms');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Get Measurement Object
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load('2018_01_12.mat', 'm_object');
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%% Get Measurements Data
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opts = struct('freq_min', 10, 'est_backend', 'idfrd');
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meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {{'tx', 'tx'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
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%% Granite to Granite
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for dir = 'xyz'
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig(['comp_meas_g_g_' dir], 'normal-normal', struct('path', 'identification')); end
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end
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%% Hexapod to Hexapod
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for dir = 'xyz'
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig(['comp_meas_m_m_' dir], 'normal-normal', struct('path', 'identification')); end
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end
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%% Hexapod to Granite
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for dir = 'xyz'
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig(['comp_meas_m_g_' dir], 'normal-normal', struct('path', 'identification')); end
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end
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