88b903e8d2
The identification now uses inertial sensors. Also, we compare the identification with the measurement results.
140 lines
4.6 KiB
Matlab
140 lines
4.6 KiB
Matlab
%% Script Description
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%
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%%
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clear;
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close all;
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clc
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%% Get Measurement Object
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% load('~/ownCloud/Measurements/2017-11-17 - Marc/data/2017_11_17.mat', 'm_object')
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load([char(java.lang.System.getProperty('user.home')), '\ownCloud\Measurements\2018-01-12 - Marc\data\2018_01_12_pc.mat'], 'm_object')
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%% Get Measurements
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% Define Options for measurements
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meas_opts = struct( ...
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'coh_min', 50, ...
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'freq_min', 20 ...
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);
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measure_dirs = {{'tx', 'tx'}, {'ty', 'ty'}, {'tz', 'tz'}};
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% Get measures
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measures = getAllMeasure(m_object, 'marble', 'hexa', measure_dirs, meas_opts);
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%%
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load('../data/id_G_h_h.mat', 'G_h_h');
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load('../data/id_G_g_g.mat', 'G_g_g');
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load('../data/id_G_h_g.mat', 'G_h_g');
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%%
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freqs = logspace(-1, 3, 2000);
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%% Granite to Granite
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figure;
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hold on;
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plot(measures.Fmx.Dmx.freq_filt, abs(measures.Fmx.Dmx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_x \rightarrow D(granite)_x$');
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exportFig('comp_model_meas_Fmx_Dmx');
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%
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figure;
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hold on;
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plot(measures.Fmy.Dmy.freq_filt, abs(measures.Fmy.Dmy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_y \rightarrow D(granite)_y$');
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exportFig('comp_model_meas_Fmy_Dmy');
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%
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figure;
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hold on;
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plot(measures.Fmz.Dmz.freq_filt, abs(measures.Fmz.Dmz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_g_g(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(Granite)_z \rightarrow D(granite)_z$');
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exportFig('comp_model_meas_Fmz_Dmz');
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%% Hexapod to Hexapod
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figure;
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hold on;
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plot(measures.Fhx.Dhx.freq_filt, abs(measures.Fhx.Dhx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(\mu Hexapod)_x$');
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exportFig('comp_model_meas_Fhx_Dhx');
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%
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figure;
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hold on;
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plot(measures.Fhy.Dhy.freq_filt, abs(measures.Fhy.Dhy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(\mu Hexapod)_y$');
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exportFig('comp_model_meas_Fhy_Dhy');
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%
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figure;
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hold on;
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plot(measures.Fhz.Dhz.freq_filt, abs(measures.Fhz.Dhz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_h(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(\mu Hexapod)_z$');
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exportFig('comp_model_meas_Fhz_Dhz');
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%% Hexapod to Granite
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figure;
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hold on;
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plot(measures.Fhx.Dmx.freq_filt, abs(measures.Fhx.Dmx.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(1, 1), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(Granite)_x$');
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exportFig('comp_model_meas_Fhx_Dmx');
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%
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figure;
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hold on;
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plot(measures.Fhy.Dmy.freq_filt, abs(measures.Fhy.Dmy.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(2, 2), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(Granite)_y$');
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exportFig('comp_model_meas_Fhy_Dmy');
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%
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figure;
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hold on;
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plot(measures.Fhz.Dmz.freq_filt, abs(measures.Fhz.Dmz.resp_filt))
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plot(freqs, abs(squeeze(freqresp(G_h_g(3, 3), freqs, 'Hz'))));
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
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legend({'meas.', 'id.'}, 'location', 'northwest');
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title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(Granite)_z$');
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exportFig('comp_model_meas_Fhz_Dmz');
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