56 lines
1.8 KiB
Matlab
56 lines
1.8 KiB
Matlab
%% Script Description
|
|
% Identification of the NASS from cartesian actuation
|
|
% to cartesian displacement.
|
|
|
|
%%
|
|
clear; close all; clc;
|
|
|
|
%%
|
|
initializeSample(struct('mass', 1));
|
|
|
|
G_nass_1 = identifyNass();
|
|
|
|
%%
|
|
initializeSample(struct('mass', 20));
|
|
|
|
G_nass_20 = identifyNass();
|
|
|
|
%%
|
|
initializeSample(struct('mass', 50));
|
|
|
|
G_nass_50 = identifyNass();
|
|
|
|
%%
|
|
freqs = logspace(1, 4, 1000);
|
|
|
|
bodeFig({G_nass_1(1, 1), G_nass_1(2, 2), G_nass_1(3, 3)}, struct('phase', true))
|
|
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
|
|
'$F_{n_y} \rightarrow D_{n_y}$ - $M = 1Kg$', ...
|
|
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$'})
|
|
legend('location', 'southwest')
|
|
exportFig('nass_cart_xyz', 'normal-normal')
|
|
|
|
bodeFig({G_nass_1(1, 1), G_nass_20(1, 1), G_nass_50(1, 1)}, struct('phase', true))
|
|
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
|
|
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
|
|
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
|
|
legend('location', 'southwest')
|
|
exportFig('nass_cart_x_mass', 'normal-normal')
|
|
|
|
bodeFig({G_nass_1(2, 2), G_nass_20(2, 2), G_nass_50(2, 2)}, struct('phase', true))
|
|
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
|
|
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
|
|
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
|
|
legend('location', 'southwest')
|
|
exportFig('nass_cart_y_mass', 'normal-normal')
|
|
|
|
bodeFig({G_nass_1(3, 3), G_nass_20(3, 3), G_nass_50(3, 3)}, struct('phase', true))
|
|
legend({'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$', ...
|
|
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 20Kg$', ...
|
|
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 50Kg$'})
|
|
legend('location', 'southwest')
|
|
exportFig('nass_cart_z_mass', 'normal-normal')
|
|
|
|
%% Save Transfer Functions
|
|
save('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
|