922 lines
32 KiB
Matlab
922 lines
32 KiB
Matlab
%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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load('mat/conf_simulink.mat');
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% Identification :ignore:
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% We initialize all the stages with the default parameters.
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prepareLinearizeIdentification();
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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 = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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% We identify the dynamics for the following sample mass.
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masses = [1, 10, 50]; % [kg]
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Gm = {zeros(length(masses))};
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Gm_iff = {zeros(length(masses))};
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Gm_dvf = {zeros(length(masses))};
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Gm_ine = {zeros(length(masses))};
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for i = 1:length(masses)
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initializeSample('mass', masses(i));
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%% Run the linearization
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G = linearize(mdl, io, 0.3, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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Gm(i) = {G};
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Gm_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gm_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gm_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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end
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save('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff', 'Gm_dvf', 'Gm_ine', '-append');
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% Plots :ignore:
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load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff', 'Gm_dvf', 'Gm_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm_iff)
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plot(freqs, abs(squeeze(freqresp(Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm_iff)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), ...
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'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_iff_sample_mass
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% #+caption: Variability of the dynamics from actuator force to force sensor with the Sample Mass ([[./figs/act_damp_variability_iff_sample_mass.png][png]], [[./figs/act_damp_variability_iff_sample_mass.pdf][pdf]])
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% [[file:figs/act_damp_variability_iff_sample_mass.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm_dvf)
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plot(freqs, abs(squeeze(freqresp(Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm_dvf)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_dvf_sample_mass
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% #+caption: Variability of the dynamics from actuator force to relative motion sensor with the Sample Mass ([[./figs/act_damp_variability_dvf_sample_mass.png][png]], [[./figs/act_damp_variability_dvf_sample_mass.pdf][pdf]])
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% [[file:figs/act_damp_variability_dvf_sample_mass.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm_ine)
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plot(freqs, abs(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm_ine)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% Identification :ignore:
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% We initialize all the stages with the default parameters.
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prepareLinearizeIdentification();
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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 = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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% We identify the dynamics for the following Spindle angles.
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Rz_amplitudes = [0, pi/4, pi/2, pi]; % [rad]
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Ga = {zeros(length(Rz_amplitudes))};
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Ga_iff = {zeros(length(Rz_amplitudes))};
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Ga_dvf = {zeros(length(Rz_amplitudes))};
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Ga_ine = {zeros(length(Rz_amplitudes))};
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for i = 1:length(Rz_amplitudes)
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initializeReferences('Rz_type', 'constant', 'Rz_amplitude', Rz_amplitudes(i))
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%% Run the linearization
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G = linearize(mdl, io, 0.3, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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Ga(i) = {G};
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Ga_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Ga_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Ga_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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end
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save('./active_damping/mat/plants_variable.mat', 'Rz_amplitudes', 'Ga_iff', 'Ga_dvf', 'Ga_ine', '-append');
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% Plots :ignore:
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load('./active_damping/mat/plants_variable.mat', 'Rz_amplitudes', 'Ga_iff', 'Ga_dvf', 'Ga_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ga_iff)
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plot(freqs, abs(squeeze(freqresp(Ga_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Ga_iff)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_iff_spindle_angle
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% #+caption: Variability of the dynamics from the actuator force to the force sensor with the Spindle Angle ([[./figs/act_damp_variability_iff_spindle_angle.png][png]], [[./figs/act_damp_variability_iff_spindle_angle.pdf][pdf]])
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% [[file:figs/act_damp_variability_iff_spindle_angle.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ga_dvf)
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plot(freqs, abs(squeeze(freqresp(Ga_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Ga_dvf)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_dvf_spindle_angle
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% #+caption: Variability of the dynamics from actuator force to relative motion sensor with the Spindle Angle ([[./figs/act_damp_variability_dvf_spindle_angle.png][png]], [[./figs/act_damp_variability_dvf_spindle_angle.pdf][pdf]])
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% [[file:figs/act_damp_variability_dvf_spindle_angle.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ga_ine)
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plot(freqs, abs(squeeze(freqresp(Ga_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Ga_ine)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% Identification :ignore:
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% We initialize all the stages with the default parameters.
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prepareLinearizeIdentification();
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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 = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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% We identify the dynamics for the following Spindle rotation periods.
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Rz_periods = [60, 6, 2, 1]; % [s]
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% The identification of the dynamics is done at the same Spindle angle position.
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Gw = {zeros(length(Rz_periods))};
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Gw_iff = {zeros(length(Rz_periods))};
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Gw_dvf = {zeros(length(Rz_periods))};
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Gw_ine = {zeros(length(Rz_periods))};
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for i = 1:length(Rz_periods)
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initializeReferences('Rz_type', 'rotating', ...
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'Rz_period', Rz_periods(i), ... % Rotation period [s]
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'Rz_amplitude', -0.5*(2*pi/Rz_periods(i))); % Angle offset [rad]
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load('mat/nass_references.mat', 'Rz'); % We load the reference for the Spindle
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[~, i_end] = min(abs(Rz.signals.values)); % Obtain the indice where the spindle angle is zero
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t_sim = Rz.time(i_end) % Simulation time before identification [s]
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%% Run the linearization
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G = linearize(mdl, io, t_sim, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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Gw(i) = {G};
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Gw_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gw_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gw_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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end
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save('./active_damping/mat/plants_variable.mat', 'Rz_periods', 'Gw_iff', 'Gw_dvf', 'Gw_ine', '-append');
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% Dynamics of the Active Damping plants
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load('./active_damping/mat/plants_variable.mat', 'Rz_periods', 'Gw_iff', 'Gw_dvf', 'Gw_ine');
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load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
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freqs = logspace(0, 3, 10000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gw_iff)
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plot(freqs, abs(squeeze(freqresp(Gw_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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plot(freqs, abs(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
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hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gw_iff)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', 'No Rotation');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_iff_spindle_speed
|
|
% #+caption: Variability of the dynamics from the actuator force to the force sensor with the Spindle rotation speed ([[./figs/act_damp_variability_iff_spindle_speed.png][png]], [[./figs/act_damp_variability_iff_spindle_speed.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_iff_spindle_speed.png]]
|
|
|
|
|
|
xlim([20, 30]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_iff_spindle_speed_zoom
|
|
% #+caption: Variability of the dynamics from the actuator force to the force sensor with the Spindle rotation speed ([[./figs/act_damp_variability_iff_spindle_speed_zoom.png][png]], [[./figs/act_damp_variability_iff_spindle_speed_zoom.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_iff_spindle_speed_zoom.png]]
|
|
|
|
|
|
freqs = logspace(0, 3, 5000);
|
|
|
|
figure;
|
|
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
|
|
for i = 1:length(Gw_dvf)
|
|
plot(freqs, abs(squeeze(freqresp(Gw_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
|
|
end
|
|
plot(freqs, abs(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gw_dvf)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', 'No Rotation');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_dvf_spindle_speed
|
|
% #+caption: Variability of the dynamics from the actuator force to the relative motion sensor with the Spindle rotation speed ([[./figs/act_damp_variability_dvf_spindle_speed.png][png]], [[./figs/act_damp_variability_dvf_spindle_speed.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_dvf_spindle_speed.png]]
|
|
|
|
|
|
xlim([20, 30]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_dvf_spindle_speed_zoom
|
|
% #+caption: Variability of the dynamics from the actuator force to the relative motion sensor with the Spindle rotation speed ([[./figs/act_damp_variability_dvf_spindle_speed_zoom.png][png]], [[./figs/act_damp_variability_dvf_spindle_speed_zoom.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_dvf_spindle_speed_zoom.png]]
|
|
|
|
|
|
freqs = logspace(0, 3, 5000);
|
|
|
|
figure;
|
|
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
for i = 1:length(Gw_ine)
|
|
plot(freqs, abs(squeeze(freqresp(Gw_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
|
end
|
|
plot(freqs, abs(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gw_ine)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', 'No Rotation');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_ine_spindle_speed
|
|
% #+caption: Variability of the dynamics from the actuator force to the absolute velocity sensor with the Spindle rotation speed ([[./figs/act_damp_variability_ine_spindle_speed.png][png]], [[./figs/act_damp_variability_ine_spindle_speed.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_ine_spindle_speed.png]]
|
|
|
|
|
|
xlim([20, 30]);
|
|
|
|
% Variation of the poles and zeros with the Spindle rotation frequency
|
|
|
|
load('./active_damping/mat/plants_variable.mat', 'Rz_periods', 'Gw_iff', 'Gw_dvf', 'Gw_ine');
|
|
load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
|
|
|
|
figure;
|
|
|
|
subplot(1,2,1);
|
|
hold on;
|
|
for i = 1:length(Gw_iff)
|
|
G_poles = pole(Gw_iff{i}('Fnlm1', 'Fnl1'));
|
|
plot(1/Rz_periods(i), real(G_poles(imag(G_poles)<2*pi*30 & imag(G_poles)>2*pi*22)), 'kx');
|
|
end
|
|
G_poles = pole(G_iff('Fnlm1', 'Fnl1'));
|
|
plot(0, real(G_poles(imag(G_poles)<2*pi*30 & imag(G_poles)>2*pi*22)), 'kx');
|
|
hold off;
|
|
ylim([-inf, 0]);
|
|
xlabel('Rotation Speed [Hz]');
|
|
ylabel('Real Part');
|
|
|
|
subplot(1,2,2);
|
|
hold on;
|
|
for i = 1:length(Gw_iff)
|
|
G_poles = pole(Gw_iff{i}('Fnlm1', 'Fnl1'));
|
|
plot(1/Rz_periods(i), imag(G_poles(imag(G_poles)<2*pi*30 & imag(G_poles)>2*pi*22)), 'kx');
|
|
end
|
|
G_poles = pole(G_iff('Fnlm1', 'Fnl1'));
|
|
plot(0, imag(G_poles(imag(G_poles)<2*pi*30 & imag(G_poles)>2*pi*22)), 'kx');
|
|
hold off;
|
|
ylim([0, inf]);
|
|
xlabel('Rotation Speed [Hz]');
|
|
ylabel('Imaginary Part');
|
|
|
|
|
|
|
|
% #+name: fig:campbell_diagram_spindle_rotation
|
|
% #+caption: Evolution of the pole with respect to the spindle rotation speed ([[./figs/campbell_diagram_spindle_rotation.png][png]], [[./figs/campbell_diagram_spindle_rotation.pdf][pdf]])
|
|
% [[file:figs/campbell_diagram_spindle_rotation.png]]
|
|
|
|
|
|
figure;
|
|
|
|
subplot(1,2,1);
|
|
hold on;
|
|
for i = 1:length(Gw_ine)
|
|
set(gca,'ColorOrderIndex',1);
|
|
G_zeros = zero(Gw_ine{i}('Vnlm1', 'Fnl1'));
|
|
plot(1/Rz_periods(i), real(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
|
|
set(gca,'ColorOrderIndex',2);
|
|
G_zeros = zero(Gw_iff{i}('Fnlm1', 'Fnl1'));
|
|
plot(1/Rz_periods(i), real(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
|
|
set(gca,'ColorOrderIndex',3);
|
|
G_zeros = zero(Gw_dvf{i}('Dnlm1', 'Fnl1'));
|
|
plot(1/Rz_periods(i), real(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
end
|
|
hold off;
|
|
xlabel('Rotation Speed [Hz]');
|
|
ylabel('Real Part');
|
|
|
|
subplot(1,2,2);
|
|
hold on;
|
|
for i = 1:length(Gw_ine)
|
|
set(gca,'ColorOrderIndex',1);
|
|
G_zeros = zero(Gw_ine{i}('Vnlm1', 'Fnl1'));
|
|
p_ine = plot(1/Rz_periods(i), imag(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
|
|
set(gca,'ColorOrderIndex',2);
|
|
G_zeros = zero(Gw_iff{i}('Fnlm1', 'Fnl1'));
|
|
p_iff = plot(1/Rz_periods(i), imag(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
|
|
set(gca,'ColorOrderIndex',3);
|
|
G_zeros = zero(Gw_dvf{i}('Dnlm1', 'Fnl1'));
|
|
p_dvf = plot(1/Rz_periods(i), imag(G_zeros(imag(G_zeros)<2*pi*25 & imag(G_zeros)>2*pi*22)), 'o');
|
|
end
|
|
hold off;
|
|
xlabel('Rotation Speed [Hz]');
|
|
ylabel('Imaginary Part');
|
|
legend([p_ine p_iff p_dvf],{'Inertial Sensor','Force Sensor', 'Relative Motion Sensor'}, 'location', 'southwest');
|
|
|
|
% Identification :ignore:
|
|
% We initialize all the stages with the default parameters.
|
|
|
|
prepareLinearizeIdentification();
|
|
|
|
%% Options for Linearized
|
|
options = linearizeOptions;
|
|
options.SampleTime = 0;
|
|
|
|
%% Name of the Simulink File
|
|
mdl = 'sim_nass_active_damping';
|
|
|
|
%% Input/Output definition
|
|
clear io; io_i = 1;
|
|
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
|
|
|
|
|
|
|
|
% We identify the dynamics for the following Tilt stage angles.
|
|
|
|
Ry_amplitudes = [-3*pi/180, 3*pi/180]; % [rad]
|
|
|
|
Gy = {zeros(length(Ry_amplitudes))};
|
|
Gy_iff = {zeros(length(Ry_amplitudes))};
|
|
Gy_dvf = {zeros(length(Ry_amplitudes))};
|
|
Gy_ine = {zeros(length(Ry_amplitudes))};
|
|
|
|
for i = 1:length(Ry_amplitudes)
|
|
initializeReferences('Ry_type', 'constant', 'Ry_amplitude', Ry_amplitudes(i))
|
|
|
|
%% Run the linearization
|
|
G = linearize(mdl, io, 0.3, options);
|
|
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
|
G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
|
|
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
|
|
'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
|
|
Gy(i) = {G};
|
|
Gy_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
|
Gy_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
|
Gy_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
|
end
|
|
|
|
save('./active_damping/mat/plants_variable.mat', 'Ry_amplitudes', 'Gy_iff', 'Gy_dvf', 'Gy_ine', '-append');
|
|
|
|
% Plots :ignore:
|
|
|
|
load('./active_damping/mat/plants_variable.mat', 'Ry_amplitudes', 'Gy_iff', 'Gy_dvf', 'Gy_ine');
|
|
load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
|
|
|
|
freqs = logspace(0, 3, 1000);
|
|
|
|
figure;
|
|
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
for i = 1:length(Gy_iff)
|
|
plot(freqs, abs(squeeze(freqresp(Gy_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
|
|
end
|
|
plot(freqs, abs(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gy_iff)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_iff_tilt_angle
|
|
% #+caption: Variability of the dynamics from the actuator force to the force sensor with the Tilt stage Angle ([[./figs/act_damp_variability_iff_tilt_angle.png][png]], [[./figs/act_damp_variability_iff_tilt_angle.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_iff_tilt_angle.png]]
|
|
|
|
|
|
freqs = logspace(0, 3, 1000);
|
|
|
|
figure;
|
|
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
|
|
for i = 1:length(Gy_dvf)
|
|
plot(freqs, abs(squeeze(freqresp(Gy_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
|
|
end
|
|
plot(freqs, abs(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gy_dvf)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
|
|
|
|
% #+name: fig:act_damp_variability_dvf_tilt_angle
|
|
% #+caption: Variability of the dynamics from the actuator force to the relative motion sensor with the Tilt Angle ([[./figs/act_damp_variability_dvf_tilt_angle.png][png]], [[./figs/act_damp_variability_dvf_tilt_angle.pdf][pdf]])
|
|
% [[file:figs/act_damp_variability_dvf_tilt_angle.png]]
|
|
|
|
|
|
freqs = logspace(0, 3, 1000);
|
|
|
|
figure;
|
|
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
for i = 1:length(Gy_ine)
|
|
plot(freqs, abs(squeeze(freqresp(Gy_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
|
end
|
|
plot(freqs, abs(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
|
|
|
ax2 = subplot(2, 1, 2);
|
|
hold on;
|
|
for i = 1:length(Gy_ine)
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
|
end
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
|
|
hold off;
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
legend('location', 'southwest');
|
|
|
|
linkaxes([ax1,ax2],'x');
|
|
xlim([freqs(1), freqs(end)]);
|
|
|
|
% Identification :ignore:
|
|
% We initialize all the stages with the default parameters.
|
|
|
|
prepareLinearizeIdentification();
|
|
|
|
%% Options for Linearized
|
|
options = linearizeOptions;
|
|
options.SampleTime = 0;
|
|
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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% We initialize the translation stage reference to be a sinus with an amplitude of 5mm and a period of 1s (Figure [[fig:ty_scanning_reference_sinus]]).
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initializeReferences('Dy_type', 'sinusoidal', ...
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'Dy_amplitude', 5e-3, ... % [m]
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'Dy_period', 1); % [s]
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load('mat/nass_references.mat', 'Dy');
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figure;
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plot(Dy.time, Dy.signals.values);
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xlabel('Time [s]'); ylabel('Dy - Position [m]');
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xlim([0, 2]);
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% #+name: fig:ty_scanning_reference_sinus
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% #+caption: Reference path for the translation stage ([[./figs/ty_scanning_reference_sinus.png][png]], [[./figs/ty_scanning_reference_sinus.pdf][pdf]])
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% [[file:figs/ty_scanning_reference_sinus.png]]
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% We identify the dynamics at different positions (times) when scanning with the Translation stage.
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t_lin = [0.5, 0.75, 1, 1.25];
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Gty = {zeros(length(t_lin))};
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Gty_iff = {zeros(length(t_lin))};
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Gty_dvf = {zeros(length(t_lin))};
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Gty_ine = {zeros(length(t_lin))};
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%% Run the linearization
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G = linearize(mdl, io, t_lin, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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for i = 1:length(t_lin)
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Gty(i) = {G(:,:,i)};
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Gty_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}, i))};
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Gty_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}, i))};
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Gty_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}, i))};
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end
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Gty_tlin = t_lin;
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save('./active_damping/mat/plants_variable.mat', 'Gty_tlin', 'Dy', 'Gty_iff', 'Gty_dvf', 'Gty_ine', '-append');
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% Plots :ignore:
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load('./active_damping/mat/plants_variable.mat', 'Gty_tlin', 'Dy', 'Gty_iff', 'Gty_dvf', 'Gty_ine');
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load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gty_iff)
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plot(freqs, abs(squeeze(freqresp(Gty_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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plot(freqs, abs(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gty_iff)
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[~, i_t] = min(abs(Dy.time - Gty_tlin(i)));
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gty_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Dy = %.0f$ [mm]', 1e3*Dy.signals.values(i_t)));
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end
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_iff_ty_scans
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% #+caption: Variability of the dynamics from the actuator force to the absolute velocity sensor plant at different Ty scan positions ([[./figs/act_damp_variability_iff_ty_scans.png][png]], [[./figs/act_damp_variability_iff_ty_scans.pdf][pdf]])
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% [[file:figs/act_damp_variability_iff_ty_scans.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gty_dvf)
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plot(freqs, abs(squeeze(freqresp(Gty_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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plot(freqs, abs(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gty_dvf)
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[~, i_t] = min(abs(Dy.time - Gty_tlin(i)));
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gty_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Dy = %.0f$ [mm]', 1e3*Dy.signals.values(i_t)));
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end
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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% #+name: fig:act_damp_variability_dvf_ty_scans
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% #+caption: Variability of the dynamics from actuator force to relative displacement sensor at different Ty scan positions ([[./figs/act_damp_variability_dvf_ty_scans.png][png]], [[./figs/act_damp_variability_dvf_ty_scans.pdf][pdf]])
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% [[file:figs/act_damp_variability_dvf_ty_scans.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gty_ine)
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plot(freqs, abs(squeeze(freqresp(Gty_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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plot(freqs, abs(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gty_ine)
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[~, i_t] = min(abs(Dy.time - Gty_tlin(i)));
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gty_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Dy = %.0f$ [mm]', 1e3*Dy.signals.values(i_t)));
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end
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'k--', 'DisplayName', '$Ry = 0$ [deg]');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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