116 lines
4.8 KiB
Matlab
116 lines
4.8 KiB
Matlab
%%
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clear; close all; clc;
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%% Load the transfer functions
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save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Plant
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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_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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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_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-1800:90:1800);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('comp_models_plant_x_x', 'normal-normal', struct('path', 'identification')); end
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%%
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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_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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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_light_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-1800:90:1800);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('comp_models_plant_z_z', 'normal-normal', struct('path', 'identification')); end
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%% Plot all the coupling
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figure;
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for i_input = 1:3
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for i_output = 1:3
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subaxis(3,3,3*(i_input-1)+i_output);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart(i_output, i_input), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart(i_output, i_input), freqs, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlim([freqs(1) freqs(end)]); ylim([1e-12, 1e-2]);
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yticks([1e-12, 1e-8, 1e-4]); xticks([0.1 1 10 100 1000]);
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if i_output > 1; set(gca,'yticklabel',[]); end
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if i_input < 3; set(gca,'xticklabel',[]); end
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hold off;
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end
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end
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if save_fig; exportFig('comp_models_plant_coupling_all', 'full-tall', struct('path', 'identification')); end
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%% Plot some coupling
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light - $Fx \to Dx$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light - $Fx \to Dx$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy - $Fx \to Dy$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dy', 'Fnx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy - $Fx \to Dy$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'VC - Heavy - $Fx \to Dz$');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fnx'), freqs, 'Hz'))), '-.', 'DisplayName', 'PZ - Heavy - $Fx \to Dz$');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/m]');
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legend('Location', 'southwest');
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xticks('manual'); xlim([freqs(1) freqs(end)]);
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hold off;
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if save_fig; exportFig('comp_models_plant_coupling', 'normal-normal', struct('path', 'identification')); end
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