5587309cfa
Add many scripts to: - define all the inputs for various experiments - plot the time and frequency data - identify the plant
33 lines
998 B
Matlab
33 lines
998 B
Matlab
tomo_ol = load('../data/tomography_exp_ol.mat', 'Dmeas');
|
|
tomo_cl = load('../data/tomography_exp_001.mat', 'Dmeas');
|
|
|
|
%% Compare OL and CL - Time
|
|
figure;
|
|
hold on;
|
|
plot(tomo_ol.Dmeas.Time, tomo_ol.Dmeas.Data(:, 2));
|
|
plot(tomo_cl.Dmeas.Time, tomo_cl.Dmeas.Data(:, 2));
|
|
legend({'y - OL', 'y - CL'})
|
|
hold off;
|
|
xlabel('Time [s]'); ylabel('Displacement [m]');
|
|
|
|
exportFig('tomo_control_time_y', 'normal-normal')
|
|
|
|
|
|
%% Compare OL and CL - PSD
|
|
han_windows_ol = hanning(ceil(length(tomo_ol.Dmeas.Time)/10));
|
|
[psd_y_ol, freqs_y_ol] = pwelch(tomo_ol.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
|
|
|
|
han_windows = hanning(ceil(length(tomo_cl.Dmeas.Time)/10));
|
|
[psd_y, freqs_y] = pwelch(tomo_cl.Dmeas.Data(:, 2), han_windows, 0, [], 1/Ts);
|
|
|
|
figure;
|
|
hold on;
|
|
plot(freqs_y_ol, sqrt(psd_y_ol));
|
|
plot(freqs_y, sqrt(psd_y));
|
|
set(gca,'xscale','log'); set(gca,'yscale','log');
|
|
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
|
|
legend({'y - OL', 'y - CL'})
|
|
hold off;
|
|
|
|
exportFig('tomo_control_psd_y', 'normal-normal')
|