88 lines
3.3 KiB
Matlab
88 lines
3.3 KiB
Matlab
%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load Simulation Results
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sim_light_vc_ol = load('./mat/sim_light_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_light_pz_ol = load('./mat/sim_light_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_heavy_vc_ol = load('./mat/sim_heavy_vc_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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sim_heavy_pz_ol = load('./mat/sim_heavy_pz_ol.mat', 'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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%%
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sim_light_vc_ol.psd = computePsdDispl(sim_light_vc_ol, 1, 2);
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sim_light_pz_ol.psd = computePsdDispl(sim_light_pz_ol, 1, 2);
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sim_heavy_vc_ol.psd = computePsdDispl(sim_heavy_vc_ol, 1, 2);
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sim_heavy_pz_ol.psd = computePsdDispl(sim_heavy_pz_ol, 1, 2);
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%% PSD Plot of translations
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
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if save_fig; exportFig('psd_ol_vc_light_trans', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of rotations
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.rx);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.ry);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Rx$', 'PSD $Rz$'})
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if save_fig; exportFig('psd_ol_vc_light_rot', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of translations
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figure;
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hold on;
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Tx$', 'PSD $Tz$', 'PSD $Tz$'})
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if save_fig; exportFig('psd_ol_pz_light_trans', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of rotations
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figure;
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hold on;
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.rx);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.ry);
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$rad^2/Hz$]'); xlabel('Frequency [Hz]');
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hold off;
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legend({'PSD $Rx$', 'PSD $Rz$'})
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if save_fig; exportFig('psd_ol_pz_light_rot', 'normal-normal', struct('path', 'control')); end
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%% PSD Plot of translations
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figure;
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hold on;
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dx);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dy);
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plot(sim_light_vc_ol.psd.f, sim_light_vc_ol.psd.dz);
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set(gca,'ColorOrderIndex',1);
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dx, '--');
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dy, '--');
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plot(sim_light_pz_ol.psd.f, sim_light_pz_ol.psd.dz, '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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xlim([sim_light_vc_ol.psd.f(1), sim_light_vc_ol.psd.f(end)])
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hold off;
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legend({'PSD $Tx$ - VC', 'PSD $Tz$ - VC', 'PSD $Tz$ - VC', 'PSD $Tx$ - PZ', 'PSD $Tz$ - PZ', 'PSD $Tz$ - PZ'})
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if save_fig; exportFig('psd_ol_pz_vc_light_trans', 'wide-tall', struct('path', 'control')); end
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