101 lines
2.9 KiB
Matlab
101 lines
2.9 KiB
Matlab
%% Script Description
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% Compare identification from the Simscape model
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% with the identification on the real system.
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%%
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clear; close all; clc;
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%% Load the obtained transfer functions
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load('./mat/id_micro_station.mat', 'G_ms');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Get Measurement Object
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load('2018_01_12.mat', 'm_object');
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%% Get Measurements Data
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opts = struct('freq_min', 10, 'est_backend', 'idfrd');
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meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {'tx', 'tx'}, opts);
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%% Granite to Granite
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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_ms('Dgx', 'Fgx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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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_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('comp_meas_g_g', 'normal-normal', struct('path', 'identification')); end
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%% Hexapod to Hexapod
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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_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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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_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('comp_meas_m_m', 'normal-normal', struct('path', 'identification')); end
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%% Hexapod to Granite
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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_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log'); set(gca,'yscale','log');
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ylabel('Amplitude [m/N]');
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set(gca, 'XTickLabel',[]);
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legend({'Model', 'Meas.'});
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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_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
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set(gca,'xscale','log');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('comp_meas_m_g', 'normal-normal', struct('path', 'identification')); end
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