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Remove unnecessary calls to "figure"

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Thomas Dehaeze 2024-03-26 17:57:01 +01:00
parent eb3f949046
commit 6db514f7d7
7 changed files with 8 additions and 28 deletions
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4
matlab/rotating_2_iff_pure_int.m
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@ -28,7 +28,6 @@ load('rotating_generic_plants.mat', 'Gs', 'Wzs');
%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation %% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation
figure;
freqs = logspace(-2, 1, 1000); freqs = logspace(-2, 1, 1000);
figure; figure;
@ -120,13 +119,12 @@ linkaxes([ax1,ax2],'y');
%% Root Locus for the Decentralized Integral Force Feedback controller %% Root Locus for the Decentralized Integral Force Feedback controller
figure;
Kiff = 1/s*eye(2); Kiff = 1/s*eye(2);
gains = logspace(-2, 4, 300); gains = logspace(-2, 4, 300);
Wz_i = [1,3,4]; Wz_i = [1,3,4];
figure;
hold on; hold on;
for i = 1:length(Wz_i) for i = 1:length(Wz_i)
plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ... plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ...

3
matlab/rotating_4_iff_kp.m
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@ -227,10 +227,9 @@ title('Zoom on controller pole')
kps = [2, 20, 40]*(mn + ms)*Wz^2; kps = [2, 20, 40]*(mn + ms)*Wz^2;
%% Root Locus: Effect of the parallel stiffness on the attainable damping %% Root Locus: Effect of the parallel stiffness on the attainable damping
figure;
gains = logspace(-2, 4, 500); gains = logspace(-2, 4, 500);
figure;
hold on; hold on;
for kp_i = 1:length(kps) for kp_i = 1:length(kps)
kp = kps(kp_i); % Parallel Stiffness [N/m] kp = kps(kp_i); % Parallel Stiffness [N/m]

5
matlab/rotating_5_rdc.m
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@ -22,7 +22,6 @@ load('rotating_generic_plants.mat', 'Gs', 'Wzs');
%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation %% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation
figure;
freqs = logspace(-2, 1, 1000); freqs = logspace(-2, 1, 1000);
figure; figure;
@ -97,13 +96,12 @@ linkaxes([ax1,ax2],'y');
%% Root Locus for Relative Damping Control %% Root Locus for Relative Damping Control
figure;
Krdc = s*eye(2); % Relative damping controller Krdc = s*eye(2); % Relative damping controller
gains = logspace(-2, 2, 300); % Tested gains gains = logspace(-2, 2, 300); % Tested gains
Wz_i = [1,3,4]; Wz_i = [1,3,4];
figure;
hold on; hold on;
for i = 1:length(Wz_i) for i = 1:length(Wz_i)
plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ... plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ...
@ -147,7 +145,6 @@ Krdc.OutputName = {'Fu', 'Fv'};
G_cl_rdc = feedback(Gs{i}, Krdc, 'name'); G_cl_rdc = feedback(Gs{i}, Krdc, 'name');
%% Damped plant using Relative Damping Control %% Damped plant using Relative Damping Control
figure;
freqs = logspace(-3, 2, 1000); freqs = logspace(-3, 2, 1000);
figure; figure;

4
matlab/rotating_6_act_damp_comparison.m
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@ -97,10 +97,9 @@ Krdc.OutputName = {'Fu', 'Fv'};
%% Comparison of active damping techniques for rotating platform - Root Locus %% Comparison of active damping techniques for rotating platform - Root Locus
figure;
gains = logspace(-2, 2, 500); gains = logspace(-2, 2, 500);
figure;
hold on; hold on;
% IFF % IFF
plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ... plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ...
@ -155,7 +154,6 @@ G_cl_iff_kp = feedback(G_kp, Kiff_kp, 'name');
G_cl_rdc = feedback(G, Krdc, 'name'); G_cl_rdc = feedback(G, Krdc, 'name');
%% Comparison of the damped plants obtained with the three active damping techniques %% Comparison of the damped plants obtained with the three active damping techniques
figure;
freqs = logspace(-3, 2, 1000); freqs = logspace(-3, 2, 1000);
figure; figure;

1
matlab/rotating_7_nano_hexapod.m
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@ -1093,7 +1093,6 @@ G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name');
G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name'); G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name');
%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses %% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses
figure;
freqs_vc = logspace(-1, 2, 1000); freqs_vc = logspace(-1, 2, 1000);
freqs_md = logspace(0, 3, 1000); freqs_md = logspace(0, 3, 1000);
freqs_pz = logspace(0, 3, 1000); freqs_pz = logspace(0, 3, 1000);

1
matlab/rotating_8_nass.m
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@ -332,7 +332,6 @@ xlim([freqs_pz(1), freqs_pz(end)]);
%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses %% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses
figure;
freqs_vc = logspace(-1, 2, 1000); freqs_vc = logspace(-1, 2, 1000);
freqs_md = logspace(0, 3, 1000); freqs_md = logspace(0, 3, 1000);
freqs_pz = logspace(0, 3, 1000); freqs_pz = logspace(0, 3, 1000);

18
nass-rotating-3dof-model.org
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@ -748,7 +748,6 @@ As was expected from the derived equations of motion:
#+begin_src matlab :results none #+begin_src matlab :results none
%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation %% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation
figure;
freqs = logspace(-2, 1, 1000); freqs = logspace(-2, 1, 1000);
figure; figure;
@ -885,13 +884,12 @@ The control system is thus canceling the spring forces which makes the suspended
#+begin_src matlab #+begin_src matlab
%% Root Locus for the Decentralized Integral Force Feedback controller %% Root Locus for the Decentralized Integral Force Feedback controller
figure;
Kiff = 1/s*eye(2); Kiff = 1/s*eye(2);
gains = logspace(-2, 4, 300); gains = logspace(-2, 4, 300);
Wz_i = [1,3,4]; Wz_i = [1,3,4];
figure;
hold on; hold on;
for i = 1:length(Wz_i) for i = 1:length(Wz_i)
plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ... plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ...
@ -1870,10 +1868,9 @@ kps = [2, 20, 40]*(mn + ms)*Wz^2;
#+begin_src matlab :results none #+begin_src matlab :results none
%% Root Locus: Effect of the parallel stiffness on the attainable damping %% Root Locus: Effect of the parallel stiffness on the attainable damping
figure;
gains = logspace(-2, 4, 500); gains = logspace(-2, 4, 500);
figure;
hold on; hold on;
for kp_i = 1:length(kps) for kp_i = 1:length(kps)
kp = kps(kp_i); % Parallel Stiffness [N/m] kp = kps(kp_i); % Parallel Stiffness [N/m]
@ -2337,7 +2334,6 @@ The transfer functions from $[F_u,\ F_v]$ to $[d_u,\ d_v]$ is identified and sho
#+begin_src matlab :results none #+begin_src matlab :results none
%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation %% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation
figure;
freqs = logspace(-2, 1, 1000); freqs = logspace(-2, 1, 1000);
figure; figure;
@ -2415,13 +2411,12 @@ The closed-loop system is unconditionally stable and the poles can be damped as
#+begin_src matlab :results none #+begin_src matlab :results none
%% Root Locus for Relative Damping Control %% Root Locus for Relative Damping Control
figure;
Krdc = s*eye(2); % Relative damping controller Krdc = s*eye(2); % Relative damping controller
gains = logspace(-2, 2, 300); % Tested gains gains = logspace(-2, 2, 300); % Tested gains
Wz_i = [1,3,4]; Wz_i = [1,3,4];
figure;
hold on; hold on;
for i = 1:length(Wz_i) for i = 1:length(Wz_i)
plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ... plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ...
@ -2477,7 +2472,6 @@ G_cl_rdc = feedback(Gs{i}, Krdc, 'name');
#+begin_src matlab :results none #+begin_src matlab :results none
%% Damped plant using Relative Damping Control %% Damped plant using Relative Damping Control
figure;
freqs = logspace(-3, 2, 1000); freqs = logspace(-3, 2, 1000);
figure; figure;
@ -2660,10 +2654,9 @@ It is interesting to note that the maximum added damping is very similar for bot
#+begin_src matlab :exports none :results none #+begin_src matlab :exports none :results none
%% Comparison of active damping techniques for rotating platform - Root Locus %% Comparison of active damping techniques for rotating platform - Root Locus
figure;
gains = logspace(-2, 2, 500); gains = logspace(-2, 2, 500);
figure;
hold on; hold on;
% IFF % IFF
plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ... plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ...
@ -2730,7 +2723,6 @@ G_cl_rdc = feedback(G, Krdc, 'name');
#+begin_src matlab :exports none :results none #+begin_src matlab :exports none :results none
%% Comparison of the damped plants obtained with the three active damping techniques %% Comparison of the damped plants obtained with the three active damping techniques
figure;
freqs = logspace(-3, 2, 1000); freqs = logspace(-3, 2, 1000);
figure; figure;
@ -4087,7 +4079,6 @@ G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name');
#+begin_src matlab :exports none :results none #+begin_src matlab :exports none :results none
%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses %% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses
figure;
freqs_vc = logspace(-1, 2, 1000); freqs_vc = logspace(-1, 2, 1000);
freqs_md = logspace(0, 3, 1000); freqs_md = logspace(0, 3, 1000);
freqs_pz = logspace(0, 3, 1000); freqs_pz = logspace(0, 3, 1000);
@ -4587,7 +4578,6 @@ To confirm that the coupling is smaller when the stiffness of the nano-hexapod i
#+begin_src matlab :exports none :results none #+begin_src matlab :exports none :results none
%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses %% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses
figure;
freqs_vc = logspace(-1, 2, 1000); freqs_vc = logspace(-1, 2, 1000);
freqs_md = logspace(0, 3, 1000); freqs_md = logspace(0, 3, 1000);
freqs_pz = logspace(0, 3, 1000); freqs_pz = logspace(0, 3, 1000);