Update analysis
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figs/G_ws_pz.tex
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Before Width: | Height: | Size: 104 KiB After Width: | Height: | Size: 104 KiB |
|
Before Width: | Height: | Size: 328 KiB After Width: | Height: | Size: 328 KiB |
681
figs/G_ws_vc.tex
Normal file
681
figs/G_ws_vc.tex
Normal file
@ -0,0 +1,681 @@
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||||
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||||
0.0637976680860628 0.00731926388311971\\
|
||||
0.0665001803043112 0.00775334595749935\\
|
||||
0.069317172761554 0.00828987665609179\\
|
||||
0.0722534949178721 0.00896733314534911\\
|
||||
0.0747952251562181 0.00968212046801476\\
|
||||
0.0774263682681126 0.0105909996496593\\
|
||||
0.080150069615654 0.011782151960433\\
|
||||
0.0823978568452851 0.0130363394810918\\
|
||||
0.084708682665574 0.0146974005830505\\
|
||||
0.0870843149769072 0.0169974651966685\\
|
||||
0.0889096598952915 0.0193976321961421\\
|
||||
0.0907732652521022 0.0227613434644872\\
|
||||
0.0926759330114688 0.0278091064402178\\
|
||||
0.0946184819472199 0.0362182708658711\\
|
||||
0.0959360828709315 0.0458151256406128\\
|
||||
0.0972720319245054 0.0630422352465336\\
|
||||
0.0986265846131281 0.102978994078703\\
|
||||
0.099310918137498 0.152376998723317\\
|
||||
0.1 0.297144255036158\\
|
||||
0.100693863147603 8.47738781550121\\
|
||||
0.101392540755881 0.314423516964446\\
|
||||
0.102096066230605 0.153123581227986\\
|
||||
0.103517795563018 0.0746803283460899\\
|
||||
0.104959323055823 0.0488550427807674\\
|
||||
0.107159339982267 0.0317328058902229\\
|
||||
0.109405470720574 0.0232047564635368\\
|
||||
0.112473717836475 0.0168284264814708\\
|
||||
0.115628013120738 0.0130149623391712\\
|
||||
0.119695570235904 0.00997533187293677\\
|
||||
0.123906215694792 0.00795811399877147\\
|
||||
0.129154966501488 0.00628656619179516\\
|
||||
0.135560178532937 0.00493648520636096\\
|
||||
0.143270295340983 0.00385863840716838\\
|
||||
0.152469572701757 0.00300153568314534\\
|
||||
0.163385387780986 0.00232002362210437\\
|
||||
0.178752552590424 0.00169539663751902\\
|
||||
0.206688024962908 0.00104491177011397\\
|
||||
0.238989256623105 0.00064029014889373\\
|
||||
0.259665597293487 0.000474998925631336\\
|
||||
0.276338529005317 0.000373081054262977\\
|
||||
0.292055551218275 0.000295186341160203\\
|
||||
0.306539529505652 0.000235256667135457\\
|
||||
0.319524750575921 0.000189157826490408\\
|
||||
0.330764978074424 0.000154023966359949\\
|
||||
0.342400613797143 0.00012156758673611\\
|
||||
0.352003147279668 9.73581898753128e-05\\
|
||||
0.361874981241128 7.45807348221263e-05\\
|
||||
0.36946012051993 5.8371728813786e-05\\
|
||||
0.3772042493417 4.28643672347655e-05\\
|
||||
0.3824569722467 3.28960263493344e-05\\
|
||||
0.387782841458945 2.32103427572626e-05\\
|
||||
0.393182875570577 1.37964306518848e-05\\
|
||||
0.395911026646846 9.18809794202592e-06\\
|
||||
0.398658107358044 4.64380740277752e-06\\
|
||||
0.401424249049932 1.62308112491305e-07\\
|
||||
0.404209583979631 4.25762832250677e-06\\
|
||||
0.407014245321944 8.61720838947502e-06\\
|
||||
0.412682084570295 1.71600194534791e-05\\
|
||||
0.418428850790158 2.54753614740083e-05\\
|
||||
0.424255643071778 3.35721575337827e-05\\
|
||||
0.43314832233764 4.53263728089333e-05\\
|
||||
0.44222739805059 5.66361588817962e-05\\
|
||||
0.45149677720361 6.75281720950144e-05\\
|
||||
0.464158883361278 8.1444851576741e-05\\
|
||||
0.477176094893874 9.4721404652286e-05\\
|
||||
0.490558370636505 0.000107412247922278\\
|
||||
0.507815211232767 0.000122530834239654\\
|
||||
0.525679112201842 0.000136911320815336\\
|
||||
0.547947233690029 0.000153322729351542\\
|
||||
0.571158647812643 0.000168955947553232\\
|
||||
0.599484250318941 0.000186408706148706\\
|
||||
0.629214610961034 0.000203236732548977\\
|
||||
0.665001803043112 0.000222007421817765\\
|
||||
0.712611543011175 0.000245327320240089\\
|
||||
0.785045620020451 0.000279208420646451\\
|
||||
0.907732652521022 0.00033904662702861\\
|
||||
0.972720319245054 0.000375537772261408\\
|
||||
1.02804473209331 0.000411355749794632\\
|
||||
1.07902879151618 0.000449920540854421\\
|
||||
1.12473717836475 0.000490717958180033\\
|
||||
1.1723818032866 0.000541816774917564\\
|
||||
1.21362379834424 0.0005957061655971\\
|
||||
1.25631660247412 0.000664654181713336\\
|
||||
1.30051125217341 0.000756265650452901\\
|
||||
1.33698374182495 0.000854706638176982\\
|
||||
1.37447909267754 0.000988747584769564\\
|
||||
1.41302599059953 0.00118212923617096\\
|
||||
1.44264395121816 0.00139463300403259\\
|
||||
1.4728827239075 0.00171304352866434\\
|
||||
1.50375532129974 0.00224287326743262\\
|
||||
1.52469572701757 0.00284710134393563\\
|
||||
1.54592773641948 0.00393122583147375\\
|
||||
1.5674554102056 0.00644339910567548\\
|
||||
1.57833140565212 0.00954954393723037\\
|
||||
1.58928286562298 0.0186468843858676\\
|
||||
1.6003103137387 0.520505575684362\\
|
||||
1.61141427725302 0.0198356564647494\\
|
||||
1.62259528707809 0.00967226376986916\\
|
||||
1.64519058775366 0.00473273404676204\\
|
||||
1.66810053720006 0.00310673794571656\\
|
||||
1.70306502925285 0.00202849299111685\\
|
||||
1.73876240021625 0.00149120429559516\\
|
||||
1.78752552590424 0.00108918322539869\\
|
||||
1.83765620038817 0.000848490456274208\\
|
||||
1.90230118866895 0.00065637194921138\\
|
||||
1.96922025547917 0.000528649545117315\\
|
||||
2.05263775270925 0.000422592765793052\\
|
||||
2.13958887134342 0.00034719506092547\\
|
||||
2.24569799553978 0.000282965940997104\\
|
||||
2.37342425002387 0.000229343583905914\\
|
||||
2.52582002696278 0.000185085375585373\\
|
||||
2.70665207003324 0.0001487882357568\\
|
||||
2.92055551218275 0.000119129861410815\\
|
||||
3.17322963473498 9.49573942726165e-05\\
|
||||
3.49577557436328 7.40067628137319e-05\\
|
||||
3.90473523688556 5.64892548778022e-05\\
|
||||
4.45295850994266 4.15952387009608e-05\\
|
||||
5.18459354389291 2.95938049755255e-05\\
|
||||
6.2057288067765 2.0053060515934e-05\\
|
||||
7.79636013040524 1.2399726445939e-05\\
|
||||
10 7.41632088093813e-06\\
|
||||
};
|
||||
\addplot [color=mycolor5, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0.01 0.00263238947622504\\
|
||||
0.0154592773641948 0.00265042524605343\\
|
||||
0.0208122156998634 0.00267600437295551\\
|
||||
0.0261467321180109 0.00270968615899963\\
|
||||
0.0312964801067075 0.00275048123643326\\
|
||||
0.0364385898376354 0.00279999105794678\\
|
||||
0.0415545533471887 0.00285877171487515\\
|
||||
0.0464158883361277 0.00292436036538669\\
|
||||
0.0511338753841432 0.00299813406882873\\
|
||||
0.0559432570616938 0.00308488604704319\\
|
||||
0.0607832312829722 0.00318558812378521\\
|
||||
0.065134909462728 0.003289287350251\\
|
||||
0.0697981390783065 0.00341641944213625\\
|
||||
0.0742798248256491 0.00355680626519763\\
|
||||
0.0785045620020451 0.00370838405540079\\
|
||||
0.082969585208349 0.00389272098577888\\
|
||||
0.0870843149769072 0.00408891577146563\\
|
||||
0.0914031074875622 0.00432787531278412\\
|
||||
0.0952750047242728 0.00457728414863314\\
|
||||
0.099310918137498 0.00488117668505667\\
|
||||
0.103517795563018 0.00525813579910645\\
|
||||
0.107902879151618 0.00573623965583215\\
|
||||
0.111698681846782 0.00624328368782295\\
|
||||
0.115628013120738 0.00689188461146861\\
|
||||
0.119695570235904 0.00774855349780589\\
|
||||
0.123052400435926 0.00865878015634284\\
|
||||
0.12650337203959 0.00987746973590478\\
|
||||
0.130051125217341 0.0115902461245331\\
|
||||
0.132777082935543 0.0134095909112939\\
|
||||
0.135560178532937 0.0160160459053251\\
|
||||
0.138401609657313 0.020056943202116\\
|
||||
0.141302599059953 0.0271575104459733\\
|
||||
0.143270295340983 0.0358789920855178\\
|
||||
0.145265392594678 0.0534534845428542\\
|
||||
0.146273335620113 0.0711998474366117\\
|
||||
0.14728827239075 0.107211373634123\\
|
||||
0.14831025143361 0.219561570470591\\
|
||||
0.149339321612425 3.64900957636142\\
|
||||
0.150375532129974 0.193840713027287\\
|
||||
0.151418932530435 0.0990053609047371\\
|
||||
0.153527502878042 0.0496131043811587\\
|
||||
0.155665435927106 0.032846495104206\\
|
||||
0.158928286562298 0.0215871455518451\\
|
||||
0.162259528707809 0.0159360462556001\\
|
||||
0.166810053720006 0.0116918897690647\\
|
||||
0.171488196987054 0.00914587788779211\\
|
||||
0.177520801171764 0.00711239512751928\\
|
||||
0.183765620038817 0.00576092245760399\\
|
||||
0.191550055557353 0.00463989612373447\\
|
||||
0.199664245010979 0.00384429138875452\\
|
||||
0.209566239948043 0.00316803855201538\\
|
||||
0.219959306803007 0.00266626029417807\\
|
||||
0.232469705998565 0.0022329977240762\\
|
||||
0.245691646298279 0.00190146976928667\\
|
||||
0.261467321180109 0.00161250284516209\\
|
||||
0.278255940220713 0.00138669796952882\\
|
||||
0.298177229001967 0.0011890294355478\\
|
||||
0.319524750575921 0.0010324996519364\\
|
||||
0.342400613797143 0.000906709952509714\\
|
||||
0.366914237840249 0.000804463308924409\\
|
||||
0.393182875570577 0.000720625165208552\\
|
||||
0.421332174384729 0.000651440314163974\\
|
||||
0.45149677720361 0.000594106532883281\\
|
||||
0.483820966492596 0.000546499518451182\\
|
||||
0.518459354389291 0.000506990624930768\\
|
||||
0.551749237612913 0.000477312030685281\\
|
||||
0.587176639073325 0.000452457801829404\\
|
||||
0.624878807200689 0.000431868356161529\\
|
||||
0.665001803043112 0.000415114947725158\\
|
||||
0.702824426430835 0.000403188118961833\\
|
||||
0.742798248256491 0.000393896272386071\\
|
||||
0.785045620020451 0.000387160115368208\\
|
||||
0.823978568452851 0.00038335536963165\\
|
||||
0.864842327573173 0.000381548455063659\\
|
||||
0.907732652521022 0.000381844598547494\\
|
||||
0.946184819472201 0.000383904517956285\\
|
||||
0.986265846131283 0.000387804390482431\\
|
||||
1.02804473209331 0.000393776348833743\\
|
||||
1.07159339982267 0.000402141504245486\\
|
||||
1.11698681846782 0.000413344229647985\\
|
||||
1.16430313292088 0.000428005154407078\\
|
||||
1.20526093687084 0.000443489473769809\\
|
||||
1.24765955263087 0.000462694090123144\\
|
||||
1.29154966501488 0.0004866145041479\\
|
||||
1.33698374182495 0.00051667724790736\\
|
||||
1.38401609657313 0.00055499550700619\\
|
||||
1.43270295340983 0.000604831952066955\\
|
||||
1.4728827239075 0.000656453337887166\\
|
||||
1.51418932530435 0.000723151214364206\\
|
||||
1.55665435927106 0.000812106830006854\\
|
||||
1.6003103137387 0.00093597055881714\\
|
||||
1.63385387780986 0.00106572234458852\\
|
||||
1.66810053720006 0.00124805767822457\\
|
||||
1.70306502925285 0.00152230154517323\\
|
||||
1.73876240021625 0.00198007286632525\\
|
||||
1.76297537528721 0.00250330943535896\\
|
||||
1.78752552590424 0.0034440045949363\\
|
||||
1.81241754737424 0.00563031376958014\\
|
||||
1.82499324481615 0.00834426006197661\\
|
||||
1.83765620038817 0.016357975506944\\
|
||||
1.8504070195423 0.681883122776397\\
|
||||
1.86324631193156 0.016901550135263\\
|
||||
1.87617469143912 0.00827966429239068\\
|
||||
1.90230118866895 0.00404879532737294\\
|
||||
1.92879150802078 0.00265068649556657\\
|
||||
1.96922025547917 0.00172260051928762\\
|
||||
2.0104964162605 0.00126022242287964\\
|
||||
2.06688024962908 0.000914663674688515\\
|
||||
2.12484535249888 0.000708215110449834\\
|
||||
2.19959306803007 0.000543922926769324\\
|
||||
2.27697025538168 0.000435128411498591\\
|
||||
2.37342425002387 0.000345217079027074\\
|
||||
2.47396410088682 0.000281655035108669\\
|
||||
2.59665597293487 0.00022784749653108\\
|
||||
2.74434330322837 0.000183256280947719\\
|
||||
2.92055551218275 0.000146757536590849\\
|
||||
3.12964801067075 0.000117093862362893\\
|
||||
3.3769803108251 9.3084668720933e-05\\
|
||||
3.66914237840249 7.37039597355263e-05\\
|
||||
4.04209583979631 5.70699420717764e-05\\
|
||||
4.48385594802119 4.40342159753354e-05\\
|
||||
5.07815211232768 3.27382936159559e-05\\
|
||||
5.83130511352623 2.38752838795007e-05\\
|
||||
6.8839520696455 1.65656121232172e-05\\
|
||||
8.41249704973612 1.07918553375186e-05\\
|
||||
10 7.51628466129388e-06\\
|
||||
};
|
||||
\end{axis}
|
||||
|
||||
\begin{axis}[%
|
||||
width=3.752in,
|
||||
height=1.562in,
|
||||
at={(0.551in,0.419in)},
|
||||
scale only axis,
|
||||
separate axis lines,
|
||||
every outer x axis line/.append style={black},
|
||||
every x tick label/.append style={font=\color{black}},
|
||||
every x tick/.append style={black},
|
||||
xmode=log,
|
||||
xmin=0.01,
|
||||
xmax=10,
|
||||
xminorticks=true,
|
||||
xlabel={Frequency [Hz]},
|
||||
every outer y axis line/.append style={black},
|
||||
every y tick label/.append style={font=\color{black}},
|
||||
every y tick/.append style={black},
|
||||
ymin=-180,
|
||||
ymax=180,
|
||||
ytick={-180, -90, 0, 90, 180},
|
||||
ylabel={Phase [deg]},
|
||||
axis background/.style={fill=white},
|
||||
xmajorgrids,
|
||||
xminorgrids,
|
||||
ymajorgrids,
|
||||
legend style={at={(0.629,1.026)}, anchor=south west, legend cell align=left, align=left, draw=black}
|
||||
]
|
||||
\addplot [color=mycolor1, line width=1.5pt]
|
||||
table[row sep=crcr]{%
|
||||
0.01 0\\
|
||||
0.847086826655735 0\\
|
||||
0.852964449974123 180\\
|
||||
10 180\\
|
||||
};
|
||||
\addlegendentry{w = 0 [rpm]}
|
||||
|
||||
\addplot [color=mycolor2, line width=1.5pt]
|
||||
table[row sep=crcr]{%
|
||||
0.01 0\\
|
||||
0.599484250318932 6.82121026329696e-13\\
|
||||
0.603643850607596 180\\
|
||||
0.812661920009201 180\\
|
||||
0.818300681586717 0\\
|
||||
1.09405470720574 2.27373675443232e-13\\
|
||||
1.10164594963369 179.999999999998\\
|
||||
10 180\\
|
||||
};
|
||||
\addlegendentry{w = 15 [rpm]}
|
||||
|
||||
\addplot [color=mycolor3, line width=1.5pt]
|
||||
table[row sep=crcr]{%
|
||||
0.01 0\\
|
||||
0.349577557436321 0\\
|
||||
0.352003147279672 180\\
|
||||
0.683651600451004 180\\
|
||||
0.688395206964551 0\\
|
||||
1.3462605792989 0\\
|
||||
1.3556017853294 180\\
|
||||
10 180\\
|
||||
};
|
||||
\addlegendentry{w = 30 [rpm]}
|
||||
|
||||
\addplot [color=mycolor4, line width=1.5pt]
|
||||
table[row sep=crcr]{%
|
||||
0.01 0\\
|
||||
0.100693863147606 0\\
|
||||
0.101392540755881 180\\
|
||||
0.401424249049931 180\\
|
||||
0.404209583979642 0\\
|
||||
1.60031031373875 0\\
|
||||
1.61141427725301 180\\
|
||||
10 180\\
|
||||
};
|
||||
\addlegendentry{w = 45 [rpm]}
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||||
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Before Width: | Height: | Size: 105 KiB After Width: | Height: | Size: 105 KiB |
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566
figs/Gc_ws_vc.tex
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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Before Width: | Height: | Size: 165 KiB After Width: | Height: | Size: 165 KiB |
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685
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|
||||
\definecolor{mycolor1}{rgb}{0.00000,0.44700,0.74100}%
|
||||
%
|
||||
\begin{tikzpicture}
|
||||
|
||||
\begin{axis}[%
|
||||
width=1.568in,
|
||||
height=3.394in,
|
||||
at={(0.504in,0.419in)},
|
||||
scale only axis,
|
||||
separate axis lines,
|
||||
every outer x axis line/.append style={black},
|
||||
every x tick label/.append style={font=\color{black}},
|
||||
every x tick/.append style={black},
|
||||
xmin=0,
|
||||
xmax=10,
|
||||
xlabel={Rotation Frequency [rad/s]},
|
||||
every outer y axis line/.append style={black},
|
||||
every y tick label/.append style={font=\color{black}},
|
||||
every y tick/.append style={black},
|
||||
ymin=-0.8,
|
||||
ymax=0.4,
|
||||
ylabel={Pole Real Part},
|
||||
axis background/.style={fill=white},
|
||||
xmajorgrids,
|
||||
ymajorgrids
|
||||
]
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 -0.267261241912424\\
|
||||
6.16161616161616 0.0406934440394089\\
|
||||
9.49494949494949 0.206222173741562\\
|
||||
10 0.231196890138589\\
|
||||
};
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 -0.267261241912424\\
|
||||
6.16161616161616 -0.57521592786426\\
|
||||
9.49494949494949 -0.740744657566417\\
|
||||
10 -0.765719373963439\\
|
||||
};
|
||||
\addplot [color=black, dashed, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 0\\
|
||||
10 0\\
|
||||
};
|
||||
\end{axis}
|
||||
|
||||
\begin{axis}[%
|
||||
width=1.568in,
|
||||
height=3.394in,
|
||||
at={(2.567in,0.419in)},
|
||||
scale only axis,
|
||||
separate axis lines,
|
||||
every outer x axis line/.append style={black},
|
||||
every x tick label/.append style={font=\color{black}},
|
||||
every x tick/.append style={black},
|
||||
xmin=0,
|
||||
xmax=10,
|
||||
xlabel={Rotation Frequency [rad/s]},
|
||||
every outer y axis line/.append style={black},
|
||||
every y tick label/.append style={font=\color{black}},
|
||||
every y tick/.append style={black},
|
||||
ymin=-20,
|
||||
ymax=20,
|
||||
ylabel={Pole Imaginary Part},
|
||||
axis background/.style={fill=white},
|
||||
xmajorgrids,
|
||||
ymajorgrids
|
||||
]
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 5.33853912601566\\
|
||||
4.84848484848485 0.495558144459231\\
|
||||
5.25252525252525 0.0924703947834153\\
|
||||
5.35353535353535 0.008289775974756\\
|
||||
10 4.638240912778\\
|
||||
};
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 -5.33853912601566\\
|
||||
4.84848484848485 -0.495558144459231\\
|
||||
5.25252525252525 -0.0924703947834153\\
|
||||
5.35353535353535 -0.008289775974756\\
|
||||
10 -4.638240912778\\
|
||||
};
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 5.33853912601566\\
|
||||
4.84848484848485 10.1925278414029\\
|
||||
9.7979797979798 15.1588197416905\\
|
||||
10 15.361759087222\\
|
||||
};
|
||||
\addplot [color=mycolor1, line width=1.5pt, forget plot]
|
||||
table[row sep=crcr]{%
|
||||
0 -5.33853912601566\\
|
||||
4.84848484848485 -10.1925278414029\\
|
||||
9.7979797979798 -15.1588197416905\\
|
||||
10 -15.361759087222\\
|
||||
};
|
||||
\end{axis}
|
||||
\end{tikzpicture}%
|
||||
|
Before Width: | Height: | Size: 15 KiB After Width: | Height: | Size: 15 KiB |
|
Before Width: | Height: | Size: 29 KiB After Width: | Height: | Size: 29 KiB |
|
Before Width: | Height: | Size: 67 KiB After Width: | Height: | Size: 67 KiB |
BIN
index.html
BIN
index.html
Binary file not shown.
21
matlab/control.m
Normal file
21
matlab/control.m
Normal file
@ -0,0 +1,21 @@
|
||||
%% Controller
|
||||
s = tf('s');
|
||||
K = 4.5724e11*(s+44.46)/((s+8.127e-08)*(s+0.0002334)*(s+384.9));
|
||||
|
||||
%% Open Simulink for Control
|
||||
open rotating_frame_ctrl.slx
|
||||
|
||||
sim rotating_frame_ctrl.slx
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(sim_out.Time, sim_out.Data(:, 1));
|
||||
plot(sim_out.Time, sim_out.Data(:, 2));
|
||||
hold off;
|
||||
xlabel('Time (s)');
|
||||
ylabel('Displacement (m)');
|
||||
legend({'Dx', 'Dy'});
|
||||
|
||||
exportFig('D_x_y', 'wide-tall');
|
||||
|
||||
52
matlab/id_non_rot_frame.m
Normal file
52
matlab/id_non_rot_frame.m
Normal file
@ -0,0 +1,52 @@
|
||||
%% Open Simulink file
|
||||
open rotating_frame.slx
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
io(1) = linio([mdl, '/fx'], 1, 'input');
|
||||
io(2) = linio([mdl, '/fy'], 1, 'input');
|
||||
|
||||
io(3) = linio([mdl, '/dx'], 1, 'output');
|
||||
io(4) = linio([mdl, '/dy'], 1, 'output');
|
||||
|
||||
%% Run the linearization
|
||||
angle_e = 0; rot_speed = 0;
|
||||
G = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output names
|
||||
G.InputName = {'Fx', 'Fy'};
|
||||
G.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
%% Run the linearization
|
||||
angle_e = 0; rot_speed = 2*pi;
|
||||
Gr = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output names
|
||||
Gr.InputName = {'Fx', 'Fy'};
|
||||
Gr.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
|
||||
%% Run the linearization
|
||||
angle_e = 1*2*pi/180; rot_speed = 2*pi;
|
||||
Ge = linearize(mdl, io, 0);
|
||||
|
||||
%% Input/Output names
|
||||
Ge.InputName = {'Fx', 'Fy'};
|
||||
Ge.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
%%
|
||||
f = figure('visible', 'off');
|
||||
bode(G);
|
||||
exportFig('G_x_y', 'wide-tall');
|
||||
close(f);
|
||||
|
||||
figure;
|
||||
bode(Ge);
|
||||
% exportFig('G_x_y_e', 'normal-normal');
|
||||
|
||||
44
matlab/id_rot_fix.m
Normal file
44
matlab/id_rot_fix.m
Normal file
@ -0,0 +1,44 @@
|
||||
%% Open Simulink file
|
||||
open rotating_frame.slx
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
io(1) = linio([mdl, '/fu'], 1, 'input');
|
||||
io(2) = linio([mdl, '/fv'], 1, 'input');
|
||||
|
||||
io(3) = linio([mdl, '/dx'], 1, 'output');
|
||||
io(4) = linio([mdl, '/dy'], 1, 'output');
|
||||
|
||||
%% Run the linearization
|
||||
rot_speed = 2*pi;
|
||||
G = linearize(mdl, io, 0.0);
|
||||
|
||||
%% Input/Output names
|
||||
G.InputName = {'Fu', 'Fv'};
|
||||
G.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
%% Run the linearization
|
||||
G1 = linearize(mdl, io, 0.4);
|
||||
|
||||
%% Input/Output names
|
||||
G1.InputName = {'Fu', 'Fv'};
|
||||
G1.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
%% Run the linearization
|
||||
G2 = linearize(mdl, io, 0.8);
|
||||
|
||||
%% Input/Output names
|
||||
G2.InputName = {'Fu', 'Fv'};
|
||||
G2.OutputName = {'Dx', 'Dy'};
|
||||
|
||||
figure;
|
||||
bode(G, G1, G2);
|
||||
exportFig('G_u_v_to_x_y', 'wide-tall');
|
||||
|
||||
|
||||
46
matlab/identification.m
Normal file
46
matlab/identification.m
Normal file
@ -0,0 +1,46 @@
|
||||
%% Open Simulink file
|
||||
open rotating_frame.slx
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'rotating_frame';
|
||||
|
||||
%% Input/Output definition
|
||||
io(1) = linio([mdl, '/fu'], 1, 'input');
|
||||
io(2) = linio([mdl, '/fv'], 1, 'input');
|
||||
|
||||
io(3) = linio([mdl, '/du'], 1, 'output');
|
||||
io(4) = linio([mdl, '/dv'], 1, 'output');
|
||||
|
||||
%% Run the linearization
|
||||
rot_speed = 0;
|
||||
G = linearize(mdl, io, 0.0);
|
||||
|
||||
%% Input/Output names
|
||||
G.InputName = {'Fu', 'Fv'};
|
||||
G.OutputName = {'Du', 'Dv'};
|
||||
|
||||
%% Run the linearization
|
||||
rot_speed = 2*pi/60;
|
||||
G1 = linearize(mdl, io, 0.0);
|
||||
|
||||
%% Input/Output names
|
||||
G1.InputName = {'Fu', 'Fv'};
|
||||
G1.OutputName = {'Du', 'Dv'};
|
||||
|
||||
%% Run the linearization
|
||||
rot_speed = 2*pi;
|
||||
G2 = linearize(mdl, io, 0.0);
|
||||
|
||||
%% Input/Output names
|
||||
G2.InputName = {'Fu', 'Fv'};
|
||||
G2.OutputName = {'Du', 'Dv'};
|
||||
|
||||
figure;
|
||||
bode(G, G1, G2);
|
||||
legend({'$\omega = 0$', '$\omega = 2pi/60$', '$\omega = 2pi$'})
|
||||
exportFig('G_u_v', 'normal-normal');
|
||||
|
||||
Binary file not shown.
1757
rotating_frame.org
1757
rotating_frame.org
File diff suppressed because it is too large
Load Diff
BIN
rotating_frame.slxc
Normal file
BIN
rotating_frame.slxc
Normal file
Binary file not shown.
BIN
rotating_frame_ctrl.slx
Normal file
BIN
rotating_frame_ctrl.slx
Normal file
Binary file not shown.
BIN
rotating_frame_ctrl.slxc
Normal file
BIN
rotating_frame_ctrl.slxc
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user