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+ f = logspace(-1, 3, 1000); figure; hold on; plot(f, abs(-mlight*(2*pi*f).^2 + kvc - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Voice Coil') plot(f, abs(-mlight*(2*pi*f).^2 + kpz - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Piezo') plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') + hold off; + xlim([f(1), f(end)]); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); xlabel('Frequency [Hz]'); legend('Location', 'northeast'); - hold off; #+end_src #+HEADER: :tangle no :exports results :results file :noweb yes @@ -336,17 +337,16 @@ We plot on the same graph $\frac{|-m \omega^2 + (k - m {\omega_0}^2)|}{|2 m \ome #+HEADER: :exports none :results silent #+begin_src matlab - f = logspace(-1, 2, 1000); - figure; hold on; plot(f, abs(-mheavy*(2*pi*f).^2 + kvc - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Voice Coil') plot(f, abs(-mheavy*(2*pi*f).^2 + kpz - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Piezo') plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') + hold off; + xlim([f(1), f(end)]); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); xlabel('Frequency [Hz]'); legend('Location', 'northeast'); - hold off; #+end_src #+HEADER: :tangle no :exports results :results file :noweb yes @@ -498,6 +498,15 @@ We start we identify the transfer functions at high speed with the light sample. bode(Gpz_light, Gvc_light); #+end_src +#+HEADER: :tangle no :exports results :results file :noweb yes +#+HEADER: :var filepath="Figures/coupling_simscape_light.png" :var figsize="wide-tall" +#+begin_src matlab + <> +#+end_src + +#+RESULTS: +[[file:Figures/coupling_simscape_light.png]] + And then with the heavy sample. #+begin_src matlab :exports code :results silent rot_speed = wheavy; @@ -523,33 +532,62 @@ And then with the heavy sample. bode(Gpz_heavy, Gvc_heavy); #+end_src +#+HEADER: :tangle no :exports results :results file :noweb yes +#+HEADER: :var filepath="Figures/coupling_simscape_heavy.png" :var figsize="wide-tall" +#+begin_src matlab + <> +#+end_src + +#+RESULTS: +[[file:Figures/coupling_simscape_heavy.png]] + Plot the ratio between the main transfer function and the coupling term: #+begin_src matlab :results silent :exports none freqs = logspace(-2, 3, 1000); figure; hold on; - plot(freqs, abs(squeeze(freqresp(Gvc_light('Du', 'Fu'), freqs, 'Hz'))))./abs(squeeze(freqresp(Gvc_light('Dv', 'Fu'), freqs, 'Hz'))); - plot(freqs, abs(squeeze(freqresp(Gpz_light('Du', 'Fu'), freqs, 'Hz'))))./abs(squeeze(freqresp(Gpz_light('Dv', 'Fu'), freqs, 'Hz'))); + plot(freqs, abs(squeeze(freqresp(Gvc_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_light('Dv', 'Fu'), freqs, 'Hz')))); + plot(freqs, abs(squeeze(freqresp(Gpz_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_light('Dv', 'Fu'), freqs, 'Hz')))); hold off; + xlim([freqs(1), freqs(end)]); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); legend({'Voice Coil', 'Piezoelectric'}) #+end_src +#+HEADER: :tangle no :exports results :results file :noweb yes +#+HEADER: :var filepath="Figures/coupling_ration_simscape_light.png" :var figsize="wide-tall" +#+begin_src matlab + <> +#+end_src + +#+RESULTS: +[[file:Figures/coupling_ration_simscape_light.png]] + #+begin_src matlab :results silent :exports none freqs = logspace(-2, 3, 1000); figure; hold on; - plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Du', 'Fu'), freqs, 'Hz'))))./abs(squeeze(freqresp(Gvc_heavy('Dv', 'Fu'), freqs, 'Hz'))); - plot(freqs, abs(squeeze(freqresp(Gpz_heavy('Du', 'Fu'), freqs, 'Hz'))))./abs(squeeze(freqresp(Gpz_heavy('Dv', 'Fu'), freqs, 'Hz'))); + plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_heavy('Dv', 'Fu'), freqs, 'Hz')))); + plot(freqs, abs(squeeze(freqresp(Gpz_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_heavy('Dv', 'Fu'), freqs, 'Hz')))); hold off; + xlim([freqs(1), freqs(end)]); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); legend({'Voice Coil', 'Piezoelectric'}) #+end_src +#+HEADER: :tangle no :exports results :results file :noweb yes +#+HEADER: :var filepath="Figures/coupling_ration_simscape_heavy.png" :var figsize="wide-tall" +#+begin_src matlab + <> +#+end_src + +#+RESULTS: +[[file:Figures/coupling_ration_simscape_heavy.png]] + *** Low rotation speed and High rotation speed #+begin_src matlab :exports code :results silent rot_speed = 2*pi/60; angle_e = 0;