Add some analysis on the coupling. Add uv_to_xy simulink blocs
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@ -779,7 +779,7 @@ The loop gain is $L = G K$.
|
||||
:END:
|
||||
<<sec:simscape>>
|
||||
|
||||
** Initialize
|
||||
** Initialization
|
||||
#+begin_src matlab :exports none :results silent :noweb yes
|
||||
<<matlab-init>>
|
||||
load('./mat/parameters.mat');
|
||||
@ -789,7 +789,6 @@ The loop gain is $L = G K$.
|
||||
open rotating_frame.slx
|
||||
#+end_src
|
||||
|
||||
** Parameter for the Simscape simulations
|
||||
First we define the parameters that must be defined in order to run the Simscape simulation.
|
||||
#+begin_src matlab :exports code :results silent
|
||||
w = 2*pi; % Rotation speed [rad/s]
|
||||
@ -873,8 +872,10 @@ Then we identify the system with an heavy mass and low speed.
|
||||
#+end_src
|
||||
|
||||
** Coupling ratio between $f_{uv}$ and $d_{uv}$
|
||||
In order to validate the equations written, we can compute the coupling ratio using the simscape model and compare with the equations.
|
||||
|
||||
From the previous identification, we plot the coupling ratio in both case (figure [[fig:coupling_ratio_light_heavy]]).
|
||||
|
||||
From the previous identification, we plot the coupling ratio in both case (figure [[fig:coupling_ration_light_heavy]]).
|
||||
We obtain the same result than the analytical case (figures [[fig:coupling_light]] and [[fig:coupling_heavy]]).
|
||||
#+begin_src matlab :results silent :exports none
|
||||
figure;
|
||||
@ -892,18 +893,17 @@ We obtain the same result than the analytical case (figures [[fig:coupling_light
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/coupling_ration_light_heavy.png" :var figsize="wide-tall"
|
||||
#+HEADER: :var filepath="Figures/coupling_ratio_light_heavy.png" :var figsize="wide-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:coupling_ration_light_heavy
|
||||
#+NAME: fig:coupling_ratio_light_heavy
|
||||
#+RESULTS:
|
||||
[[file:Figures/coupling_ration_light_heavy.png]]
|
||||
[[file:Figures/coupling_ratio_light_heavy.png]]
|
||||
|
||||
** Plant Control
|
||||
|
||||
The goal is the study control problems due to the coupling that appears because of the rotation.
|
||||
The goal is to study the control problems due to the coupling that appears because of the rotation.
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
%% Options for Linearized
|
||||
@ -923,44 +923,210 @@ The goal is the study control problems due to the coupling that appears because
|
||||
|
||||
First, we identify the system when the rotation speed is null and then when the rotation speed is equal to 60rpm.
|
||||
|
||||
The actuators are voice coil with some damping.
|
||||
The actuators are voice coil with some damping added.
|
||||
|
||||
The bode plot of the system not rotating and rotating at 60rpm is shown figure [[fig:Gvc_speed]].
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
w = 0; % Rotation speed [rad/s]
|
||||
m = mlight; % mass of the sample [kg]
|
||||
kTuv = kvc;
|
||||
% cTuv = 0.1*sqrt(kTuv*m);
|
||||
cTuv = 0;
|
||||
cTuv = 0.1*sqrt(kTuv*m);
|
||||
|
||||
G = linearize(mdl, io, 0.1);
|
||||
G.InputName = {'Fu', 'Fv'};
|
||||
G.OutputName = {'Du', 'Dv'};
|
||||
Gvc = linearize(mdl, io, 0.1);
|
||||
Gvc.InputName = {'Fu', 'Fv'};
|
||||
Gvc.OutputName = {'Du', 'Dv'};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
w = 0.1; % Rotation speed [rad/s]
|
||||
w = wlight; % Rotation speed [rad/s]
|
||||
m = mlight; % mass of the sample [kg]
|
||||
kTuv = kvc;
|
||||
% cTuv = 0.1*sqrt(kTuv*m);
|
||||
cTuv = 0;
|
||||
cTuv = 0.1*sqrt(kTuv*m);
|
||||
|
||||
Gt = linearize(mdl, io, 0.1);
|
||||
Gt.InputName = {'Fu', 'Fv'};
|
||||
Gt.OutputName = {'Du', 'Dv'};
|
||||
Gtvc = linearize(mdl, io, 0.1);
|
||||
Gtvc.InputName = {'Fu', 'Fv'};
|
||||
Gtvc.OutputName = {'Du', 'Dv'};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
figure;
|
||||
bode(G, 'r-', Gt, 'b--')
|
||||
legend({'G - w = 0', 'G - w = 60rpm'}, 'Location', 'southwest');
|
||||
bode(Gvc, Gtvc)
|
||||
legend({'Gvc - $\omega = 0$', 'Gvc - $\omega = 60$rpm'}, 'Location', 'southwest');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/coupling_ration_light_heavy.png" :var figsize="wide-tall"
|
||||
#+HEADER: :var filepath="Figures/Gvc_speed.png" :var figsize="full-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:Gvc_speed
|
||||
#+CAPTION: Bode plot of the system not rotating and rotating at 60rmp - Voice coil and light sample
|
||||
#+RESULTS:
|
||||
[[file:Figures/Gvc_speed.png]]
|
||||
|
||||
*** Controller design
|
||||
We design a controller based on the identification when the system is not rotating.
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
sisotool(Gvc('Du', 'fu'))
|
||||
#+end_src
|
||||
|
||||
The controller is a lead-lag controller with the following transfer function.
|
||||
#+begin_src matlab :results none :exports code
|
||||
Kll = 2.0698e09*(s+40.45)*(s+1.181)/(s*(s+198.4)*(s+2790));
|
||||
K = [Kll 0;
|
||||
0 Kll];
|
||||
#+end_src
|
||||
|
||||
The loop gain is displayed figure [[fig:Gvc_loop_gain]].
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
freqs = logspace(-2, 2, 1000);
|
||||
|
||||
figure;
|
||||
% Amplitude
|
||||
ax1 = subaxis(2,1,1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz'))), '-');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
ylabel('Amplitude [m/N]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
% Phase
|
||||
ax2 = subaxis(2,1,2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz')))), '-');
|
||||
set(gca,'xscale','log');
|
||||
yticks(-180:180:180);
|
||||
ylim([-180 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/Gvc_loop_gain.png" :var figsize="full-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:Gvc_loop_gain
|
||||
#+CAPTION: Loop gain obtained for a lead-lag controller on the system with a voice coil
|
||||
#+RESULTS:
|
||||
[[file:Figures/Gvc_loop_gain.png]]
|
||||
|
||||
*** Controlling the rotating system
|
||||
We here want to see if the system is robust with respect to the rotation speed. We then use the controller based on the non-rotating system, and see if the system is stable and its dynamics.
|
||||
|
||||
We can then plot the same loop gain with the rotating system using the same controller (figure [[fig:Gtvc_loop_gain]]). The result obtained is unstable.
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
freqs = logspace(-2, 2, 1000);
|
||||
|
||||
figure;
|
||||
% Amplitude
|
||||
ax1 = subaxis(2,1,1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(Gtvc('Du', 'fu')*Kll, freqs, 'Hz'))), '-');
|
||||
set(gca,'xscale','log'); set(gca,'yscale','log');
|
||||
ylabel('Amplitude [m/N]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
% Phase
|
||||
ax2 = subaxis(2,1,2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gtvc('Du', 'fu')*Kll, freqs, 'Hz'))), '-');
|
||||
set(gca,'xscale','log');
|
||||
yticks(-180:180:180);
|
||||
ylim([-180 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/Gtvc_loop_gain.png" :var figsize="full-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:Figures/Gtvc_loop_gain.png]]
|
||||
|
||||
We can look at the poles of the system where we control only one direction ($u$ for instance). We obtain a pole with a positive real part.
|
||||
#+begin_src matlab :results table :exports both
|
||||
pole(feedback(Gtvc, blkdiag(Kll, 0)))
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
| -2798 |
|
||||
| -58.906+94.246i |
|
||||
| -58.906-94.246i |
|
||||
| -71.654 |
|
||||
| 3.1648 |
|
||||
| -3.3031 |
|
||||
| -1.1902 |
|
||||
|
||||
However, when we look at the poles of the closed loop with a diagonal controller, all the poles have negative real part and the system is stable.
|
||||
#+begin_src matlab :results table :exports both
|
||||
pole(feedback(Gtvc, blkdiag(Kll, Kll)))
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
| -2798+0.035765i |
|
||||
| -2798-0.035765i |
|
||||
| -56.406+105.34i |
|
||||
| -56.406-105.34i |
|
||||
| -64.482+79.308i |
|
||||
| -64.482-79.308i |
|
||||
| -68.521+13.503i |
|
||||
| -68.521-13.503i |
|
||||
| -1.1837+0.0041777i |
|
||||
| -1.1837-0.0041777i |
|
||||
|
||||
***
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
figure;
|
||||
bode(Kll*Gvc('Du', 'fu'))
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
sisotool(Gtvc('Du', 'fu'), Kll)
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
figure;
|
||||
bode(Kll*Gtvc('Du', 'fu'))
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
Gcl = feedback(Gvc, K);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
Gtcl = feedback(Gtvc, K);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports code
|
||||
figure;
|
||||
bode(Gcl, Gtcl)
|
||||
#+end_src
|
||||
|
||||
|
||||
** test
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
figure;
|
||||
@ -1004,10 +1170,6 @@ The actuators are voice coil with some damping.
|
||||
linkaxes([ax1,ax2],'x');
|
||||
#+end_src
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#+begin_src matlab :exports none :results silent
|
||||
figure;
|
||||
bode(Gpz_light, Gvc_light);
|
||||
@ -1072,13 +1234,13 @@ Plot the ratio between the main transfer function and the coupling term:
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/coupling_ration_simscape_light.png" :var figsize="wide-tall"
|
||||
#+HEADER: :var filepath="Figures/coupling_ratio_simscape_light.png" :var figsize="wide-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:Figures/coupling_ration_simscape_light.png]]
|
||||
[[file:Figures/coupling_ratio_simscape_light.png]]
|
||||
|
||||
#+begin_src matlab :results silent :exports none
|
||||
freqs = logspace(-2, 3, 1000);
|
||||
@ -1095,13 +1257,13 @@ Plot the ratio between the main transfer function and the coupling term:
|
||||
#+end_src
|
||||
|
||||
#+HEADER: :tangle no :exports results :results file :noweb yes
|
||||
#+HEADER: :var filepath="Figures/coupling_ration_simscape_heavy.png" :var figsize="wide-tall"
|
||||
#+HEADER: :var filepath="Figures/coupling_ratio_simscape_heavy.png" :var figsize="wide-tall"
|
||||
#+begin_src matlab
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
[[file:Figures/coupling_ration_simscape_heavy.png]]
|
||||
[[file:Figures/coupling_ratio_simscape_heavy.png]]
|
||||
|
||||
*** Low rotation speed and High rotation speed
|
||||
#+begin_src matlab :exports code :results silent
|
||||
|
||||
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Reference in New Issue
Block a user