87 lines
2.7 KiB
Matlab
87 lines
2.7 KiB
Matlab
%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for data
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addpath('./src/'); % Path for Functions
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%% Colors for the figures
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colors = colororder;
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%% Simscape model name
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mdl = 'rotating_model';
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%% Load "Generic" system dynamics
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load('rotating_generic_plants.mat', 'Gs', 'Wzs');
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%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation
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freqs = logspace(-2, 1, 1000);
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Wz_i = [1,3,4];
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
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% Magnitude
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ax1 = nexttile([2, 1]);
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hold on;
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for i = 1:length(Wz_i)
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plot(freqs, abs(squeeze(freqresp(Gs{Wz_i(i)}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ...
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'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8);
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]');
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ylim([1e-3, 1e2]);
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leg = legend('location', 'northwest', 'FontSize', 8);
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ax2 = nexttile;
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hold on;
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for i = 1:length(Wz_i)
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{Wz_i(i)}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:))
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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xlabel('Frequency [rad/s]'); ylabel('Phase [deg]');
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yticks(-180:90:180);
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ylim([0 180]);
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xticks([1e-2,1e-1,1,1e1])
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xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'})
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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%% Root Locus for the Decentralized Integral Force Feedback controller
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Kiff = 1/s*eye(2);
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gains = logspace(-2, 4, 300);
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Wz_i = [1,3,4];
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figure;
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hold on;
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for i = 1:length(Wz_i)
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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,:), ...
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'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8);
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plot(real(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'o', 'color', colors(i,:), ...
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'HandleVisibility', 'off','MarkerSize',8);
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for g = gains
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cl_poles = pole(feedback(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff, -1));
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plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ...
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'HandleVisibility', 'off','MarkerSize',4);
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end
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end
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hold off;
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axis square;
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xlim([-1.8, 0.2]); ylim([0, 2]);
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xticks([-1, 0])
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xticklabels({'-$\omega_0$', '$0$'})
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yticks([0, 1, 2])
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yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'})
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xlabel('Real Part'); ylabel('Imaginary Part');
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leg = legend('location', 'northwest', 'FontSize', 8);
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leg.ItemTokenSize(1) = 8;
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