Reworked all computation / new CSS / export to PDF
263
.gitignore
vendored
@ -35,3 +35,266 @@ codegen/
|
||||
|
||||
# Octave session info
|
||||
octave-workspace
|
||||
|
||||
.auctex-auto/
|
||||
.log/
|
||||
|
||||
## Core latex/pdflatex auxiliary files:
|
||||
*.aux
|
||||
*.lof
|
||||
*.log
|
||||
*.lot
|
||||
*.fls
|
||||
*.out
|
||||
*.toc
|
||||
*.fmt
|
||||
*.fot
|
||||
*.cb
|
||||
*.cb2
|
||||
.*.lb
|
||||
|
||||
## Intermediate documents:
|
||||
*.dvi
|
||||
*.xdv
|
||||
*-converted-to.*
|
||||
# these rules might exclude image files for figures etc.
|
||||
# *.ps
|
||||
# *.eps
|
||||
# *.pdf
|
||||
|
||||
## Generated if empty string is given at "Please type another file name for output:"
|
||||
.pdf
|
||||
|
||||
## Bibliography auxiliary files (bibtex/biblatex/biber):
|
||||
*.bbl
|
||||
*.bcf
|
||||
*.blg
|
||||
*-blx.aux
|
||||
*-blx.bib
|
||||
*.run.xml
|
||||
|
||||
## Build tool auxiliary files:
|
||||
*.fdb_latexmk
|
||||
*.synctex
|
||||
*.synctex(busy)
|
||||
*.synctex.gz
|
||||
*.synctex.gz(busy)
|
||||
*.pdfsync
|
||||
|
||||
## Build tool directories for auxiliary files
|
||||
# latexrun
|
||||
latex.out/
|
||||
|
||||
## Auxiliary and intermediate files from other packages:
|
||||
# algorithms
|
||||
*.alg
|
||||
*.loa
|
||||
|
||||
# achemso
|
||||
acs-*.bib
|
||||
|
||||
# amsthm
|
||||
*.thm
|
||||
|
||||
# beamer
|
||||
*.nav
|
||||
*.pre
|
||||
*.snm
|
||||
*.vrb
|
||||
|
||||
# changes
|
||||
*.soc
|
||||
|
||||
# comment
|
||||
*.cut
|
||||
|
||||
# cprotect
|
||||
*.cpt
|
||||
|
||||
# elsarticle (documentclass of Elsevier journals)
|
||||
*.spl
|
||||
|
||||
# endnotes
|
||||
*.ent
|
||||
|
||||
# fixme
|
||||
*.lox
|
||||
|
||||
# feynmf/feynmp
|
||||
*.mf
|
||||
*.mp
|
||||
*.t[1-9]
|
||||
*.t[1-9][0-9]
|
||||
*.tfm
|
||||
|
||||
#(r)(e)ledmac/(r)(e)ledpar
|
||||
*.end
|
||||
*.?end
|
||||
*.[1-9]
|
||||
*.[1-9][0-9]
|
||||
*.[1-9][0-9][0-9]
|
||||
*.[1-9]R
|
||||
*.[1-9][0-9]R
|
||||
*.[1-9][0-9][0-9]R
|
||||
*.eledsec[1-9]
|
||||
*.eledsec[1-9]R
|
||||
*.eledsec[1-9][0-9]
|
||||
*.eledsec[1-9][0-9]R
|
||||
*.eledsec[1-9][0-9][0-9]
|
||||
*.eledsec[1-9][0-9][0-9]R
|
||||
|
||||
# glossaries
|
||||
*.acn
|
||||
*.acr
|
||||
*.glg
|
||||
*.glo
|
||||
*.gls
|
||||
*.glsdefs
|
||||
|
||||
# gnuplottex
|
||||
*-gnuplottex-*
|
||||
|
||||
# gregoriotex
|
||||
*.gaux
|
||||
*.gtex
|
||||
|
||||
# htlatex
|
||||
*.4ct
|
||||
*.4tc
|
||||
*.idv
|
||||
*.lg
|
||||
*.trc
|
||||
*.xref
|
||||
|
||||
# hyperref
|
||||
*.brf
|
||||
|
||||
# knitr
|
||||
*-concordance.tex
|
||||
# TODO Comment the next line if you want to keep your tikz graphics files
|
||||
*.tikz
|
||||
*-tikzDictionary
|
||||
|
||||
# listings
|
||||
*.lol
|
||||
|
||||
# makeidx
|
||||
*.idx
|
||||
*.ilg
|
||||
*.ind
|
||||
*.ist
|
||||
|
||||
# minitoc
|
||||
*.maf
|
||||
*.mlf
|
||||
*.mlt
|
||||
*.mtc[0-9]*
|
||||
*.slf[0-9]*
|
||||
*.slt[0-9]*
|
||||
*.stc[0-9]*
|
||||
|
||||
# minted
|
||||
_minted*
|
||||
*.pyg
|
||||
|
||||
# morewrites
|
||||
*.mw
|
||||
|
||||
# nomencl
|
||||
*.nlg
|
||||
*.nlo
|
||||
*.nls
|
||||
|
||||
# pax
|
||||
*.pax
|
||||
|
||||
# pdfpcnotes
|
||||
*.pdfpc
|
||||
|
||||
# sagetex
|
||||
*.sagetex.sage
|
||||
*.sagetex.py
|
||||
*.sagetex.scmd
|
||||
|
||||
# scrwfile
|
||||
*.wrt
|
||||
|
||||
# sympy
|
||||
*.sout
|
||||
*.sympy
|
||||
sympy-plots-for-*.tex/
|
||||
|
||||
# pdfcomment
|
||||
*.upa
|
||||
*.upb
|
||||
|
||||
# pythontex
|
||||
*.pytxcode
|
||||
pythontex-files-*/
|
||||
|
||||
# tcolorbox
|
||||
*.listing
|
||||
|
||||
# thmtools
|
||||
*.loe
|
||||
|
||||
# TikZ & PGF
|
||||
*.dpth
|
||||
*.md5
|
||||
*.auxlock
|
||||
|
||||
# todonotes
|
||||
*.tdo
|
||||
|
||||
# vhistory
|
||||
*.hst
|
||||
*.ver
|
||||
|
||||
# easy-todo
|
||||
*.lod
|
||||
|
||||
# xcolor
|
||||
*.xcp
|
||||
|
||||
# xmpincl
|
||||
*.xmpi
|
||||
|
||||
# xindy
|
||||
*.xdy
|
||||
|
||||
# xypic precompiled matrices
|
||||
*.xyc
|
||||
|
||||
# endfloat
|
||||
*.ttt
|
||||
*.fff
|
||||
|
||||
# Latexian
|
||||
TSWLatexianTemp*
|
||||
|
||||
## Editors:
|
||||
# WinEdt
|
||||
*.bak
|
||||
*.sav
|
||||
|
||||
# Texpad
|
||||
.texpadtmp
|
||||
|
||||
# LyX
|
||||
*.lyx~
|
||||
|
||||
# Kile
|
||||
*.backup
|
||||
|
||||
# KBibTeX
|
||||
*~[0-9]*
|
||||
|
||||
# auto folder when using emacs and auctex
|
||||
./auto/*
|
||||
*.el
|
||||
|
||||
# expex forward references with \gathertags
|
||||
*-tags.tex
|
||||
|
||||
# standalone packages
|
||||
*.sta
|
||||
|
49
css/custom.css
Normal file
@ -0,0 +1,49 @@
|
||||
.figure p{
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.figure img{
|
||||
max-width:100%;
|
||||
display: block;
|
||||
margin: auto;
|
||||
}
|
||||
|
||||
table {
|
||||
margin-left: auto;
|
||||
margin-right: auto;
|
||||
}
|
||||
|
||||
.org-src-container > pre.src:before {
|
||||
display: inline;
|
||||
position: absolute;
|
||||
color: #808080;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
left: 10px;
|
||||
padding: 0px 4px;
|
||||
border: 1px solid #d0d0d0;
|
||||
font-size: 80%;
|
||||
}
|
||||
.org-src-container > pre {
|
||||
margin-top: 1.5em;
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
}
|
||||
.org-src-container > pre > code.src:before {
|
||||
display: inline;
|
||||
position: absolute;
|
||||
color: #808080;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
left: 10px;
|
||||
padding: 0px 4px;
|
||||
border: 1px solid #d0d0d0;
|
||||
font-size: 80%;
|
||||
}
|
||||
.org-src-container > pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
.org-src-container > pre.src-elisp:before { content: 'Emacs Lisp'; }
|
||||
.org-src-container > pre.src-sh:before { content: 'shell'; }
|
||||
.org-src-container > pre.src-bash:before { content: 'bash'; }
|
||||
.org-src-container > pre.src-org:before { content: 'Org mode'; }
|
||||
.org-src-container > pre.src-python:before { content: 'Python'; }
|
||||
.org-src-container > pre.src-matlab:before { content: 'Matlab'; }
|
@ -513,7 +513,7 @@ legend{
|
||||
padding:0;
|
||||
white-space:normal}
|
||||
|
||||
.fa:before,#content .admonition-title:before,#content h1 .headerlink:before,#content h2 .headerlink:before,#content h3 .headerlink:before,#content h4 .headerlink:before,#content h5 .headerlink:before,#content h6 .headerlink:before,#content dl dt .headerlink:before,.icon:before,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .hint,#content .important,#content .tip,#content .warning,#content .seealso,#content .admonitiontodo,.btn,input[type="text"],input[type="password"],input[type="email"],input[type="url"],input[type="date"],input[type="month"],input[type="time"],input[type="datetime"],input[type="datetime-local"],input[type="week"],input[type="number"],input[type="search"],input[type="tel"],input[type="color"],select,textarea,#table-of-contents li.on a,#table-of-contents li.current>a,.wy-side-nav-search>a,.wy-side-nav-search .wy-dropdown>a,.wy-nav-top a{
|
||||
.fa:before,#content .admonition-title:before,#content h1 .headerlink:before,#content h2 .headerlink:before,#content h3 .headerlink:before,#content h4 .headerlink:before,#content h5 .headerlink:before,#content h6 .headerlink:before,#content dl dt .headerlink:before,.icon:before,.wy-dropdown .caret:before,.wy-inline-validate.wy-inline-validate-success .wy-input-context:before,.wy-inline-validate.wy-inline-validate-danger .wy-input-context:before,.wy-inline-validate.wy-inline-validate-warning .wy-input-context:before,.wy-inline-validate.wy-inline-validate-info .wy-input-context:before,.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .summary,#content .hint,#content .important,#content .tip,#content .warning,#content .question,#content .seealso,#content .admonitiontodo,.btn,input[type="text"],input[type="password"],input[type="email"],input[type="url"],input[type="date"],input[type="month"],input[type="time"],input[type="datetime"],input[type="datetime-local"],input[type="week"],input[type="number"],input[type="search"],input[type="tel"],input[type="color"],select,textarea,#table-of-contents li.on a,#table-of-contents li.current>a,.wy-side-nav-search>a,.wy-side-nav-search .wy-dropdown>a,.wy-nav-top a{
|
||||
-webkit-font-smoothing:antialiased}
|
||||
|
||||
/*!
|
||||
@ -576,7 +576,7 @@ a .fa,a #content .admonition-title,#content a .admonition-title{
|
||||
.nav #content .admonition-title,#content .nav .admonition-title,.nav .icon{
|
||||
display:inline}
|
||||
|
||||
.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .hint,#content .important,#content .tip,#content .warning,#content .seealso,#content .admonitiontodo{
|
||||
.wy-alert,#content .note,#content .attention,#content .caution,#content .danger,#content .error,#content .summary,#content .hint,#content .important,#content .tip,#content .warning,#content .question,#content .seealso,#content .admonitiontodo{
|
||||
padding:12px;
|
||||
line-height:24px;
|
||||
margin-bottom:24px;
|
||||
@ -596,32 +596,45 @@ a .fa,a #content .admonition-title,#content a .admonition-title{
|
||||
#content .danger,#content .error{
|
||||
background:#fdf3f2}
|
||||
|
||||
.wy-alert.wy-alert-warning,#content .wy-alert-warning.note,#content .attention,#content .caution,#content .wy-alert-warning.danger,#content .wy-alert-warning.error,#content .wy-alert-warning.hint,#content .wy-alert-warning.important,#content .wy-alert-warning.tip,#content .warning,#content .wy-alert-warning.seealso,#content .admonitiontodo{
|
||||
.wy-alert.wy-alert-warning,#content .wy-alert-warning.note,#content .attention,#content .caution,#content .wy-alert-warning.danger,#content .wy-alert-warning.error,#content .wy-alert-warning.summary,#content .wy-alert-warning.hint,#content .wy-alert-warning.important,#content .wy-alert-warning.tip,#content .warning,#content .wy-alert-warning.seealso,#content .admonitiontodo{
|
||||
background:#ffedcc}
|
||||
|
||||
#content .admonition-title.note:before, #content .admonition-title.seealso:before,
|
||||
#content .admonition-title.warning:before, #content .admonition-title.caution:before,
|
||||
#content .admonition-title.warning:before,
|
||||
#content .admonition-title.caution:before,
|
||||
#content .admonition-title.attention:before,
|
||||
#content .admonition-title.tip:before, #content .admonition-title.hint:before,
|
||||
#content .admonition-title.important:before,
|
||||
#content .admonition-title.error:before, #content .admonition-title.danger:before{
|
||||
#content .admonition-title.error:before,
|
||||
#content .admonition-title.danger:before{
|
||||
font-family:FontAwesome;
|
||||
content: "";}
|
||||
|
||||
#content .note,#content .seealso{
|
||||
#content .admonition-title.question:before{
|
||||
font-family:FontAwesome;
|
||||
content: "";}
|
||||
|
||||
#content .admonition-title.note:before,
|
||||
#content .admonition-title.seealso:before,
|
||||
#content .admonition-title.tip:before,
|
||||
#content .admonition-title.summary:before,
|
||||
#content .admonition-title.hint:before{
|
||||
font-family:FontAwesome;
|
||||
content: "";}
|
||||
|
||||
|
||||
#content .note,#content .question,#content .seealso{
|
||||
background:#e7f2fa}
|
||||
|
||||
.wy-alert p:last-child,#content .note p:last-child,#content .attention p:last-child,#content .caution p:last-child,#content .danger p:last-child,#content .error p:last-child,#content .hint p:last-child,#content .important p:last-child,#content .tip p:last-child,#content .warning p:last-child,#content .seealso p:last-child,#content .admonitiontodo p:last-child{
|
||||
.wy-alert p:last-child,#content .note p:last-child,#content .attention p:last-child,#content .caution p:last-child,#content .danger p:last-child,#content .error p:last-child,#content .summary p:last-child,#content .hint p:last-child,#content .important p:last-child,#content .tip p:last-child,#content .warning p:last-child,#content .question p:last-child,#content .seealso p:last-child,#content .admonitiontodo p:last-child{
|
||||
margin-bottom:0}
|
||||
|
||||
#content .admonition-title.tip,#content .admonition-title.important,#content .admonition-title.hint{
|
||||
#content .admonition-title.tip,#content .admonition-title.important,#content .admonition-title.summary,#content .admonition-title.hint{
|
||||
line-height: 1;
|
||||
background:#1abc9c}
|
||||
|
||||
#content .important,#content .tip,#content .hint{
|
||||
#content .important,#content .tip,#content .summary,#content .hint{
|
||||
background:#dbfaf4}
|
||||
|
||||
#content .admonition-title.note,#content .admonition-title.seealso{
|
||||
#content .admonition-title.note,#content .admonition-title.question,#content .admonition-title.seealso{
|
||||
line-height: 1;
|
||||
background:#6ab0de}
|
||||
|
||||
@ -938,7 +951,7 @@ footer p{
|
||||
font-style:italic;
|
||||
}
|
||||
|
||||
#content .note .last,#content .attention .last,#content .caution .last,#content .danger .last,#content .error .last,#content .hint .last,#content .important .last,#content .tip .last,#content .warning .last,#content .seealso .last,#content .admonitiontodo .last{
|
||||
#content .note .last,#content .attention .last,#content .caution .last,#content .danger .last,#content .error .last,#content .hint .summary,#content .hint .last,#content .important .last,#content .tip .last,#content .warning .last,#content .question .last,#content .seealso .last,#content .admonitiontodo .last{
|
||||
margin-bottom:0}
|
||||
|
||||
#content .admonition-title:before{
|
||||
|
BIN
doc/LA75B.pdf
Normal file
BIN
doc/TM-VIB-Seismic_Lowres.pdf
Normal file
BIN
doc/de-dlpva-100-b.pdf
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BIN
doc/model_5113.pdf
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Before Width: | Height: | Size: 128 KiB After Width: | Height: | Size: 119 KiB |
Before Width: | Height: | Size: 101 KiB After Width: | Height: | Size: 94 KiB |
BIN
figs/comp_dynamics_accelerometer.pdf
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BIN
figs/comp_dynamics_accelerometer.png
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After Width: | Height: | Size: 155 KiB |
BIN
figs/comp_dynamics_geophone.pdf
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BIN
figs/comp_dynamics_geophone.png
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After Width: | Height: | Size: 151 KiB |
Before Width: | Height: | Size: 197 KiB After Width: | Height: | Size: 197 KiB |
Before Width: | Height: | Size: 332 KiB After Width: | Height: | Size: 154 KiB |
1659
figs/comp_psd_huddle_test_identification_acc.pdf
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figs/comp_psd_huddle_test_identification_acc.png
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After Width: | Height: | Size: 124 KiB |
BIN
figs/comp_psd_huddle_test_identification_geo.pdf
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BIN
figs/comp_psd_huddle_test_identification_geo.png
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After Width: | Height: | Size: 130 KiB |
Before Width: | Height: | Size: 111 KiB After Width: | Height: | Size: 111 KiB |
1294
figs/displacement_sensor_bode_plot.pdf
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figs/displacement_sensor_bode_plot.png
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After Width: | Height: | Size: 102 KiB |
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figs/dyn_uncertainty_acc.pdf
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figs/dyn_uncertainty_acc.png
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After Width: | Height: | Size: 159 KiB |
BIN
figs/dyn_uncertainty_geo.pdf
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figs/dyn_uncertainty_geo.png
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After Width: | Height: | Size: 150 KiB |
BIN
figs/excitation_signal_first_identification.pdf
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BIN
figs/excitation_signal_first_identification.png
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After Width: | Height: | Size: 29 KiB |
BIN
figs/exp_setup_sensor_fusion.pdf
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BIN
figs/exp_setup_sensor_fusion.png
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After Width: | Height: | Size: 105 KiB |
4288
figs/exp_setup_sensor_fusion.svg
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After Width: | Height: | Size: 227 KiB |
BIN
figs/force_sensor_bode_plot.pdf
Normal file
BIN
figs/force_sensor_bode_plot.png
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After Width: | Height: | Size: 102 KiB |
BIN
figs/h_infinity_obtained_complementary_filters.pdf
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BIN
figs/h_infinity_obtained_complementary_filters.png
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After Width: | Height: | Size: 112 KiB |
Before Width: | Height: | Size: 167 KiB After Width: | Height: | Size: 151 KiB |
BIN
figs/id_sensor_dynamics_coherence.pdf
Normal file
BIN
figs/id_sensor_dynamics_coherence.png
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After Width: | Height: | Size: 84 KiB |
Before Width: | Height: | Size: 166 KiB After Width: | Height: | Size: 151 KiB |
Before Width: | Height: | Size: 114 KiB After Width: | Height: | Size: 102 KiB |
BIN
figs/iff_ol_cl_identified_simscape_comp.pdf
Normal file
BIN
figs/iff_ol_cl_identified_simscape_comp.png
Normal file
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Before Width: | Height: | Size: 125 KiB After Width: | Height: | Size: 137 KiB |
Before Width: | Height: | Size: 232 KiB After Width: | Height: | Size: 160 KiB |
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Before Width: | Height: | Size: 27 KiB After Width: | Height: | Size: 26 KiB |
BIN
figs/psd_sensors_htwo_hinf_synthesis.pdf
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figs/psd_sensors_htwo_hinf_synthesis.png
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BIN
figs/simscape_comp_disp_plant.pdf
Normal file
BIN
figs/simscape_comp_disp_plant.png
Normal file
After Width: | Height: | Size: 125 KiB |
BIN
figs/simscape_comp_iff_plant.pdf
Normal file
BIN
figs/simscape_comp_iff_plant.png
Normal file
After Width: | Height: | Size: 138 KiB |
BIN
figs/super_sensor_dynamical_uncertainty_Htwo_Hinf.pdf
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BIN
figs/super_sensor_dynamical_uncertainty_Htwo_Hinf.png
Normal file
After Width: | Height: | Size: 105 KiB |
BIN
figs/super_sensor_optimal_noise.pdf
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BIN
figs/super_sensor_optimal_noise.png
Normal file
After Width: | Height: | Size: 79 KiB |
BIN
figs/super_sensor_optimal_uncertainty.pdf
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figs/super_sensor_optimal_uncertainty.png
Normal file
After Width: | Height: | Size: 190 KiB |
BIN
figs/super_sensor_uncertainty_h_infinity.pdf
Normal file
BIN
figs/super_sensor_uncertainty_h_infinity.png
Normal file
After Width: | Height: | Size: 129 KiB |
BIN
figs/test-bench-sensor-fusion-picture.pdf
Normal file
BIN
figs/test-bench-sensor-fusion-picture.png
Normal file
After Width: | Height: | Size: 822 KiB |
54383
figs/test-bench-sensor-fusion-picture.svg
Normal file
After Width: | Height: | Size: 4.0 MiB |
BIN
figs/test_bench_encoder_overview.png
Normal file
After Width: | Height: | Size: 1.6 MiB |
BIN
figs/uncertainty_weight_and_sensor_uncertainties.pdf
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figs/uncertainty_weight_and_sensor_uncertainties.png
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After Width: | Height: | Size: 125 KiB |
1916
index.html
1
js/jquery.stickytableheaders.min.js
vendored
@ -1 +0,0 @@
|
||||
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|
@ -9,6 +9,8 @@ $(function() {
|
||||
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
||||
$('.error').before("<p class='admonition-title error'>Error</p>");
|
||||
$('.danger').before("<p class='admonition-title danger'>Danger</p>");
|
||||
$('.question').before("<p class='admonition-title question'>Question</p>");
|
||||
$('.summary').before("<p class='admonition-title hint'>Summary</p>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
||||
|
423
matlab/first_identification.m
Normal file
@ -0,0 +1,423 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
% The data is loaded in the Matlab workspace.
|
||||
|
||||
id_ol = load('identification_noise_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
|
||||
|
||||
% Then, any offset is removed.
|
||||
|
||||
id_ol.d = detrend(id_ol.d, 0);
|
||||
id_ol.acc_1 = detrend(id_ol.acc_1, 0);
|
||||
id_ol.acc_2 = detrend(id_ol.acc_2, 0);
|
||||
id_ol.geo_1 = detrend(id_ol.geo_1, 0);
|
||||
id_ol.geo_2 = detrend(id_ol.geo_2, 0);
|
||||
id_ol.f_meas = detrend(id_ol.f_meas, 0);
|
||||
id_ol.u = detrend(id_ol.u, 0);
|
||||
|
||||
% Excitation Signal
|
||||
% The generated voltage used to excite the system is a white noise and can be seen in Figure [[fig:excitation_signal_first_identification]].
|
||||
|
||||
|
||||
figure;
|
||||
plot(id_ol.t, id_ol.u)
|
||||
xlabel('Time [s]'); ylabel('Voltage [V]');
|
||||
|
||||
% Identified Plant
|
||||
% The transfer function from the excitation voltage to the mass displacement and to the force sensor stack voltage are identified using the =tfestimate= command.
|
||||
|
||||
|
||||
Ts = id_ol.t(2) - id_ol.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_fmeas_est, f] = tfestimate(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts); % [V/V]
|
||||
[tf_G_ol_est, ~] = tfestimate(id_ol.u, id_ol.d, win, [], [], 1/Ts); % [m/V]
|
||||
|
||||
|
||||
|
||||
% The bode plots of the obtained dynamics are shown in Figures [[fig:force_sensor_bode_plot]] and [[fig:displacement_sensor_bode_plot]].
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_fmeas_est), '-')
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_fmeas_est), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 1e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:force_sensor_bode_plot
|
||||
% #+caption: Bode plot of the dynamics from excitation voltage to measured force sensor stack voltage
|
||||
% #+RESULTS:
|
||||
% [[file:figs/force_sensor_bode_plot.png]]
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_G_ol_est), '-')
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_G_ol_est), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 1e3]);
|
||||
|
||||
% Simscape Model - Comparison
|
||||
% A simscape model representing the test-bench has been developed.
|
||||
% The same transfer functions as the one identified using the test-bench can be obtained thanks to the simscape model.
|
||||
|
||||
% They are compared in Figure [[fig:simscape_comp_iff_plant]] and [[fig:simscape_comp_disp_plant]].
|
||||
% It is shown that there is a good agreement between the model and the experiment.
|
||||
|
||||
|
||||
load('piezo_amplified_3d.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||||
|
||||
m = 10;
|
||||
Kiff = tf(0);
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sensor_fusion_test_bench_simscape';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fd'], 1, 'openinput'); io_i = io_i + 1; % External Vertical Force [N]
|
||||
io(io_i) = linio([mdl, '/w'], 1, 'openinput'); io_i = io_i + 1; % Base Motion [m]
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage [V]
|
||||
io(io_i) = linio([mdl, '/Interferometer'], 1, 'openoutput'); io_i = io_i + 1; % Vertical Displacement [m]
|
||||
io(io_i) = linio([mdl, '/Voltage_Conditioner'], 1, 'openoutput'); io_i = io_i + 1; % Force Sensor [V]
|
||||
|
||||
options = linearizeOptions('SampleTime', 1e-4);
|
||||
G = linearize(mdl, io, options);
|
||||
|
||||
G.InputName = {'Fd', 'w', 'Va'};
|
||||
G.OutputName = {'y', 'Vs'};
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_fmeas_est), 'DisplayName', 'Identification')
|
||||
plot(f, abs(squeeze(freqresp(G('Vs', 'Va'), f, 'Hz'))), 'DisplayName', 'Simscape Model')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [V/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
ylim([1e-1, 1e3]);
|
||||
legend('location', 'northwest');
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_fmeas_est))
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G('Vs', 'Va'), f, 'Hz'))))
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 5e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:simscape_comp_iff_plant
|
||||
% #+caption: Comparison of the dynamics from excitation voltage to measured force sensor stack voltage - Identified dynamics and Simscape Model
|
||||
% #+RESULTS:
|
||||
% [[file:figs/simscape_comp_iff_plant.png]]
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_G_ol_est), 'DisplayName', 'Identification')
|
||||
plot(f, abs(squeeze(freqresp(G('y', 'Va'), f, 'Hz'))), 'DisplayName', 'Simscape Model')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
ylim([1e-8, 1e-3]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_G_ol_est))
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G('y', 'Va'), f, 'Hz'))))
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 5e3]);
|
||||
|
||||
% Integral Force Feedback
|
||||
% The force sensor stack can be used to damp the system.
|
||||
% This makes the system easier to excite properly without too much amplification near resonances.
|
||||
|
||||
% This is done thanks to the integral force feedback control architecture.
|
||||
|
||||
% The force sensor stack signal is integrated (or rather low pass filtered) and fed back to the force sensor stacks.
|
||||
|
||||
% The low pass filter used as the controller is defined below:
|
||||
|
||||
Kiff = 102/(s + 2*pi*2);
|
||||
|
||||
|
||||
|
||||
% The integral force feedback control strategy is applied to the simscape model as well as to the real test bench.
|
||||
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sensor_fusion_test_bench_simscape';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fd'], 1, 'openinput'); io_i = io_i + 1; % External Vertical Force [N]
|
||||
io(io_i) = linio([mdl, '/w'], 1, 'openinput'); io_i = io_i + 1; % Base Motion [m]
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage [V]
|
||||
io(io_i) = linio([mdl, '/Interferometer'], 1, 'openoutput'); io_i = io_i + 1; % Vertical Displacement [m]
|
||||
io(io_i) = linio([mdl, '/Voltage_Conditioner'], 1, 'output'); io_i = io_i + 1; % Force Sensor [V]
|
||||
|
||||
options = linearizeOptions('SampleTime', 1e-4);
|
||||
G_cl = linearize(mdl, io, options);
|
||||
|
||||
G_cl.InputName = {'Fd', 'w', 'Va'};
|
||||
G_cl.OutputName = {'y', 'Vs'};
|
||||
|
||||
|
||||
|
||||
% The damped system is then identified again using a noise excitation.
|
||||
|
||||
% The data is loaded into Matlab and any offset is removed.
|
||||
|
||||
id_cl = load('identification_noise_iff_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id_cl.d = detrend(id_cl.d, 0);
|
||||
id_cl.acc_1 = detrend(id_cl.acc_1, 0);
|
||||
id_cl.acc_2 = detrend(id_cl.acc_2, 0);
|
||||
id_cl.geo_1 = detrend(id_cl.geo_1, 0);
|
||||
id_cl.geo_2 = detrend(id_cl.geo_2, 0);
|
||||
id_cl.f_meas = detrend(id_cl.f_meas, 0);
|
||||
id_cl.u = detrend(id_cl.u, 0);
|
||||
|
||||
|
||||
|
||||
% The transfer functions are estimated using =tfestimate=.
|
||||
|
||||
[tf_G_cl_est, ~] = tfestimate(id_cl.u, id_cl.d, win, [], [], 1/Ts);
|
||||
[co_G_cl_est, ~] = mscohere( id_cl.u, id_cl.d, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The dynamics from driving voltage to the measured displacement are compared both in the open-loop and IFF case, and for the test-bench experimental identification and for the Simscape model in Figure [[fig:iff_ol_cl_identified_simscape_comp]].
|
||||
% This shows that the Integral Force Feedback architecture effectively damps the first resonance of the system.
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, abs(tf_G_ol_est), '-', 'DisplayName', 'OL - Ident.')
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, abs(squeeze(freqresp(G('y', 'Va'), f, 'Hz'))), '--', 'DisplayName', 'OL - Simscape')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, abs(tf_G_cl_est), '-', 'DisplayName', 'CL - Ident.')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, abs(squeeze(freqresp(G_cl('y', 'Va'), f, 'Hz'))), '--', 'DisplayName', 'CL - Simscape')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel',[]);
|
||||
legend('location', 'northeast');
|
||||
hold off;
|
||||
ylim([1e-7, 1e-3]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, 180/pi*angle(tf_G_ol_est), '-')
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G('y', 'Va'), f, 'Hz'))), '--')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, 180/pi*angle(tf_G_cl_est), '-')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_cl('y', 'Va'), f, 'Hz'))), '--')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 5e3]);
|
||||
|
||||
% Inertial Sensors
|
||||
% In order to estimate the dynamics of the inertial sensor (the transfer function from the "absolute" displacement to the measured voltage), the following experiment can be performed:
|
||||
% - The mass is excited such that is relative displacement as measured by the interferometer is much larger that the ground "absolute" motion.
|
||||
% - The transfer function from the measured displacement by the interferometer to the measured voltage generated by the inertial sensors can be estimated.
|
||||
|
||||
% The first point is quite important in order to have a good coherence between the interferometer measurement and the inertial sensor measurement.
|
||||
|
||||
% Here, a first identification is performed were the excitation signal is a white noise.
|
||||
|
||||
|
||||
% As usual, the data is loaded and any offset is removed.
|
||||
|
||||
id = load('identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id.d = detrend(id.d, 0);
|
||||
id.acc_1 = detrend(id.acc_1, 0);
|
||||
id.acc_2 = detrend(id.acc_2, 0);
|
||||
id.geo_1 = detrend(id.geo_1, 0);
|
||||
id.geo_2 = detrend(id.geo_2, 0);
|
||||
id.f_meas = detrend(id.f_meas, 0);
|
||||
|
||||
|
||||
|
||||
% Then the transfer functions from the measured displacement by the interferometer to the generated voltage of the inertial sensors are computed..
|
||||
|
||||
Ts = id.t(2) - id.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_acc1_est, f] = tfestimate(id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[co_acc1_est, ~] = mscohere( id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[tf_acc2_est, ~] = tfestimate(id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
[co_acc2_est, ~] = mscohere( id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
|
||||
[tf_geo1_est, ~] = tfestimate(id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[co_geo1_est, ~] = mscohere( id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[tf_geo2_est, ~] = tfestimate(id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
[co_geo2_est, ~] = mscohere( id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The same transfer functions are estimated using the Simscape model.
|
||||
|
||||
|
||||
m = 10;
|
||||
Kiff = tf(0);
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sensor_fusion_test_bench_simscape';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage [V]
|
||||
io(io_i) = linio([mdl, '/Interferometer'], 1, 'openoutput'); io_i = io_i + 1; % Vertical Displacement [m]
|
||||
io(io_i) = linio([mdl, '/Vertical_Accelerometer_1'], 1, 'openoutput'); io_i = io_i + 1; % Accelerometer [V]
|
||||
io(io_i) = linio([mdl, '/Voltage_Ampl_geo_1'], 1, 'openoutput'); io_i = io_i + 1; % Geophone [V]
|
||||
|
||||
options = linearizeOptions('SampleTime', 1e-4);
|
||||
G = linearize(mdl, io, options);
|
||||
|
||||
G.InputName = {'Va'};
|
||||
G.OutputName = {'y', 'a', 'v'};
|
||||
|
||||
G_acc = G('a', 'Va')*inv(G('y', 'Va')); % [V/m]
|
||||
G_geo = G('v', 'Va')*inv(G('y', 'Va')); % [V/m]
|
||||
|
||||
|
||||
|
||||
% The obtained dynamics of the accelerometer are compared in Figure [[fig:comp_dynamics_accelerometer]] while the one of the geophones are compared in Figure [[fig:comp_dynamics_geophone]].
|
||||
|
||||
|
||||
freqs = logspace(-1, 4, 1000)';
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_acc1_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, abs(tf_acc2_est./(1i*2*pi*f).^2), '.')
|
||||
plot(freqs, abs(squeeze(freqresp(G_acc, freqs, 'Hz'))./(1i*2*pi*freqs).^2), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $\left[\frac{V}{m/s^2}\right]$'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_acc1_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, 180/pi*angle(tf_acc2_est./(1i*2*pi*f).^2), '.')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_acc, freqs, 'Hz'))./(1i*2*pi*freqs).^2), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([2, 2e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:comp_dynamics_accelerometer
|
||||
% #+caption: Comparison of the measured accelerometer dynamics
|
||||
% #+RESULTS:
|
||||
% [[file:figs/comp_dynamics_accelerometer.png]]
|
||||
|
||||
|
||||
freqs = logspace(-1, 4, 1000)';
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_geo1_est./(1i*2*pi*f)), '.')
|
||||
plot(f, abs(tf_geo2_est./(1i*2*pi*f)), '.')
|
||||
plot(freqs, abs(squeeze(freqresp(G_geo, freqs, 'Hz'))./(1i*2*pi*freqs)), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $\left[\frac{V}{m/s}\right]$'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_geo1_est./(1i*2*pi*f)), '.')
|
||||
plot(f, 180/pi*angle(tf_geo2_est./(1i*2*pi*f)), '.')
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_geo, freqs, 'Hz'))./(1i*2*pi*freqs)), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([0.5, 2e3]);
|
200
matlab/inertial_sensor_dynamics.m
Normal file
@ -0,0 +1,200 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
% Both the measurement data during the identification test and during an "huddle test" are loaded.
|
||||
|
||||
id = load('identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
ht = load('huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
ht.d = detrend(ht.d, 0);
|
||||
ht.acc_1 = detrend(ht.acc_1, 0);
|
||||
ht.acc_2 = detrend(ht.acc_2, 0);
|
||||
ht.geo_1 = detrend(ht.geo_1, 0);
|
||||
ht.geo_2 = detrend(ht.geo_2, 0);
|
||||
ht.f_meas = detrend(ht.f_meas, 0);
|
||||
|
||||
id.d = detrend(id.d, 0);
|
||||
id.acc_1 = detrend(id.acc_1, 0);
|
||||
id.acc_2 = detrend(id.acc_2, 0);
|
||||
id.geo_1 = detrend(id.geo_1, 0);
|
||||
id.geo_2 = detrend(id.geo_2, 0);
|
||||
id.f_meas = detrend(id.f_meas, 0);
|
||||
|
||||
% Compare PSD during Huddle and and during identification
|
||||
% The Power Spectral Density of the measured motion during the huddle test and during the identification test are compared in Figures [[fig:comp_psd_huddle_test_identification_acc]] and [[fig:comp_psd_huddle_test_identification_geo]].
|
||||
|
||||
|
||||
Ts = ht.t(2) - ht.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[p_id_d, f] = pwelch(id.d, win, [], [], 1/Ts);
|
||||
[p_id_acc1, ~] = pwelch(id.acc_1, win, [], [], 1/Ts);
|
||||
[p_id_acc2, ~] = pwelch(id.acc_2, win, [], [], 1/Ts);
|
||||
[p_id_geo1, ~] = pwelch(id.geo_1, win, [], [], 1/Ts);
|
||||
[p_id_geo2, ~] = pwelch(id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
[p_ht_d, ~] = pwelch(ht.d, win, [], [], 1/Ts);
|
||||
[p_ht_acc1, ~] = pwelch(ht.acc_1, win, [], [], 1/Ts);
|
||||
[p_ht_acc2, ~] = pwelch(ht.acc_2, win, [], [], 1/Ts);
|
||||
[p_ht_geo1, ~] = pwelch(ht.geo_1, win, [], [], 1/Ts);
|
||||
[p_ht_geo2, ~] = pwelch(ht.geo_2, win, [], [], 1/Ts);
|
||||
[p_ht_fmeas, ~] = pwelch(ht.f_meas, win, [], [], 1/Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, p_ht_acc1, 'DisplayName', 'Huddle Test');
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, p_ht_acc2, 'HandleVisibility', 'off');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, p_id_acc1, 'DisplayName', 'Identification Test');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, p_id_acc2, 'HandleVisibility', 'off');
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
|
||||
title('Huddle Test - Accelerometers')
|
||||
legend('location', 'northwest');
|
||||
xlim([5e-1, 5e3]); ylim([1e-10, 1e-2])
|
||||
|
||||
|
||||
|
||||
% #+name: fig:comp_psd_huddle_test_identification_acc
|
||||
% #+caption: Comparison of the PSD of the measured motion during the Huddle test and during the identification
|
||||
% #+RESULTS:
|
||||
% [[file:figs/comp_psd_huddle_test_identification_acc.png]]
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, p_ht_geo1, 'DisplayName', 'Huddle Test');
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, p_ht_geo2, 'HandleVisibility', 'off');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, p_id_geo1, 'DisplayName', 'Identification Test');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, p_id_geo2, 'HandleVisibility', 'off');
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('PSD [$V^2/Hz$]'); xlabel('Frequency [Hz]');
|
||||
title('Huddle Test - Geophones')
|
||||
legend('location', 'northeast');
|
||||
xlim([1e-1, 5e3]); ylim([1e-11, 1e-4]);
|
||||
|
||||
% Compute transfer functions
|
||||
% The transfer functions from the motion as measured by the interferometer (and that should represent the absolute motion of the mass) to the inertial sensors are estimated:
|
||||
|
||||
[tf_acc1_est, f] = tfestimate(id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[co_acc1_est, ~] = mscohere( id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[tf_acc2_est, ~] = tfestimate(id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
[co_acc2_est, ~] = mscohere( id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
|
||||
[tf_geo1_est, ~] = tfestimate(id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[co_geo1_est, ~] = mscohere( id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[tf_geo2_est, ~] = tfestimate(id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
[co_geo2_est, ~] = mscohere( id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The obtained coherence are shown in Figure [[fig:id_sensor_dynamics_coherence]].
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, co_acc1_est, '-', 'DisplayName', 'Accelerometer')
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, co_acc2_est, '-', 'HandleVisibility', 'off')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, co_geo1_est, '-', 'DisplayName', 'Geophone')
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, co_geo2_est, '-', 'HandleVisibility', 'off')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([2, 2e3]); ylim([0, 1])
|
||||
legend();
|
||||
|
||||
|
||||
|
||||
% #+name: fig:id_sensor_dynamics_coherence
|
||||
% #+caption: Coherence for the estimation of the sensor dynamics
|
||||
% #+RESULTS:
|
||||
% [[file:figs/id_sensor_dynamics_coherence.png]]
|
||||
|
||||
% We also make a simplified model of the inertial sensors to be compared with the identified dynamics.
|
||||
|
||||
G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
|
||||
G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
|
||||
|
||||
|
||||
|
||||
% The model and identified dynamics show good agreement (Figures [[fig:id_sensor_dynamics_accelerometers]] and [[fig:id_sensor_dynamics_geophones]].)
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_acc1_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, abs(tf_acc2_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, abs(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $\left[\frac{V}{m/s^2}\right]$'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_acc1_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, 180/pi*angle(tf_acc2_est./(1i*2*pi*f).^2), '.')
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([2, 2e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:id_sensor_dynamics_accelerometers
|
||||
% #+caption: Identified dynamics of the accelerometers
|
||||
% #+RESULTS:
|
||||
% [[file:figs/id_sensor_dynamics_accelerometers.png]]
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_geo1_est./(1i*2*pi*f)), '.')
|
||||
plot(f, abs(tf_geo2_est./(1i*2*pi*f)), '.')
|
||||
plot(f, abs(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude $\left[\frac{V}{m/s}\right]$'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_geo1_est./(1i*2*pi*f)), '.')
|
||||
plot(f, 180/pi*angle(tf_geo2_est./(1i*2*pi*f)), '.')
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([0.5, 2e3]);
|
224
matlab/inertial_sensor_noise.m
Normal file
@ -0,0 +1,224 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
% As before, the identification data is loaded and any offset if removed.
|
||||
|
||||
id = load('identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id.d = detrend(id.d, 0);
|
||||
id.acc_1 = detrend(id.acc_1, 0);
|
||||
id.acc_2 = detrend(id.acc_2, 0);
|
||||
id.geo_1 = detrend(id.geo_1, 0);
|
||||
id.geo_2 = detrend(id.geo_2, 0);
|
||||
id.f_meas = detrend(id.f_meas, 0);
|
||||
|
||||
% ASD of the Measured displacement
|
||||
% The Power Spectral Density of the displacement as measured by the interferometer and the inertial sensors is computed.
|
||||
|
||||
Ts = id.t(2) - id.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[p_id_d, f] = pwelch(id.d, win, [], [], 1/Ts);
|
||||
[p_id_acc1, ~] = pwelch(id.acc_1, win, [], [], 1/Ts);
|
||||
[p_id_acc2, ~] = pwelch(id.acc_2, win, [], [], 1/Ts);
|
||||
[p_id_geo1, ~] = pwelch(id.geo_1, win, [], [], 1/Ts);
|
||||
[p_id_geo2, ~] = pwelch(id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% Let's use a model of the accelerometer and geophone to compute the motion from the measured voltage.
|
||||
|
||||
G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
|
||||
G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
|
||||
|
||||
|
||||
|
||||
% The obtained ASD in $m/\sqrt{Hz}$ is shown in Figure [[fig:measure_displacement_all_sensors]].
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, sqrt(p_id_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
|
||||
'DisplayName', 'Accelerometer');
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(f, sqrt(p_id_acc2)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
|
||||
'HandleVisibility', 'off');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, sqrt(p_id_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
|
||||
'DisplayName', 'Geophone');
|
||||
set(gca, 'ColorOrderIndex', 2);
|
||||
plot(f, sqrt(p_id_geo2)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
|
||||
'HandleVisibility', 'off');
|
||||
set(gca, 'ColorOrderIndex', 3);
|
||||
plot(f, sqrt(p_id_d), 'DisplayName', 'Interferometer');
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
|
||||
title('Huddle Test')
|
||||
legend();
|
||||
xlim([1e-1, 5e3]); ylim([1e-12, 1e-4]);
|
||||
|
||||
% ASD of the Sensor Noise
|
||||
% The noise of a sensor can be estimated using two identical sensors by computing:
|
||||
% - the Power Spectral Density of the measured motion by the two sensors
|
||||
% - the Cross Spectral Density between the two sensors (coherence)
|
||||
|
||||
% This technique to estimate the sensor noise is described in cite:barzilai98_techn_measur_noise_sensor_presen.
|
||||
|
||||
% The Power Spectral Density of the sensor noise can be estimated using the following equation:
|
||||
% \begin{equation}
|
||||
% |S_n(\omega)| = |S_{x_1}(\omega)| \Big( 1 - \gamma_{x_1 x_2}(\omega) \Big)
|
||||
% \end{equation}
|
||||
% with $S_{x_1}$ the PSD of one of the sensor and $\gamma_{x_1 x_2}$ the coherence between the two sensors.
|
||||
|
||||
% The coherence between the two accelerometers and between the two geophones is computed.
|
||||
|
||||
[coh_acc, ~] = mscohere(id.acc_1, id.acc_2, win, [], [], 1/Ts);
|
||||
[coh_geo, ~] = mscohere(id.geo_1, id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% Finally, the Power Spectral Density of the sensors is computed and converted in $[m^2/Hz]$.
|
||||
|
||||
pN_acc = p_id_acc1.*(1 - coh_acc) .* ... % [V^2/Hz]
|
||||
1./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))).^2; % [(m/V)^2]
|
||||
pN_geo = p_id_geo1.*(1 - coh_geo) .* ... % [V^2/Hz]
|
||||
1./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))).^2; % [(m/V)^2]
|
||||
|
||||
|
||||
|
||||
% The ASD of obtained noises are compared with the ASD of the measured signals in Figure [[fig:noise_inertial_sensors_comparison]].
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, sqrt(p_id_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
|
||||
'DisplayName', 'Accelerometer');
|
||||
plot(f, sqrt(p_id_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
|
||||
'DisplayName', 'Geophone');
|
||||
plot(f, sqrt(pN_acc), '-', 'DisplayName', 'Accelerometers - Noise');
|
||||
plot(f, sqrt(pN_geo), '-', 'DisplayName', 'Geophones - Noise');
|
||||
hold off;
|
||||
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD $\left[\frac{m}{\sqrt{Hz}}\right]$');
|
||||
xlim([1, 5000]); ylim([1e-12, 1e-5]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
% Noise Model
|
||||
% Transfer functions are adjusted in order to fit the ASD of the sensor noises (expressed in $[m/s/\sqrt{Hz}]$ for more easy fitting).
|
||||
|
||||
% These transfer functions are defined below and compared with the measured ASD in Figure [[fig:noise_models_velocity]].
|
||||
|
||||
N_acc = 1*(s/(2*pi*2000) + 1)^2/(s + 0.1*2*pi)/(s + 1e3*2*pi); % [m/sqrt(Hz)]
|
||||
N_geo = 4e-4*(s/(2*pi*200) + 1)/(s + 1e3*2*pi); % [m/sqrt(Hz)]
|
||||
|
||||
freqs = logspace(0, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, sqrt(pN_acc).*(2*pi*f), '-', 'DisplayName', 'Accelerometers - Noise');
|
||||
plot(f, sqrt(pN_geo).*(2*pi*f), '-', 'DisplayName', 'Geophones - Noise');
|
||||
set(gca, 'ColorOrderIndex', 1);
|
||||
plot(freqs, abs(squeeze(freqresp(N_acc, freqs, 'Hz'))), '--', 'DisplayName', 'Accelerometer - Noise Model');
|
||||
plot(freqs, abs(squeeze(freqresp(N_geo, freqs, 'Hz'))), '--', 'DisplayName', 'Geophones - Noise Model');
|
||||
hold off;
|
||||
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD $\left[\frac{m/s}{\sqrt{Hz}}\right]$');
|
||||
xlim([1, 5000]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
% $\mathcal{H}_2$ Synthesis of the Complementary Filters
|
||||
% We now wish to synthesize two complementary filters to merge the geophone and the accelerometer signal in such a way that the fused signal has the lowest possible RMS noise.
|
||||
|
||||
% To do so, we use the $\mathcal{H}_2$ synthesis where the transfer functions representing the noise density of both sensors are used as weights.
|
||||
|
||||
% The generalized plant used for the synthesis is defined below.
|
||||
|
||||
P = [0 N_acc 1;
|
||||
N_geo -N_acc 0];
|
||||
|
||||
|
||||
|
||||
% And the $\mathcal{H}_2$ synthesis is done using the =h2syn= command.
|
||||
|
||||
[H_geo, ~, gamma] = h2syn(P, 1, 1);
|
||||
H_acc = 1 - H_geo;
|
||||
|
||||
|
||||
|
||||
% The obtained complementary filters are shown in Figure [[fig:complementary_filters_velocity_H2]].
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(H_acc, freqs, 'Hz'))), '-', 'DisplayName', '$H_{acc}$');
|
||||
plot(freqs, abs(squeeze(freqresp(H_geo, freqs, 'Hz'))), '-', 'DisplayName', '$H_{geo}$');
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Magnitude'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(H_acc, freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(H_geo, freqs, 'Hz'))), '-');
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
% Results
|
||||
% Finally, the signals of both sensors are merged using the complementary filters and the super sensor noise is estimated and compared with the individual sensor noises in Figure [[fig:super_sensor_noise_asd_velocity]].
|
||||
|
||||
|
||||
freqs = logspace(0, 4, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, pN_acc.*(2*pi*f), '-', 'DisplayName', 'Accelerometers - Noise');
|
||||
plot(f, pN_geo.*(2*pi*f), '-', 'DisplayName', 'Geophones - Noise');
|
||||
plot(f, sqrt((pN_acc.*(2*pi*f)).^2.*abs(squeeze(freqresp(H_acc, f, 'Hz'))).^2 + (pN_geo.*(2*pi*f)).^2.*abs(squeeze(freqresp(H_geo, f, 'Hz'))).^2), 'k-', 'DisplayName', 'Super Sensor - Noise');
|
||||
hold off;
|
||||
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD $\left[\frac{m/s}{\sqrt{Hz}}\right]$');
|
||||
xlim([1, 5000]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
|
||||
|
||||
% #+name: fig:super_sensor_noise_asd_velocity
|
||||
% #+caption: ASD of the super sensor noise (velocity)
|
||||
% #+RESULTS:
|
||||
% [[file:figs/super_sensor_noise_asd_velocity.png]]
|
||||
|
||||
% Finally, the Cumulative Power Spectrum is computed and compared in Figure [[fig:super_sensor_noise_cas_velocity]].
|
||||
|
||||
[~, i_1Hz] = min(abs(f - 1));
|
||||
|
||||
CPS_acc = 1/pi*flip(-cumtrapz(2*pi*flip(f), flip((pN_acc.*(2*pi*f)).^2)));
|
||||
CPS_geo = 1/pi*flip(-cumtrapz(2*pi*flip(f), flip((pN_geo.*(2*pi*f)).^2)));
|
||||
CPS_SS = 1/pi*flip(-cumtrapz(2*pi*flip(f), flip((pN_acc.*(2*pi*f)).^2.*abs(squeeze(freqresp(H_acc, f, 'Hz'))).^2 + (pN_geo.*(2*pi*f)).^2.*abs(squeeze(freqresp(H_geo, f, 'Hz'))).^2)));
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, CPS_acc, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{acc}} = %.0f\\,\\mu m/s (rms)$', 1e6*sqrt(CPS_acc(i_1Hz))));
|
||||
plot(f, CPS_geo, '-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}_{geo}} = %.0f\\,\\mu m/s (rms)$', 1e6*sqrt(CPS_geo(i_1Hz))));
|
||||
plot(f, CPS_SS, 'k-', 'DisplayName', sprintf('$\\sigma_{\\hat{x}} = %.0f\\,\\mu m/s (rms)$', 1e6*sqrt(CPS_SS(i_1Hz))));
|
||||
set(gca, 'YScale', 'log'); set(gca, 'XScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Cumulative Power Spectrum');
|
||||
hold off;
|
||||
xlim([1, 4e3]);
|
||||
legend('location', 'northeast');
|
326
matlab/inertial_sensor_uncertainty.m
Normal file
@ -0,0 +1,326 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
addpath('./src/');
|
||||
|
||||
% Load Data
|
||||
% Data is loaded and offset is removed.
|
||||
|
||||
|
||||
id = load('identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id.d = detrend(id.d, 0);
|
||||
id.acc_1 = detrend(id.acc_1, 0);
|
||||
id.acc_2 = detrend(id.acc_2, 0);
|
||||
id.geo_1 = detrend(id.geo_1, 0);
|
||||
id.geo_2 = detrend(id.geo_2, 0);
|
||||
id.f_meas = detrend(id.f_meas, 0);
|
||||
|
||||
% Compute the dynamics of both sensors
|
||||
% The dynamics of inertial sensors are estimated (in $[V/m]$).
|
||||
|
||||
Ts = id.t(2) - id.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_acc1_est, f] = tfestimate(id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[co_acc1_est, ~] = mscohere( id.d, id.acc_1, win, [], [], 1/Ts);
|
||||
[tf_acc2_est, ~] = tfestimate(id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
[co_acc2_est, ~] = mscohere( id.d, id.acc_2, win, [], [], 1/Ts);
|
||||
|
||||
[tf_geo1_est, ~] = tfestimate(id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[co_geo1_est, ~] = mscohere( id.d, id.geo_1, win, [], [], 1/Ts);
|
||||
[tf_geo2_est, ~] = tfestimate(id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
[co_geo2_est, ~] = mscohere( id.d, id.geo_2, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The (nominal) models of the inertial sensors from the absolute displacement to the generated voltage are defined below:
|
||||
|
||||
G_acc = 1/(1 + s/2/pi/2000)
|
||||
G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2);
|
||||
|
||||
% Dynamics uncertainty estimation
|
||||
% Weights representing the dynamical uncertainty of the sensors are defined below.
|
||||
|
||||
w_acc = createWeight('n', 2, 'G0', 10, 'G1', 0.2, 'Gc', 1, 'w0', 6*2*pi) * ...
|
||||
createWeight('n', 2, 'G0', 1, 'G1', 5/0.2, 'Gc', 1/0.2, 'w0', 1300*2*pi);
|
||||
|
||||
w_geo = createWeight('n', 2, 'G0', 0.6, 'G1', 0.2, 'Gc', 0.3, 'w0', 3*2*pi) * ...
|
||||
createWeight('n', 2, 'G0', 1, 'G1', 10/0.2, 'Gc', 1/0.2, 'w0', 800*2*pi);
|
||||
|
||||
|
||||
|
||||
% The measured dynamics are compared with the modelled one as well as the modelled uncertainty in Figure [[fig:dyn_uncertainty_acc]] for the accelerometers and in Figure [[fig:dyn_uncertainty_geo]] for the geophones.
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
% Magnitude
|
||||
ax1 = nexttile;
|
||||
hold on;
|
||||
plotMagUncertainty(w_acc, freqs, 'G', G_acc, 'color_i', 1, 'DisplayName', '$G_{acc}$');
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(f, abs(tf_acc1_est./(1i*2*pi*f).^2), '.', 'DisplayName', 'Meaurement')
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(f, abs(tf_acc2_est./(1i*2*pi*f).^2), '.', 'HandleVisibility', 'off')
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, abs(squeeze(freqresp(G_acc, freqs, 'Hz'))), 'DisplayName', '$\hat{G}_{acc}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylabel('Magnitude $[\frac{V}{m}]$');
|
||||
legend('location', 'southwest', 'FontSize', 8);
|
||||
hold off;
|
||||
ylim([1e-3, 1e1])
|
||||
|
||||
% Phase
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plotPhaseUncertainty(w_acc, freqs, 'G', G_acc, 'color_i', 1);
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(f, 180/pi*angle(tf_acc1_est./(1i*2*pi*f).^2), '.');
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(f, 180/pi*angle(tf_acc2_est./(1i*2*pi*f).^2), '.');
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_acc, freqs, 'Hz'))));
|
||||
set(gca,'xscale','log');
|
||||
yticks(-180:90:180);
|
||||
ylim([-180 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([1, 5e3]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:dyn_uncertainty_acc
|
||||
% #+caption: Modeled dynamical uncertainty and meaured dynamics of the accelerometers
|
||||
% #+RESULTS:
|
||||
% [[file:figs/dyn_uncertainty_acc.png]]
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
% Magnitude
|
||||
ax1 = nexttile;
|
||||
hold on;
|
||||
plotMagUncertainty(w_geo, freqs, 'G', G_geo, 'color_i', 2, 'DisplayName', '$G_{geo}$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(f, abs(tf_geo1_est./(1i*2*pi*f)), '.', 'DisplayName', 'Measurement')
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(f, abs(tf_geo2_est./(1i*2*pi*f)), '.', 'HandleVisibility', 'off')
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, abs(squeeze(freqresp(G_geo, freqs, 'Hz'))), 'DisplayName', '$\hat{G}_{geo}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylabel('Magnitude $[\frac{V}{m}]$');
|
||||
legend('location', 'northwest', 'FontSize', 8);
|
||||
hold off;
|
||||
ylim([1, 1e4])
|
||||
|
||||
% Phase
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plotPhaseUncertainty(w_geo, freqs, 'G', G_geo, 'color_i', 2);
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(f, 180/pi*unwrap(angle(tf_geo1_est./(1i*2*pi*f)))+360, '.');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(f, 180/pi*unwrap(angle(tf_geo2_est./(1i*2*pi*f))), '.');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_geo, freqs, 'Hz'))));
|
||||
set(gca,'xscale','log');
|
||||
yticks(-270:90:180);
|
||||
ylim([-270 90]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([1, 5e3]);
|
||||
|
||||
% $\mathcal{H}_\infty$ Synthesis of Complementary Filters
|
||||
% A last weight is now defined that represents the maximum dynamical uncertainty that is allowed for the super sensor.
|
||||
|
||||
wu = inv(createWeight('n', 2, 'G0', 0.7, 'G1', 0.3, 'Gc', 0.4, 'w0', 3*2*pi) * ...
|
||||
createWeight('n', 2, 'G0', 1, 'G1', 6/0.3, 'Gc', 1/0.3, 'w0', 1200*2*pi));
|
||||
|
||||
|
||||
|
||||
% This dynamical uncertainty is compared with the two sensor uncertainties in Figure [[fig:uncertainty_weight_and_sensor_uncertainties]].
|
||||
|
||||
Dphi_Wu = 180/pi*asin(abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))));
|
||||
Dphi_Wu(abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))) > 1) = 360;
|
||||
|
||||
figure;
|
||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
% Magnitude
|
||||
ax1 = nexttile;
|
||||
hold on;
|
||||
plotMagUncertainty(w_acc, freqs, 'color_i', 1, 'DisplayName', '$1 + W_{acc} \Delta$');
|
||||
plotMagUncertainty(w_geo, freqs, 'color_i', 2, 'DisplayName', '$1 + W_{geo} \Delta$');
|
||||
plot(freqs, 1 + abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))), 'k--', ...
|
||||
'DisplayName', '$1 + W_u^{-1} \Delta$')
|
||||
plot(freqs, 1 - abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))), 'k--', ...
|
||||
'HandleVisibility', 'off')
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylabel('Magnitude');
|
||||
ylim([1e-2, 1e1]);
|
||||
legend('location', 'southeast', 'FontSize', 8);
|
||||
hold off;
|
||||
|
||||
% Phase
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plotPhaseUncertainty(w_acc, freqs, 'color_i', 1);
|
||||
plotPhaseUncertainty(w_geo, freqs, 'color_i', 2);
|
||||
plot(freqs, Dphi_Wu, 'k--');
|
||||
plot(freqs, -Dphi_Wu, 'k--');
|
||||
set(gca,'xscale','log');
|
||||
yticks(-180:90:180);
|
||||
ylim([-180 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
|
||||
|
||||
% #+name: fig:uncertainty_weight_and_sensor_uncertainties
|
||||
% #+caption: Individual sensor uncertainty (normalized by their dynamics) and the wanted maximum super sensor noise uncertainty
|
||||
% #+RESULTS:
|
||||
% [[file:figs/uncertainty_weight_and_sensor_uncertainties.png]]
|
||||
|
||||
% The generalized plant used for the synthesis is defined:
|
||||
|
||||
P = [wu*w_acc -wu*w_acc;
|
||||
0 wu*w_geo;
|
||||
1 0];
|
||||
|
||||
|
||||
|
||||
% And the $\mathcal{H}_\infty$ synthesis using the =hinfsyn= command is performed.
|
||||
|
||||
[H_geo, ~, gamma, ~] = hinfsyn(P, 1, 1,'TOLGAM', 0.001, 'METHOD', 'ric', 'DISPLAY', 'on');
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% #+begin_example
|
||||
% Test bounds: 0.8556 <= gamma <= 1.34
|
||||
|
||||
% gamma X>=0 Y>=0 rho(XY)<1 p/f
|
||||
% 1.071e+00 0.0e+00 0.0e+00 0.000e+00 p
|
||||
% 9.571e-01 0.0e+00 0.0e+00 9.436e-16 p
|
||||
% 9.049e-01 0.0e+00 0.0e+00 1.084e-15 p
|
||||
% 8.799e-01 0.0e+00 0.0e+00 1.191e-16 p
|
||||
% 8.677e-01 0.0e+00 0.0e+00 6.905e-15 p
|
||||
% 8.616e-01 0.0e+00 0.0e+00 0.000e+00 p
|
||||
% 8.586e-01 1.1e-17 0.0e+00 6.917e-16 p
|
||||
% 8.571e-01 0.0e+00 0.0e+00 6.991e-17 p
|
||||
% 8.564e-01 0.0e+00 0.0e+00 1.492e-16 p
|
||||
|
||||
% Best performance (actual): 0.8563
|
||||
% #+end_example
|
||||
|
||||
% The complementary filter is defined as follows:
|
||||
|
||||
H_acc = 1 - H_geo;
|
||||
|
||||
|
||||
|
||||
% The bode plot of the obtained complementary filters is shown in Figure
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
% Magnitude
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(w_geo, freqs, 'Hz'))), '--', 'DisplayName', '$w_{geo}$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 1./abs(squeeze(freqresp(w_acc, freqs, 'Hz'))), '--', 'DisplayName', '$w_{acc}$');
|
||||
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, abs(squeeze(freqresp(H_geo, freqs, 'Hz'))), '-', 'DisplayName', '$H_{geo}$');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, abs(squeeze(freqresp(H_acc, freqs, 'Hz'))), '-', 'DisplayName', '$H_{acc}$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Magnitude');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylim([1e-2, 1e1]);
|
||||
legend('location', 'southeast');
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
set(gca,'ColorOrderIndex',1)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H_geo, freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',2)
|
||||
plot(freqs, 180/pi*phase(squeeze(freqresp(H_acc, freqs, 'Hz'))), '-');
|
||||
hold off;
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
set(gca, 'XScale', 'log');
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([1, 1e3]);
|
||||
|
||||
% Obtained Super Sensor Dynamical Uncertainty
|
||||
% The obtained super sensor dynamical uncertainty is shown in Figure [[fig:super_sensor_uncertainty_h_infinity]].
|
||||
|
||||
|
||||
Dphi_Wu = 180/pi*asin(abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))));
|
||||
Dphi_Wu(abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))) > 1) = 360;
|
||||
|
||||
Dphi_ss = 180/pi*asin(abs(squeeze(freqresp(w_geo*H_geo, freqs, 'Hz'))) + abs(squeeze(freqresp(w_acc*H_acc, freqs, 'Hz'))));
|
||||
Dphi_ss(abs(squeeze(freqresp(w_geo*H_geo, freqs, 'Hz'))) + abs(squeeze(freqresp(w_acc*H_acc, freqs, 'Hz'))) > 1) = 360;
|
||||
|
||||
figure;
|
||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
% Magnitude
|
||||
ax1 = nexttile;
|
||||
hold on;
|
||||
plotMagUncertainty(w_acc, freqs, 'color_i', 1, 'DisplayName', '$1 + W_1 \Delta_1$');
|
||||
plotMagUncertainty(w_geo, freqs, 'color_i', 2, 'DisplayName', '$1 + W_2 \Delta_2$');
|
||||
plot(freqs, 1 + abs(squeeze(freqresp(w_geo*H_geo, freqs, 'Hz')))+abs(squeeze(freqresp(w_acc*H_acc, freqs, 'Hz'))), 'k-', ...
|
||||
'DisplayName', '$1 + W_1 \Delta_1 + W_2 \Delta_2$')
|
||||
plot(freqs, max(1 - abs(squeeze(freqresp(w_geo*H_geo, freqs, 'Hz')))-abs(squeeze(freqresp(w_acc*H_acc, freqs, 'Hz'))), 0.001), 'k-', ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(freqs, 1 + abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))), 'k--', ...
|
||||
'DisplayName', '$1 + W_u^{-1}\Delta$')
|
||||
plot(freqs, 1 - abs(squeeze(freqresp(inv(wu), freqs, 'Hz'))), 'k--', ...
|
||||
'HandleVisibility', 'off')
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylabel('Magnitude');
|
||||
ylim([1e-2, 1e1]);
|
||||
legend('location', 'southeast', 'FontSize', 8);
|
||||
hold off;
|
||||
|
||||
% Phase
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plotPhaseUncertainty(w_acc, freqs, 'color_i', 1);
|
||||
plotPhaseUncertainty(w_geo, freqs, 'color_i', 2);
|
||||
plot(freqs, Dphi_ss, 'k-');
|
||||
plot(freqs, -Dphi_ss, 'k-');
|
||||
plot(freqs, Dphi_Wu, 'k--');
|
||||
plot(freqs, -Dphi_Wu, 'k--');
|
||||
set(gca,'xscale','log');
|
||||
yticks(-180:90:180);
|
||||
ylim([-180 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
226
matlab/integral_force_feedback.m
Normal file
@ -0,0 +1,226 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
% The experimental data is loaded and any offset is removed.
|
||||
|
||||
id_ol = load('identification_noise_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id_ol.d = detrend(id_ol.d, 0);
|
||||
id_ol.acc_1 = detrend(id_ol.acc_1, 0);
|
||||
id_ol.acc_2 = detrend(id_ol.acc_2, 0);
|
||||
id_ol.geo_1 = detrend(id_ol.geo_1, 0);
|
||||
id_ol.geo_2 = detrend(id_ol.geo_2, 0);
|
||||
id_ol.f_meas = detrend(id_ol.f_meas, 0);
|
||||
id_ol.u = detrend(id_ol.u, 0);
|
||||
|
||||
% Experimental Data
|
||||
% The transfer function from force actuator to force sensors is estimated.
|
||||
|
||||
% The coherence shown in Figure [[fig:iff_identification_coh]] shows that the excitation signal is good enough.
|
||||
|
||||
|
||||
Ts = id_ol.t(2) - id_ol.t(1);
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_fmeas_est, f] = tfestimate(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts); % [V/m]
|
||||
[co_fmeas_est, ~] = mscohere( id_ol.u, id_ol.f_meas, win, [], [], 1/Ts);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, co_fmeas_est, '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([1, 1e3]); ylim([0, 1])
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_identification_coh
|
||||
% #+caption: Coherence for the identification of the IFF plant
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_identification_coh.png]]
|
||||
|
||||
% The obtained dynamics is shown in Figure [[fig:iff_identification_bode_plot]].
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_fmeas_est), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
ylim([1e-1, 1e3]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_fmeas_est), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 1e3]);
|
||||
|
||||
% Model of the IFF Plant
|
||||
% In order to plot the root locus for the IFF control strategy, a model of the identified plant is developed.
|
||||
|
||||
% It consists of several poles and zeros are shown below.
|
||||
|
||||
wz = 2*pi*102;
|
||||
xi_z = 0.01;
|
||||
wp = 2*pi*239.4;
|
||||
xi_p = 0.015;
|
||||
|
||||
Giff = 2.2*(s^2 + 2*xi_z*s*wz + wz^2)/(s^2 + 2*xi_p*s*wp + wp^2) * ... % Dynamics
|
||||
10*(s/3/pi/(1 + s/3/pi)) * ... % Low pass filter and gain of the voltage amplifier
|
||||
exp(-Ts*s); % Time delay induced by ADC/DAC
|
||||
|
||||
|
||||
|
||||
% The comparison of the identified dynamics and the developed model is done in Figure [[fig:iff_plant_model]].
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_fmeas_est), '.')
|
||||
plot(f, abs(squeeze(freqresp(Giff, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [V/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
ylim([1e-2, 1e3])
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_fmeas_est), '.')
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(Giff, f, 'Hz'))), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([0.5, 5e3]);
|
||||
|
||||
% Root Locus and optimal Controller
|
||||
% Now, the root locus for the Integral Force Feedback strategy is computed and shown in Figure [[fig:iff_root_locus]].
|
||||
|
||||
% Note that the controller used is not a pure integrator but rather a first order low pass filter with a cut-off frequency set at 2Hz.
|
||||
|
||||
|
||||
gains = logspace(0, 5, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(real(pole(Giff)), imag(pole(Giff)), 'kx');
|
||||
plot(real(tzero(Giff)), imag(tzero(Giff)), 'ko');
|
||||
for i = 1:length(gains)
|
||||
cl_poles = pole(feedback(Giff, gains(i)/(s + 2*pi*2)));
|
||||
plot(real(cl_poles), imag(cl_poles), 'k.');
|
||||
end
|
||||
cl_poles = pole(feedback(Giff, 102/(s + 2*pi*2)));
|
||||
plot(real(cl_poles), imag(cl_poles), 'rx');
|
||||
ylim([0, 1800]);
|
||||
xlim([-1600,200]);
|
||||
xlabel('Real Part')
|
||||
ylabel('Imaginary Part')
|
||||
axis square
|
||||
|
||||
|
||||
|
||||
% #+name: fig:iff_root_locus
|
||||
% #+caption: Root Locus for the IFF control
|
||||
% #+RESULTS:
|
||||
% [[file:figs/iff_root_locus.png]]
|
||||
|
||||
% The controller that yield maximum damping (shown by the red cross in Figure [[fig:iff_root_locus]]) is:
|
||||
|
||||
Kiff_opt = 102/(s + 2*pi*2);
|
||||
|
||||
% Verification of the achievable damping
|
||||
% A new identification is performed with the IFF control strategy applied to the system.
|
||||
|
||||
% Data is loaded and offset removed.
|
||||
|
||||
id_cl = load('identification_noise_iff_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
|
||||
|
||||
id_cl.d = detrend(id_cl.d, 0);
|
||||
id_cl.acc_1 = detrend(id_cl.acc_1, 0);
|
||||
id_cl.acc_2 = detrend(id_cl.acc_2, 0);
|
||||
id_cl.geo_1 = detrend(id_cl.geo_1, 0);
|
||||
id_cl.geo_2 = detrend(id_cl.geo_2, 0);
|
||||
id_cl.f_meas = detrend(id_cl.f_meas, 0);
|
||||
id_cl.u = detrend(id_cl.u, 0);
|
||||
|
||||
|
||||
|
||||
% The open-loop and closed-loop dynamics are estimated.
|
||||
|
||||
[tf_G_ol_est, f] = tfestimate(id_ol.u, id_ol.d, win, [], [], 1/Ts);
|
||||
[co_G_ol_est, ~] = mscohere( id_ol.u, id_ol.d, win, [], [], 1/Ts);
|
||||
[tf_G_cl_est, ~] = tfestimate(id_cl.u, id_cl.d, win, [], [], 1/Ts);
|
||||
[co_G_cl_est, ~] = mscohere( id_cl.u, id_cl.d, win, [], [], 1/Ts);
|
||||
|
||||
|
||||
|
||||
% The obtained coherence is shown in Figure [[fig:Gd_identification_iff_coherence]] and the dynamics in Figure [[fig:Gd_identification_iff_bode_plot]].
|
||||
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, co_G_ol_est, '-', 'DisplayName', 'OL')
|
||||
plot(f, co_G_cl_est, '-', 'DisplayName', 'IFF')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([1, 1e3]); ylim([0, 1])
|
||||
legend('location', 'southwest');
|
||||
|
||||
|
||||
|
||||
% #+name: fig:Gd_identification_iff_coherence
|
||||
% #+caption: Coherence for the transfer function from F to d, with and without IFF
|
||||
% #+RESULTS:
|
||||
% [[file:figs/Gd_identification_iff_coherence.png]]
|
||||
|
||||
|
||||
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(tf_G_ol_est), '-', 'DisplayName', 'OL')
|
||||
plot(f, abs(tf_G_cl_est), '-', 'DisplayName', 'IFF')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel',[]);
|
||||
hold off;
|
||||
legend('location', 'northeast');
|
||||
ylim([2e-7, 2e-4]);
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_G_ol_est), '-')
|
||||
plot(f, 180/pi*angle(tf_G_cl_est), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([1, 1e3]);
|