new identifications
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a13d698fb0
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mat/identification_noise_iff_bis.mat
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mat/identification_noise_iff_bis.mat
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mat/identification_noise_opt_iff.mat
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mat/identification_noise_opt_iff.mat
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14
runtest.m
14
runtest.m
@ -8,16 +8,17 @@ close(f);
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%% Convert the Data
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data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
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d = data(:, 1);
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d = data(:, 1); % Interferomter [m]
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acc_1 = data(:, 2);
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acc_2 = data(:, 3);
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geo_1 = data(:, 4);
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geo_2 = data(:, 5);
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u = data(:, 6);
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f_meas = data(:, 7);
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t = data(:, 8);
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u = data(:, 6); % Excitation Signal [V]
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v = data(:, 7); % Input signal to the amplifier [V]
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f_meas = data(:, 8); % Voltage generated by the force sensor [V]
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t = data(:, 9);
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save('./mat/identification_noise_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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save('./mat/identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'v', 'u', 't');
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%%
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d = detrend(d, 0);
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@ -150,6 +151,3 @@ hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('PSD'); xlabel('Frequency [Hz]');
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@ -68,22 +68,22 @@ G_geo = 120*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
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figure;
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hold on;
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set(gca, 'ColorOrderIndex', 1);
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plot(f, p_acc1./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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plot(f, sqrt(p_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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'DisplayName', 'Accelerometer');
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set(gca, 'ColorOrderIndex', 1);
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plot(f, p_acc2./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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plot(f, sqrt(p_acc2)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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'HandleVisibility', 'off');
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set(gca, 'ColorOrderIndex', 2);
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plot(f, p_geo1./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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plot(f, sqrt(p_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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'DisplayName', 'Geophone');
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set(gca, 'ColorOrderIndex', 2);
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plot(f, p_geo2./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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plot(f, sqrt(p_geo2)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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'HandleVisibility', 'off');
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set(gca, 'ColorOrderIndex', 3);
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plot(f, p_d, 'DisplayName', 'Interferometer');
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plot(f, sqrt(p_d), 'DisplayName', 'Interferometer');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('PSD [$m^2/Hz$]'); xlabel('Frequency [Hz]');
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ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
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title('Huddle Test')
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legend();
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@ -191,6 +191,8 @@ hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([40, 400]);
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%% IFF development
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[tf_fmeas_est, f] = tfestimate(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts); % [V/m]
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[co_fmeas_est, ~] = mscohere(id_ol.u, id_ol.f_meas, win, [], [], 1/Ts);
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@ -201,7 +203,7 @@ xi_z = 0.01;
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wp = 2*pi*238;
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xi_p = 0.015;
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Giff = 2*(s^2 + 2*xi_z*s*wz + wz^2)/(s^2 + 2*xi_p*s*wp + wp^2);
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Giff = 20*(s^2 + 2*xi_z*s*wz + wz^2)/(s^2 + 2*xi_p*s*wp + wp^2)*(s/3/pi/(1 + s/3/pi));
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% Comparison model and identification
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figure;
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@ -242,7 +244,7 @@ ylabel('Imaginary Part')
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axis square
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% Optimal Controller
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Kiff_opt = 1100/(s + 2*pi*2);
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Kiff_opt = 110/(s + 2*pi*2);
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%% New identification
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id_ol = load('./mat/identification_chirp_40_400.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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@ -286,13 +288,150 @@ hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([40, 400]);
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%% Estimation of the inertial sensor transfer functions
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id = load('./mat/identification_noise.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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%% Excitation Signal
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run setup;
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% Get trasnfer function from input [V] to output displacement [m]
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id_cl = load('./mat/identification_noise_iff_bis.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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win = hann(ceil(10/Ts));
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[tf_G_cl_est, f] = tfestimate(id_cl.u, id_cl.d, win, [], [], 1/Ts);
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[co_G_cl_est, ~] = mscohere(id_cl.u, id_cl.d, win, [], [], 1/Ts);
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G_d_est = -5e-6*(2*pi*230)^2/(s^2 + 2*0.3*2*pi*240*s + (2*pi*240)^2);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_G_cl_est), '-')
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plot(f, abs(squeeze(freqresp(G_d_est, f, 'Hz'))), '--')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude [m/V]'); xlabel('Frequency [Hz]');
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(tf_G_cl_est), '-')
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plot(f, 180/pi*angle(squeeze(freqresp(G_d_est, f, 'Hz'))), '--')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([10, 1000]);
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%
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ht = load('./mat/huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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ht.d = detrend(ht.d, 0);
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ht.acc_1 = detrend(ht.acc_1, 0);
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ht.acc_2 = detrend(ht.acc_2, 0);
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ht.geo_1 = detrend(ht.geo_1, 0);
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ht.geo_2 = detrend(ht.geo_2, 0);
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win = hann(ceil(10/Ts));
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[p_d, f] = pwelch(ht.d, win, [], [], 1/Ts);
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[p_acc1, ~] = pwelch(ht.acc_1, win, [], [], 1/Ts);
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[p_acc2, ~] = pwelch(ht.acc_2, win, [], [], 1/Ts);
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[p_geo1, ~] = pwelch(ht.geo_1, win, [], [], 1/Ts);
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[p_geo2, ~] = pwelch(ht.geo_2, win, [], [], 1/Ts);
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% Generate Time domain signal with wanted PSD
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Fs = 1/Ts; % Sampling Frequency [Hz]
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t = 0:Ts:180; % Time Vector [s]
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u = sqrt(Fs/2)*randn(length(t), 1); % Signal with an ASD equal to one
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G_exc = 0.2e-6/(1 + s/2/pi/2)/(1 + s/2/pi/50);
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y_d = lsim(G_exc, u, t);
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[pxx, ~] = pwelch(y_d, win, 0, [], Fs);
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figure;
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hold on;
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set(gca, 'ColorOrderIndex', 1);
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plot(f, sqrt(p_acc1)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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'DisplayName', 'Accelerometer');
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set(gca, 'ColorOrderIndex', 1);
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plot(f, sqrt(p_acc2)./abs(squeeze(freqresp(G_acc*s^2, f, 'Hz'))), ...
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'HandleVisibility', 'off');
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set(gca, 'ColorOrderIndex', 2);
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plot(f, sqrt(p_geo1)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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'DisplayName', 'Geophone');
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set(gca, 'ColorOrderIndex', 2);
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plot(f, sqrt(p_geo2)./abs(squeeze(freqresp(G_geo*s, f, 'Hz'))), ...
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'HandleVisibility', 'off');
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plot(f, sqrt(pxx), 'k-', ...
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'DisplayName', 'Excitation');
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set(gca, 'ColorOrderIndex', 3);
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plot(f, sqrt(p_d), 'DisplayName', 'Interferometer');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]');
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title('Huddle Test')
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legend();
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% From displacement to Voltage
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y_v = lsim(G_exc*(1 + s/2/pi/50)/G_d_est/(1 + s/2/pi/5e3), u, t);
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figure; plot(t, y_v)
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figure; plot(t, lsim(G_pf, y_v, t))
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%% Transfer function of inertial sensors
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load('./mat/identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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%% Estimation of the inertial sensor transfer functions
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id = load('./mat/identification_noise_opt_iff.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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ht = load('./mat/huddle_test.mat', 'd', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 'f_meas', 'u', 't');
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ht.d = detrend(ht.d, 0);
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ht.acc_1 = detrend(ht.acc_1, 0);
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ht.acc_2 = detrend(ht.acc_2, 0);
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ht.geo_1 = detrend(ht.geo_1, 0);
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ht.geo_2 = detrend(ht.geo_2, 0);
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ht.f_meas = detrend(ht.f_meas, 0);
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id.d = detrend(id.d, 0);
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id.acc_1 = detrend(id.acc_1, 0);
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id.acc_2 = detrend(id.acc_2, 0);
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id.geo_1 = detrend(id.geo_1, 0);
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id.geo_2 = detrend(id.geo_2, 0);
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id.f_meas = detrend(id.f_meas, 0);
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% Compare PSD
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run setup;
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win = hann(ceil(1/Ts));
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win = hann(ceil(10/Ts));
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[p_id_d, f] = pwelch(id.d, win, [], [], 1/Ts);
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[p_id_acc1, ~] = pwelch(id.acc_1, win, [], [], 1/Ts);
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@ -378,20 +517,27 @@ hold off;
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xlim([2, 2e3]); ylim([0, 1])
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legend();
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% Models
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G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
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G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [[V/(m/s)]
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% Transfer Functions
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_acc1_est), '-')
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plot(f, abs(tf_acc2_est), '-')
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plot(f, abs(tf_acc1_est./(1i*2*pi*f).^2), '-')
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plot(f, abs(tf_acc2_est./(1i*2*pi*f).^2), '-')
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plot(f, abs(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); xlabel('Frequency [Hz]');
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ylabel('Amplitude [V/(m/s^2)]'); xlabel('Frequency [Hz]');
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(tf_acc1_est), '-')
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plot(f, 180/pi*angle(tf_acc2_est), '-')
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plot(f, 180/pi*angle(tf_acc1_est./(1i*2*pi*f).^2), '-')
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plot(f, 180/pi*angle(tf_acc2_est./(1i*2*pi*f).^2), '-')
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plot(f, 180/pi*angle(squeeze(freqresp(G_acc, f, 'Hz'))), 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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@ -403,19 +549,68 @@ xlim([2, 2e3]);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_geo1_est), '-')
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plot(f, abs(tf_geo2_est), '-')
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plot(f, abs(tf_geo1_est./(1i*2*pi*f)), '-')
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plot(f, abs(tf_geo2_est./(1i*2*pi*f)), '-')
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plot(f, abs(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); xlabel('Frequency [Hz]');
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ylabel('Amplitude[V/(m/s)]'); xlabel('Frequency [Hz]');
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(tf_geo1_est), '-')
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plot(f, 180/pi*angle(tf_geo2_est), '-')
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plot(f, 180/pi*angle(tf_geo1_est./(1i*2*pi*f)), '-')
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plot(f, 180/pi*angle(tf_geo2_est./(1i*2*pi*f)), '-')
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plot(f, 180/pi*angle(squeeze(freqresp(G_geo, f, 'Hz'))), 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([2, 2e3]);
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xlim([0.5, 2e3]);
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%% Compare signal
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id.acc_1 = detrend(id.acc_1, 0);
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id.acc_2 = detrend(id.acc_2, 0);
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id.geo_1 = detrend(id.geo_1, 0);
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id.geo_2 = detrend(id.geo_2, 0);
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id.d = detrend(id.d, 0);
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G_acc = 1/(1 + s/2/pi/2500); % [V/(m/s2)]
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G_geo = -1200*s^2/(s^2 + 2*0.7*2*pi*2*s + (2*pi*2)^2); % [V/(m/s)]
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G_hpf = (s/2/pi/2)/(1 + s/2/pi/2);
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acc1_d = lsim(G_hpf*1/G_acc/(s + 2*pi)^2, id.acc_1, id.t);
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acc2_d = lsim(G_hpf*1/G_acc/(s + 2*pi)^2, id.acc_2, id.t);
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geo1_d = lsim(G_hpf*1/G_geo/(s + 2*pi), id.geo_1, id.t);
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geo2_d = lsim(G_hpf*1/G_geo/(s + 2*pi), id.geo_2, id.t);
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figure;
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hold on;
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plot(id.t, id.d);
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plot(id.t, acc1_d);
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plot(id.t, acc2_d);
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plot(id.t, geo1_d);
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plot(id.t, geo2_d);
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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% Fusion
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wc = 2*pi*200;
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G_hpf = (s/wc)/(1 + s/wc);
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G_lpf = 1/(1 + s/wc);
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ss_d = lsim(G_hpf, acc1_d, id.t) + lsim(G_lpf, geo1_d, id.t);
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figure;
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hold on;
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plot(id.t, id.d);
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plot(id.t, ss_d);
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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Binary file not shown.
2
setup.m
2
setup.m
@ -9,6 +9,7 @@ G_pf = c2d(G_pf, Ts, 'tustin');
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%% Force Sensor Filter (HPF)
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Gf_hpf = s/(s + 2*pi*2);
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Gf_hpf = tf(1);
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Gf_hpf = c2d(Gf_hpf, Ts, 'tustin');
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%% IFF Controller
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@ -21,3 +22,4 @@ Tsim = 180; % Excitation time + Measurement time [s]
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t = 0:Ts:Tsim;
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% u_exc = timeseries(chirp(t, 0.1, Tsim, 1e3, 'logarithmic'), t);
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u_exc = timeseries(chirp(t, 40, Tsim, 400, 'logarithmic'), t);
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u_exc = timeseries(y_v, t);
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