114 lines
2.2 KiB
Matlab
114 lines
2.2 KiB
Matlab
tg = slrt;
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%%
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f = SimulinkRealTime.openFTP(tg);
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mget(f, 'apa95ml.dat', 'data');
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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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acc_1 = data(:, 1);
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acc_2 = data(:, 2);
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geo_1 = data(:, 3);
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geo_2 = data(:, 4);
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t = data(:, 5);
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save('./mat/huddle_test.mat', 'acc_1', 'acc_2', 'geo_1', 'geo_2', 't');
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%%
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figure;
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subplot(1,2,1);
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plot(t, u)
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subplot(1,2,2);
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plot(t, y)
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%%
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load('../mat/apa95ml_5kg_10V.mat', 'u', 't', 'y');
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ht = load('../mat/huddle_test.mat', 'u', 't', 'y');
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u = u - mean(u);
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y = y - mean(y);
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%%
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[pxx, f] = pwelch(y, win, [], [], 1/Ts);
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[pht, ~] = pwelch(ht.y, win, [], [], 1/Ts);
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figure;
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hold on;
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plot(f, pxx);
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plot(f, pht);
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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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%%
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run setup;
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win = hann(ceil(0.1/Ts));
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[tf_est, f] = tfestimate(u, y, win, [], [], 1/Ts);
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[co_est, ~] = mscohere(u, y, win, [], [], 1/Ts);
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%%
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figure;
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hold on;
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plot(f, co_est, 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Coherence'); xlabel('Frequency [Hz]');
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hold off;
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%%
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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_est), 'k-', 'DisplayName', 'Identified')
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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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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*unwrap(angle(-tf_est)), '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([10, 5000]);
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%%
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win = hann(ceil(0.2/Ts));
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[tf_est, f] = tfestimate(u, v, win, [], [], 1/Ts);
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[co_est, ~] = mscohere(u, v, win, [], [], 1/Ts);
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%%
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figure;
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hold on;
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plot(f, co_est, 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Coherence'); xlabel('Frequency [Hz]');
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hold off;
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%%
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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_est), 'k-', 'DisplayName', 'Identified')
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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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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*unwrap(angle(-tf_est)), '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([10, 5000]);
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