25 lines
603 B
Matlab
25 lines
603 B
Matlab
%%
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s = tf('s');
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Ts = 1e-4; % [s]
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%% Pre-Filter
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% Glpf = 1/(1 + s/2/pi/2e3);
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G_pf = 1/(1 + s/2/pi/50); % Used to excite with constant velocity
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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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Kiff = 1/(s + 2*pi*2);
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Kiff = c2d(Kiff, Ts, 'tustin');
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%% Excitation Signal
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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); |