2019-03-22 12:03:59 +01:00
<?xml version="1.0" encoding="utf-8"?>
< !DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" lang = "en" xml:lang = "en" >
< head >
2019-08-26 11:58:44 +02:00
<!-- 2019 - 08 - 26 lun. 11:55 -->
2019-03-22 12:03:59 +01:00
< meta http-equiv = "Content-Type" content = "text/html;charset=utf-8" / >
< meta name = "viewport" content = "width=device-width, initial-scale=1" / >
< title > Identification of the Stewart Platform using Simscape< / title >
< meta name = "generator" content = "Org mode" / >
< meta name = "author" content = "Thomas Dehaeze" / >
< style type = "text/css" >
<!-- /* --> <![CDATA[/*> <!-- */
.title { text-align: center;
margin-bottom: .2em; }
.subtitle { text-align: center;
font-size: medium;
font-weight: bold;
margin-top:0; }
.todo { font-family: monospace; color: red; }
.done { font-family: monospace; color: green; }
.priority { font-family: monospace; color: orange; }
.tag { background-color: #eee; font-family: monospace;
padding: 2px; font-size: 80%; font-weight: normal; }
.timestamp { color: #bebebe; }
.timestamp-kwd { color: #5f9ea0; }
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
.underline { text-decoration: underline; }
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
p.verse { margin-left: 3%; }
pre {
border: 1px solid #ccc;
box-shadow: 3px 3px 3px #eee;
padding: 8pt;
font-family: monospace;
overflow: auto;
margin: 1.2em;
}
pre.src {
position: relative;
overflow: visible;
padding-top: 1.2em;
}
pre.src:before {
display: none;
position: absolute;
background-color: white;
top: -10px;
right: 10px;
padding: 3px;
border: 1px solid black;
}
pre.src:hover:before { display: inline;}
/* Languages per Org manual */
pre.src-asymptote:before { content: 'Asymptote'; }
pre.src-awk:before { content: 'Awk'; }
pre.src-C:before { content: 'C'; }
/* pre.src-C++ doesn't work in CSS */
pre.src-clojure:before { content: 'Clojure'; }
pre.src-css:before { content: 'CSS'; }
pre.src-D:before { content: 'D'; }
pre.src-ditaa:before { content: 'ditaa'; }
pre.src-dot:before { content: 'Graphviz'; }
pre.src-calc:before { content: 'Emacs Calc'; }
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
pre.src-fortran:before { content: 'Fortran'; }
pre.src-gnuplot:before { content: 'gnuplot'; }
pre.src-haskell:before { content: 'Haskell'; }
pre.src-hledger:before { content: 'hledger'; }
pre.src-java:before { content: 'Java'; }
pre.src-js:before { content: 'Javascript'; }
pre.src-latex:before { content: 'LaTeX'; }
pre.src-ledger:before { content: 'Ledger'; }
pre.src-lisp:before { content: 'Lisp'; }
pre.src-lilypond:before { content: 'Lilypond'; }
pre.src-lua:before { content: 'Lua'; }
pre.src-matlab:before { content: 'MATLAB'; }
pre.src-mscgen:before { content: 'Mscgen'; }
pre.src-ocaml:before { content: 'Objective Caml'; }
pre.src-octave:before { content: 'Octave'; }
pre.src-org:before { content: 'Org mode'; }
pre.src-oz:before { content: 'OZ'; }
pre.src-plantuml:before { content: 'Plantuml'; }
pre.src-processing:before { content: 'Processing.js'; }
pre.src-python:before { content: 'Python'; }
pre.src-R:before { content: 'R'; }
pre.src-ruby:before { content: 'Ruby'; }
pre.src-sass:before { content: 'Sass'; }
pre.src-scheme:before { content: 'Scheme'; }
pre.src-screen:before { content: 'Gnu Screen'; }
pre.src-sed:before { content: 'Sed'; }
pre.src-sh:before { content: 'shell'; }
pre.src-sql:before { content: 'SQL'; }
pre.src-sqlite:before { content: 'SQLite'; }
/* additional languages in org.el's org-babel-load-languages alist */
pre.src-forth:before { content: 'Forth'; }
pre.src-io:before { content: 'IO'; }
pre.src-J:before { content: 'J'; }
pre.src-makefile:before { content: 'Makefile'; }
pre.src-maxima:before { content: 'Maxima'; }
pre.src-perl:before { content: 'Perl'; }
pre.src-picolisp:before { content: 'Pico Lisp'; }
pre.src-scala:before { content: 'Scala'; }
pre.src-shell:before { content: 'Shell Script'; }
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
/* additional language identifiers per "defun org-babel-execute"
in ob-*.el */
pre.src-cpp:before { content: 'C++'; }
pre.src-abc:before { content: 'ABC'; }
pre.src-coq:before { content: 'Coq'; }
pre.src-groovy:before { content: 'Groovy'; }
/* additional language identifiers from org-babel-shell-names in
ob-shell.el: ob-shell is the only babel language using a lambda to put
the execution function name together. */
pre.src-bash:before { content: 'bash'; }
pre.src-csh:before { content: 'csh'; }
pre.src-ash:before { content: 'ash'; }
pre.src-dash:before { content: 'dash'; }
pre.src-ksh:before { content: 'ksh'; }
pre.src-mksh:before { content: 'mksh'; }
pre.src-posh:before { content: 'posh'; }
/* Additional Emacs modes also supported by the LaTeX listings package */
pre.src-ada:before { content: 'Ada'; }
pre.src-asm:before { content: 'Assembler'; }
pre.src-caml:before { content: 'Caml'; }
pre.src-delphi:before { content: 'Delphi'; }
pre.src-html:before { content: 'HTML'; }
pre.src-idl:before { content: 'IDL'; }
pre.src-mercury:before { content: 'Mercury'; }
pre.src-metapost:before { content: 'MetaPost'; }
pre.src-modula-2:before { content: 'Modula-2'; }
pre.src-pascal:before { content: 'Pascal'; }
pre.src-ps:before { content: 'PostScript'; }
pre.src-prolog:before { content: 'Prolog'; }
pre.src-simula:before { content: 'Simula'; }
pre.src-tcl:before { content: 'tcl'; }
pre.src-tex:before { content: 'TeX'; }
pre.src-plain-tex:before { content: 'Plain TeX'; }
pre.src-verilog:before { content: 'Verilog'; }
pre.src-vhdl:before { content: 'VHDL'; }
pre.src-xml:before { content: 'XML'; }
pre.src-nxml:before { content: 'XML'; }
/* add a generic configuration mode; LaTeX export needs an additional
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
pre.src-conf:before { content: 'Configuration File'; }
table { border-collapse:collapse; }
caption.t-above { caption-side: top; }
caption.t-bottom { caption-side: bottom; }
td, th { vertical-align:top; }
th.org-right { text-align: center; }
th.org-left { text-align: center; }
th.org-center { text-align: center; }
td.org-right { text-align: right; }
td.org-left { text-align: left; }
td.org-center { text-align: center; }
dt { font-weight: bold; }
.footpara { display: inline; }
.footdef { margin-bottom: 1em; }
.figure { padding: 1em; }
.figure p { text-align: center; }
.equation-container {
display: table;
text-align: center;
width: 100%;
}
.equation {
vertical-align: middle;
}
.equation-label {
display: table-cell;
text-align: right;
vertical-align: middle;
}
.inlinetask {
padding: 10px;
border: 2px solid gray;
margin: 10px;
background: #ffffcc;
}
#org-div-home-and-up
{ text-align: right; font-size: 70%; white-space: nowrap; }
textarea { overflow-x: auto; }
.linenr { font-size: smaller }
.code-highlighted { background-color: #ffff00; }
.org-info-js_info-navigation { border-style: none; }
#org-info-js_console-label
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
.org-info-js_search-highlight
{ background-color: #ffff00; color: #000000; font-weight: bold; }
.org-svg { width: 90%; }
/*]]>*/-->
< / style >
2019-08-26 11:58:44 +02:00
< link rel = "stylesheet" type = "text/css" href = "./css/htmlize.css" / >
< link rel = "stylesheet" type = "text/css" href = "./css/readtheorg.css" / >
< script src = "./js/jquery.min.js" > < / script >
< script src = "./js/bootstrap.min.js" > < / script >
< script src = "./js/jquery.stickytableheaders.min.js" > < / script >
< script src = "./js/readtheorg.js" > < / script >
2019-03-22 12:03:59 +01:00
< script type = "text/javascript" >
/*
@licstart The following is the entire license notice for the
JavaScript code in this tag.
Copyright (C) 2012-2019 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
General Public License (GNU GPL) as published by the Free Software
Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
<!-- /* --> <![CDATA[/*> <!-- */
function CodeHighlightOn(elem, id)
{
var target = document.getElementById(id);
if(null != target) {
elem.cacheClassElem = elem.className;
elem.cacheClassTarget = target.className;
target.className = "code-highlighted";
elem.className = "code-highlighted";
}
}
function CodeHighlightOff(elem, id)
{
var target = document.getElementById(id);
if(elem.cacheClassElem)
elem.className = elem.cacheClassElem;
if(elem.cacheClassTarget)
target.className = elem.cacheClassTarget;
}
/*]]>*///-->
< / script >
< script type = "text/x-mathjax-config" >
MathJax.Hub.Config({
displayAlign: "center",
displayIndent: "0em",
"HTML-CSS": { scale: 100,
linebreaks: { automatic: "false" },
webFont: "TeX"
},
SVG: {scale: 100,
linebreaks: { automatic: "false" },
font: "TeX"},
NativeMML: {scale: 100},
TeX: { equationNumbers: {autoNumber: "AMS"},
MultLineWidth: "85%",
TagSide: "right",
TagIndent: ".8em"
}
});
< / script >
< script type = "text/javascript"
src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-AMS_HTML">< / script >
< / head >
< body >
2019-08-26 11:58:44 +02:00
< div id = "org-div-home-and-up" >
< a accesskey = "h" href = "./index.html" > UP < / a >
|
< a accesskey = "H" href = "./index.html" > HOME < / a >
< / div > < div id = "content" >
2019-03-22 12:03:59 +01:00
< h1 class = "title" > Identification of the Stewart Platform using Simscape< / h1 >
< div id = "table-of-contents" >
< h2 > Table of Contents< / h2 >
< div id = "text-table-of-contents" >
< ul >
2019-08-26 11:58:44 +02:00
< li > < a href = "#org5e5b5f3" > 1. Identification< / a > < / li >
< li > < a href = "#orge4ddae7" > 2. Cartesian Plot< / a > < / li >
< li > < a href = "#orgc3f5223" > 3. From a force to force sensor< / a > < / li >
< li > < a href = "#org1795f38" > 4. From a force applied in the leg to the displacement of the leg< / a > < / li >
< li > < a href = "#org3e4873e" > 5. Transmissibility< / a > < / li >
< li > < a href = "#org1ab2176" > 6. Compliance< / a > < / li >
< li > < a href = "#orgf18ed8c" > 7. Inertial< / a > < / li >
< li > < a href = "#org9ed65c5" > 8. identifyPlant< / a > < / li >
2019-03-22 12:03:59 +01:00
< / ul >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org5e5b5f3" class = "outline-2" >
< h2 id = "org5e5b5f3" > < span class = "section-number-2" > 1< / span > Identification< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-1" >
< p >
The hexapod structure and Sample structure are initialized.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > stewart = initializeGeneralConfiguration< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
stewart = computeGeometricalProperties< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
stewart = initializeMechanicalElements< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
save< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > './mat/stewart.mat', 'stewart'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
initializeSample< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > G = identifyPlant< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > freqs = logspace< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1000< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-orge4ddae7" class = "outline-2" >
< h2 id = "orge4ddae7" > < span class = "section-number-2" > 2< / span > Cartesian Plot< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-2" >
< p >
From a force applied in the Cartesian frame to a displacement in the Cartesian frame.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_cart< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
bode< span class = "org-rainbow-delimiters-depth-1" > (< / span > G.G_cart, freqs< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-orgc3f5223" class = "outline-2" >
< h2 id = "orgc3f5223" > < span class = "section-number-2" > 3< / span > From a force to force sensor< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-3" >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > N/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'southeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'DisplayName', '$F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > m_j< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_forc< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > N/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'southeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org1795f38" class = "outline-2" >
< h2 id = "org1795f38" > < span class = "section-number-2" > 4< / span > From a force applied in the leg to the displacement of the leg< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-4" >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k-', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'DisplayName', '$D_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > j< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > /F_< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > {< / span > < / span > < span class = "org-string" > i< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < / span > < span class = "org-string" > $'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_legs< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < / span > < span class = "org-string" > , 'k--', 'HandleVisibility', 'off'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
legend< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'location', 'northeast'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org3e4873e" class = "outline-2" >
< h2 id = "org3e4873e" > < span class = "section-number-2" > 5< / span > Transmissibility< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-5" >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > ) < / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/m< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > , < span class = "org-highlight-numbers-number" > 4< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > , < span class = "org-highlight-numbers-number" > 5< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > '< / span > Amplitude < span class = "org-rainbow-delimiters-depth-2" > [< / span > $< span class = "org-type" > \< / span > frac< span class = "org-rainbow-delimiters-depth-3" > {< / span > rad< span class = "org-type" > /< / span > s< span class = "org-rainbow-delimiters-depth-3" > }{< / span > rad< span class = "org-type" > /< / span > s< span class = "org-rainbow-delimiters-depth-3" > }< / span > $< span class = "org-rainbow-delimiters-depth-2" > ]< / span > '< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_tran< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/m< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org1ab2176" class = "outline-2" >
< h2 id = "org1ab2176" > < span class = "section-number-2" > 6< / span > Compliance< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-6" >
< p >
From a force applied in the Cartesian frame to a relative displacement of the mobile platform with respect to the base.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_comp< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-orgf18ed8c" class = "outline-2" >
< h2 id = "orgf18ed8c" > < span class = "section-number-2" > 7< / span > Inertial< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-7" >
< p >
From a force applied on the Cartesian frame to the absolute displacement of the mobile platform.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
2019-03-22 12:03:59 +01:00
hold on;
2019-08-26 11:58:44 +02:00
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
plot< span class = "org-rainbow-delimiters-depth-1" > (< / span > freqs, abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > squeeze< span class = "org-rainbow-delimiters-depth-3" > (< / span > freqresp< span class = "org-rainbow-delimiters-depth-4" > (< / span > G.G_iner< span class = "org-rainbow-delimiters-depth-5" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > , < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-5" > )< / span > , freqs, < span class = "org-string" > 'Hz'< / span > < span class = "org-rainbow-delimiters-depth-4" > )< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
hold off;
2019-08-26 11:58:44 +02:00
< span class = "org-type" > set< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > gca< / span > , < span class = "org-string" > 'XScale', 'log'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; set< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > gca, 'YScale', 'log'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
xlabel< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'Frequency < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > Hz< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-string" > ; ylabel< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-string" > 'Amplitude < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > [< / span > < / span > < span class = "org-string" > m/N< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < / span > < span class = "org-string" > '< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
2019-08-26 11:58:44 +02:00
< div id = "outline-container-org9ed65c5" class = "outline-2" >
< h2 id = "org9ed65c5" > < span class = "section-number-2" > 8< / span > identifyPlant< / h2 >
2019-03-22 12:03:59 +01:00
< div class = "outline-text-2" id = "text-8" >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-keyword" > function< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-variable-name" > sys< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > < / span > = < span class = "org-function-name" > identifyPlant< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > opts_param< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
We use this code block to pass optional parameters.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Default values for opts< / span > < / span >
opts = struct< span class = "org-rainbow-delimiters-depth-1" > ()< / span > ;
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Populate opts with input parameters< / span > < / span >
< span class = "org-keyword" > if< / span > exist< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > 'opts_param','var'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > opt< / span > = < span class = "org-constant" > fieldnames< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-constant" > opts_param< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span > < span class = "org-constant" > '< / span >
opts.< span class = "org-rainbow-delimiters-depth-1" > (< / span > opt< span class = "org-rainbow-delimiters-depth-2" > {< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = opts_param.< span class = "org-rainbow-delimiters-depth-1" > (< / span > opt< span class = "org-rainbow-delimiters-depth-2" > {< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > }< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
We defined the options for the < code > linearize< / code > command.
Here, we just identify the system at time \(t = 0\).
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > options = linearizeOptions;
2019-08-26 11:58:44 +02:00
options.SampleTime = < span class = "org-highlight-numbers-number" > 0< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
We define the name of the Simulink File used to identification.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > mdl = < span class = "org-string" > 'stewart'< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
Then we defined the input/output of the transfer function we want to identify.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Inputs< / span > < / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > F'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Cartesian forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Fl'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Leg forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Fd'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Direct forces< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dw'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'input'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Base motion< / span >
< span class = "org-matlab-cellbreak" > < span class = "org-comment" > %% Outputs< / span > < / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Relative Motion< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Dlm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Displacement of each leg< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 7< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Flm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Force sensor in each leg< / span >
io< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 8< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = linio< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > mdl, '< span class = "org-type" > /< / span > Xm'< span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-highlight-numbers-number" > 1< / span > , 'output'< span class = "org-rainbow-delimiters-depth-1" > )< / span > ; < span class = "org-comment" > % Absolute motion of platform< / span >
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
The linearization is run.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > G = linearize< span class = "org-rainbow-delimiters-depth-1" > (< / span > mdl, io, < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
We defined all the Input/Output names of the identified transfer function.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > G.InputName = < span class = "org-rainbow-delimiters-depth-1" > {< / span > < span class = "org-string" > 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'< / span > < span class = "org-rainbow-delimiters-depth-1" > }< / span > ;
G.OutputName = < span class = "org-rainbow-delimiters-depth-1" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m'< / span > , < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-rainbow-delimiters-depth-1" > }< / span > ;
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< p >
We split the transfer function into sub transfer functions and we compute their minimum realization.
< / p >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > sys.G_cart = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_forc = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_legs = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'F1', 'F2', 'F3', 'F4', 'F5', 'F6'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_tran = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_comp = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
sys.G_iner = minreal< span class = "org-rainbow-delimiters-depth-1" > (< / span > G< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < span class = "org-string" > 'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'< / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < / span > < span class = "org-string" > , < / span > < span class = "org-string" > < span class = "org-rainbow-delimiters-depth-3" > {< / span > < / span > < span class = "org-string" > 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'< / span > < span class = "org-rainbow-delimiters-depth-3" > }< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-comment" > % sys.G_all = minreal(G);< / span >
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< div class = "org-src-container" >
2019-08-26 11:58:44 +02:00
< pre class = "src src-matlab" > < span class = "org-keyword" > end< / span >
2019-03-22 12:03:59 +01:00
< / pre >
< / div >
< / div >
< / div >
< / div >
< div id = "postamble" class = "status" >
< p class = "author" > Author: Thomas Dehaeze< / p >
2019-08-26 11:58:44 +02:00
< p class = "date" > Created: 2019-08-26 lun. 11:55< / p >
2019-03-22 12:03:59 +01:00
< p class = "validation" > < a href = "http://validator.w3.org/check?uri=referer" > Validate< / a > < / p >
< / div >
< / body >
< / html >
