44 lines
1.1 KiB
Mathematica
44 lines
1.1 KiB
Mathematica
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%% Script Description
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%
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%%
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clear; close all; clc;
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%%
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load('./mat/G_jacobian.mat');
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%%
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freqs = logspace(0, 3, 2000);
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%%
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bode_opts = bodeoptions;
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bode_opts.FreqUnits = 'Hz';
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bode_opts.MagUnits = 'abs';
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bode_opts.MagScale = 'log';
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bode_opts.PhaseVisible = 'off';
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%% Compare when the Jac is above Meas. point and CoM
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% =>
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figure;
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bode(G_center.G_cart, G_Jac_offset.G_cart, 2*pi*freqs, bode_opts);
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%% Compare when the CoM is bellow the Meas. point and Jac
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% => This make the tilt resonance frequency a little bit higher.
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figure;
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bode(G_center.G_cart, G_CoM_offset.G_cart, 2*pi*freqs, bode_opts);
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%% Compare when the measurement point is higher than CoM and Jac
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% =>
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figure;
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bode(G_center.G_cart, G_Meas_offset.G_cart, 2*pi*freqs, bode_opts);
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%% Compare direct forces and forces applied by actuators on the same point
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% => This should be the same is the support is rigid.
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% => Looks like it's close but not equal
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figure;
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bode(G_center.G_cart, G_center.G_comp, 2*pi*freqs, bode_opts);
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%% Compare relative sensor and absolute sensor
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% => This should be the same as the support is rigid
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figure;
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bode(G_center.G_iner, G_center.G_comp, 2*pi*freqs, bode_opts);
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