Add css and js. Add lots of org mode files.
This commit is contained in:
20
old/identification/id_G.m
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20
old/identification/id_G.m
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%% Script Description
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% Script used to identify various transfer functions
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% of the Stewart platform
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%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% Initialize System
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initializeSample(struct('mass', 50));
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initializeHexapod(struct('actuator', 'piezo'));
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%% Identification
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G = identifyPlant();
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%% Save
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save('./mat/G.mat', 'G');
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38
old/identification/id_jacobian.m
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38
old/identification/id_jacobian.m
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%% Script Description
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%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% System - perfectly aligned
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1, 'density', 0.1));
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initializeSample(struct('mass', 50, 'height', 1, 'measheight', 1, 'offset', [0, 0, -25.5]));
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% Identification
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G_center = identifyPlant();
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%% System - Jacobian is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150));
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% Identification
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G_Jac_offset = identifyPlant();
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%% System - CoM is too low
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 280, 'measheight', 150));
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% Identification
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G_CoM_offset = identifyPlant();
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%% System - Meas point is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160));
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% Identification
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G_Meas_offset = identifyPlant();
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%% Save
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save('./mat/G_jacobian.mat', 'G_center', 'G_Jac_offset', 'G_CoM_offset', 'G_Meas_offset');
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43
old/identification/id_jacobian_plots.m
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43
old/identification/id_jacobian_plots.m
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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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14
old/identification/id_main.m
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14
old/identification/id_main.m
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%%
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clear; close all; clc;
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%% Jacobian Study
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%% Identification of the system
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run id_G.m
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%% Plots of the identifications
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run id_plot_cart.m
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run id_plot_legs.m
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run id_plot_iff.m
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run id_plot_db.m
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96
old/identification/id_plot_cart.m
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96
old/identification/id_plot_cart.m
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Plant in the X direction
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_hori', 'normal-normal', struct('path', 'identification')); end
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%% Plant in the Z direction
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_vert', 'normal-normal', struct('path', 'identification')); end
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%% Coupling
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figure;
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for i_input = 1:3
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for i_output = 1:3
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subaxis(3,3,3*(i_input-1)+i_output);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart(i_output, i_input), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart(i_output, i_input), freqs, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlim([freqs(1) freqs(end)]); ylim([1e-22, 1e-2]);
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yticks([1e-20, 1e-15, 1e-10, 1e-5]); xticks([0.1 1 10 100 1000]);
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if i_output > 1; set(gca,'yticklabel',[]); end
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if i_input < 3; set(gca,'xticklabel',[]); end
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hold off;
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end
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end
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if save_fig; exportFig('G_coupling', 'wide-tall', struct('path', 'identification')); end
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40
old/identification/id_plot_db.m
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40
old/identification/id_plot_db.m
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dx', 'Dbx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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hold off;
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legend('Location', 'southeast');
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if save_fig; exportFig('G_db_hori', 'normal-normal', struct('path', 'identification')); end
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%%
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dz', 'Dbz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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hold off;
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legend('Location', 'southeast');
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if save_fig; exportFig('G_db_vert', 'normal-normal', struct('path', 'identification')); end
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%%
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57
old/identification/id_plot_iff.m
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57
old/identification/id_plot_iff.m
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@@ -0,0 +1,57 @@
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_iff', 'normal-normal', struct('path', 'identification')); end
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%% Coupling
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'k-');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm2', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm3', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm4', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm5', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm6', 'F1'), freqs, 'Hz'))), 'k--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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hold off;
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if save_fig; exportFig('G_iff_coupling', 'normal-normal', struct('path', 'identification')); end
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57
old/identification/id_plot_legs.m
Normal file
57
old/identification/id_plot_legs.m
Normal file
@@ -0,0 +1,57 @@
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_legs('D1', 'F1'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
if save_fig; exportFig('G_legs', 'normal-normal', struct('path', 'identification')); end
|
||||
|
||||
%% Coupling
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D2', 'F1'), freqs, 'Hz'))), 'k--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D3', 'F1'), freqs, 'Hz'))), 'k--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D4', 'F1'), freqs, 'Hz'))), 'k--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D5', 'F1'), freqs, 'Hz'))), 'k--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D6', 'F1'), freqs, 'Hz'))), 'k--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
if save_fig; exportFig('G_legs_coupling', 'normal-normal', struct('path', 'identification')); end
|
||||
Reference in New Issue
Block a user