Update all project: add folders with scripts
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36
active_damping/act_damp_iff_generate.m
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36
active_damping/act_damp_iff_generate.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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s = tf('s');
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%% Light Voice Coil
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%sisotool(-G_light_vc.G_iff('Fm1', 'F1')/s);
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K_iff_light_vc = 105/s*tf(eye(6));
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%% Light Piezo
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%sisotool(-G_light_pz.G_iff('Fm1', 'F1')/s);
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K_iff_light_pz = 3300/s*tf(eye(6));
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%% Heavy Voice Coil
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%sisotool(-G_heavy_vc.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_vc = 22.7/s*tf(eye(6));
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%% Heavy Piezo
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%sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_pz = 720/s*tf(eye(6));
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%% Save Controllers
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save('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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45
active_damping/act_damp_iff_id.m
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45
active_damping/act_damp_iff_id.m
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load controllers
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load('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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%%
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initializeSample(struct('mass', 1));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_light_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_light_pz; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_pz_iff = identifyPlant();
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%%
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initializeSample(struct('mass', 50));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_heavy_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_heavy_pz;
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_pz_iff = identifyPlant();
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%% Save the obtained transfer functions
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save('./mat/G_iff.mat', ...
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'G_light_vc_iff', 'G_light_pz_iff', ...
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'G_heavy_vc_iff', 'G_heavy_pz_iff');
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133
active_damping/act_damp_iff_plots.m
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133
active_damping/act_damp_iff_plots.m
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load
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load('./mat/G_iff.mat', 'G_light_vc_iff', 'G_light_pz_iff', 'G_heavy_vc_iff', 'G_heavy_pz_iff');
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% New Damped Plant - Horizontal 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_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.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_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.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_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% New Damped Plant - Vertical 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_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.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_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.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_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Ground motion Transmissibility - Horizontal Direction
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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'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_db_hori_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Ground motion Transmissibility - Vertical Direction
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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'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_db_vert_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Direct Forces Compliance - Horizontal Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dx', 'Fix'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dx', 'Fix'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_fi_hori_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Direct Forces Compliance - Vertical Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dz', 'Fiz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dz', 'Fiz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_fi_vert_iff', 'normal-normal', struct('path', 'active_damping')); end
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8
active_damping/act_damp_main.m
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8
active_damping/act_damp_main.m
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% Generate the IFF controls
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run act_damp_iff_generate.m
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% Identification of the damped plant
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run act_damp_iff_id.m
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% Plot new transfer functions
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run act_damp_iff_plots.m
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