58 lines
2.3 KiB
Matlab
58 lines
2.3 KiB
Matlab
%%
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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');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_legs', '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_legs('D1', 'F1'), freqs, 'Hz'))), 'k-');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D2', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D3', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D4', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D5', 'F1'), freqs, 'Hz'))), 'k--');
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D6', '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_legs_coupling', 'normal-normal', struct('path', 'identification')); end
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