101 lines
2.2 KiB
Mathematica
101 lines
2.2 KiB
Mathematica
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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addpath('./mat/');
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% Load Data
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% The data from the "noise test" and the identification test are loaded.
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ht = load('huddle_test.mat', 't', 'y');
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load('apa95ml_5kg_Amp_E505.mat', 't', 'um', 'y');
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% Any offset value is removed:
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um = detrend(um, 0); % Generated DAC Voltage [V]
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y = detrend(y , 0); % Mass displacement [m]
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ht.y = detrend(ht.y, 0);
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% Now we add a factor 10 to take into account the gain of the voltage amplifier.
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Va = 10*um;
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% Comparison of the PSD with Huddle Test
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Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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[pxx, f] = pwelch(y, win, [], [], Fs);
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[pht, ~] = pwelch(ht.y, win, [], [], Fs);
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figure;
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hold on;
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plot(f, sqrt(pxx), 'DisplayName', '5kg');
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plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
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legend('location', 'northeast');
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xlim([1, Fs/2]);
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% Compute TF estimate and Coherence
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[tf_est, f] = tfestimate(Va, -y, win, [], [], 1/Ts);
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[co_est, ~] = mscohere( Va, -y, win, [], [], 1/Ts);
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figure;
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hold on;
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plot(f, co_est, 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Coherence'); xlabel('Frequency [Hz]');
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hold off;
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xlim([10, 5e3]);
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% #+name: fig:apa95ml_5kg_PI_coh
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% #+caption: Coherence
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% #+RESULTS:
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% [[file:figs/apa95ml_5kg_PI_coh.png]]
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% Comparison with the FEM model
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load('mat/fem_simscape_models.mat', 'Ghm');
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freqs = logspace(0, 4, 1000);
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(f, abs(tf_est), 'DisplayName', 'Identification')
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plot(freqs, abs(squeeze(freqresp(Ghm, freqs, 'Hz'))), 'DisplayName', 'FEM')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude [m/V]'); set(gca, 'XTickLabel', []);
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legend('location', 'northeast')
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hold off;
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ax2 = nexttile;
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hold on;
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plot(f, 180/pi*angle(tf_est))
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plot(freqs, 180/pi*angle(squeeze(freqresp(Ghm, freqs, 'Hz'))))
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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ylim([-180, 180]);
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yticks(-180:90:180);
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linkaxes([ax1,ax2], 'x');
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xlim([10, 5e3]);
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