test-bench-apa/index.org

#+TITLE: Test Bench APA
:DRAWER:
#+STARTUP: overview

#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

#+HTML_LINK_HOME: ../index.html
#+HTML_LINK_UP: ../index.html

#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>

#+HTML_MATHJAX: align: center tagside: right font: TeX

#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes

#+PROPERTY: header-args:shell  :eval no-export

#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
:END:

* Matlab Init                                                :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
  <<matlab-init>>
#+end_src

* Parameters
#+begin_src matlab
  Ts = 1e-4;
#+end_src

* Filter White Noise
#+begin_src matlab
  Glpf = 1/(1 + s/2/pi/500);

  Gz = c2d(Glpf, Ts, 'tustin');
#+end_src

* Load Data
#+begin_src matlab
  data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml_5kg.dat').data;
#+end_src

* Time Domain Data
#+begin_src matlab
  figure;

  subplot(1,2,1);
  plot(data(:, 3), data(:, 1))
  ylabel('Input Voltage [V]'); xlabel('Time [s]');


  subplot(1,2,2);
  plot(data(:, 3), data(:, 2))
  ylabel('Output Displacement [m]'); xlabel('Time [s]');
#+end_src

* Compute TF estimate and Coherence
#+begin_src matlab
  win = hann(ceil(1/Ts));

  [tf_est, f] = tfestimate(data(:, 1), -data(:, 2), win, [], [], 1/Ts);
  [co_est, ~] = mscohere(  data(:, 1), -data(:, 2), win, [], [], 1/Ts);
#+end_src

* Coherence
#+begin_src matlab
  figure;

  hold on;
  plot(f, co_est, 'k-')
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
  ylabel('Coherence'); xlabel('Frequency [Hz]');
  hold off;
#+end_src

* Transfer Function
#+begin_src matlab
  figure;
  ax1 = subplot(2, 1, 1);
  hold on;
  plot(f, abs(tf_est), 'k-')
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
  ylabel('Amplitude'); xlabel('Frequency [Hz]');
  hold off;

  ax2 = subplot(2, 1, 2);
  hold on;
  plot(f, 180/pi*angle(tf_est), 'k-')
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
  ylabel('Phase'); xlabel('Frequency [Hz]');
  legend();
  hold off;

  linkaxes([ax1,ax2], 'x');
  xlim([10, 5000]);
#+end_src