Initial Commit
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commit
6591b9a3ba
BIN
data/apa95ml_5kg.dat
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BIN
data/apa95ml_5kg.dat
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index.org
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index.org
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#+TITLE: Test Bench APA
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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* Parameters
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#+begin_src matlab
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Ts = 1e-4;
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#+end_src
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* Filter White Noise
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#+begin_src matlab
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Glpf = 1/(1 + s/2/pi/500);
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Gz = c2d(Glpf, Ts, 'tustin');
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#+end_src
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* Load Data
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#+begin_src matlab
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data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml_5kg.dat').data;
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#+end_src
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* Time Domain Data
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#+begin_src matlab
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figure;
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subplot(1,2,1);
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plot(data(:, 3), data(:, 1))
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ylabel('Input Voltage [V]'); xlabel('Time [s]');
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subplot(1,2,2);
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plot(data(:, 3), data(:, 2))
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ylabel('Output Displacement [m]'); xlabel('Time [s]');
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#+end_src
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* Compute TF estimate and Coherence
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#+begin_src matlab
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win = hann(ceil(1/Ts));
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[tf_est, f] = tfestimate(data(:, 1), -data(:, 2), win, [], [], 1/Ts);
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[co_est, ~] = mscohere( data(:, 1), -data(:, 2), win, [], [], 1/Ts);
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#+end_src
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* Coherence
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#+begin_src matlab
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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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#+end_src
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* Transfer Function
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#+begin_src matlab
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_est), 'k-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); xlabel('Frequency [Hz]');
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(tf_est), 'k-')
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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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legend();
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hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([10, 5000]);
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#+end_src
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56
matlab/runtest.m
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56
matlab/runtest.m
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tg = slrt;
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%%
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f = SimulinkRealTime.openFTP(tg);
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mget(f, 'apa95ml.dat');
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% remove file on RT-target
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% removefile(f, 'C:\data\data_001.dat')
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close(f);
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%% Convert the Data
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data = SimulinkRealTime.utils.getFileScopeData('apa95ml.dat').data;
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%%
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figure;
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subplot(1,2,1);
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plot(data(:, 3), data(:, 1))
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subplot(1,2,2);
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plot(data(:, 3), data(:, 2))
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%%
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run setup;
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win = hann(ceil(0.1/Ts));
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[tf_est, f] = tfestimate(data(:, 1), data(:, 2), win, [], [], 1/Ts);
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[co_est, ~] = mscohere(data(:, 1), data(:, 2), win, [], [], 1/Ts);
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%%
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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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%%
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); xlabel('Frequency [Hz]');
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legend();
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(-tf_est), 'k-')
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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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legend();
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hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([10, 5000]);
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6
matlab/setup.m
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6
matlab/setup.m
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s = tf('s');
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Ts = 1e-4;
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Glpf = 1/(1 + s/2/pi/500);
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Gz = c2d(Glpf, Ts, 'tustin');
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