tdehaeze/test-bench-apa
1
0
Fork 0
Code Issues Pull Requests Releases Activity

Tangle files

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-07-20 10:55:38 +02:00
parent 89e0e13629
commit c2fec7b236
5 changed files with 163 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

57
index.org
View File

@ -104,18 +104,28 @@
** 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))
plot(t, y)
ylabel('Output Displacement [m]'); xlabel('Time [s]');
#+end_src
** PSD of Measurement Noise
#+begin_src matlab
Ts = t(end)/(length(t)-1);
Fs = 1/Ts;
win = hanning(ceil(1*Fs));
#+end_src
#+begin_src matlab
[pxx, f] = pwelch(y, win, [], [], Fs);
#+end_src
#+begin_src matlab
figure;
plot(f, sqrt(pxx));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
#+end_src
* Transfer Function Estimation with m=5kg
:PROPERTIES:
@ -125,7 +135,8 @@
** Load Data
#+begin_src matlab
load('./mat/huddle_test.mat', 't', 'u', 'y');
ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
load('./mat/apa95ml_5kg.mat', 't', 'u', 'y');
#+end_src
** Time Domain Data
@ -133,15 +144,39 @@
figure;
subplot(1,2,1);
plot(data(:, 3), data(:, 1))
plot(t, u)
ylabel('Input Voltage [V]'); xlabel('Time [s]');
subplot(1,2,2);
plot(data(:, 3), data(:, 2))
plot(t, y)
ylabel('Output Displacement [m]'); xlabel('Time [s]');
#+end_src
** Comparison of the PSD with Huddle Test
#+begin_src matlab
Ts = t(end)/(length(t)-1);
Fs = 1/Ts;
win = hanning(ceil(1*Fs));
#+end_src
#+begin_src matlab
[pxx, f] = pwelch(y, win, [], [], Fs);
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
#+end_src
#+begin_src matlab
figure;
hold on;
plot(f, sqrt(pxx), 'DisplayName', '5kg');
plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
legend('locaation', 'norteast');
#+end_src
** Compute TF estimate and Coherence
#+begin_src matlab
win = hann(ceil(1/Ts));

23
matlab/huddle_test.m Normal file
View File

@ -0,0 +1,23 @@
% Load Data
load('./mat/huddle_test.mat', 't', 'u', 'y');
% Time Domain Data
figure;
plot(t, y)
ylabel('Output Displacement [m]'); xlabel('Time [s]');
% PSD of Measurement Noise
Ts = t(end)/(length(t)-1);
Fs = 1/Ts;
win = hanning(ceil(1*Fs));
[pxx, f] = pwelch(y, win, [], [], Fs);
figure;
plot(f, sqrt(pxx));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');

11
matlab/run_experiment.m Normal file
View File

@ -0,0 +1,11 @@
% Load Data
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
% Save Data
u = data(:, 1); % Input Voltage [V]
y = data(:, 2); % Output Displacement [m]
t = data(:, 3); % Time [s]
save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');

9
matlab/setup_experiment.m Normal file
View File

@ -0,0 +1,9 @@
% Parameters
Ts = 1e-4;
% Filter White Noise
Glpf = 1/(1 + s/2/pi/500);
Gz = c2d(Glpf, Ts, 'tustin');

74
matlab/tf_estimation.m Normal file
View File

@ -0,0 +1,74 @@
% Load Data
ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
load('./mat/apa95ml_5kg.mat', 't', 'u', 'y');
% Time Domain Data
figure;
subplot(1,2,1);
plot(t, u)
ylabel('Input Voltage [V]'); xlabel('Time [s]');
subplot(1,2,2);
plot(t, y)
ylabel('Output Displacement [m]'); xlabel('Time [s]');
% Comparison of the PSD with Huddle Test
Ts = t(end)/(length(t)-1);
Fs = 1/Ts;
win = hanning(ceil(1*Fs));
[pxx, f] = pwelch(y, win, [], [], Fs);
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
figure;
hold on;
plot(f, sqrt(pxx), 'DisplayName', '5kg');
plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
legend('locaation', 'norteast');
% Compute TF estimate and Coherence
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);
% Coherence
figure;
hold on;
plot(f, co_est, 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Coherence'); xlabel('Frequency [Hz]');
hold off;
% Transfer Function
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]);