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force sensor measurements

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Thomas Dehaeze
2020-08-14 10:41:16 +02:00
parent e4c52fa4db
commit f10d48cccf
7 changed files with 88 additions and 115 deletions
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mat/apa95ml_5kg_1a_2s.mat Normal file
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matlab/piezoapa.slx
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matlab/runtest.m
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@@ -2,55 +2,111 @@ tg = slrt;
%% %%
f = SimulinkRealTime.openFTP(tg); f = SimulinkRealTime.openFTP(tg);
mget(f, 'apa95ml.dat'); mget(f, 'apa95ml.dat', 'data');
% remove file on RT-target
% removefile(f, 'C:\data\data_001.dat')
close(f); close(f);
%% Convert the Data %% Convert the Data
data = SimulinkRealTime.utils.getFileScopeData('apa95ml.dat').data; data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
u = data(:, 1); % Input Voltage [V]
y = data(:, 2); % Output Displacement [m]
v = data(:, 3); % Output Voltage (Force Sensor) [V]
t = data(:, 4); % Time [s]
save('../mat/apa95ml_5kg_1a_2s.mat', 'u', 't', 'y', 'v');
%% %%
figure; figure;
subplot(1,2,1); subplot(1,2,1);
plot(data(:, 3), data(:, 1)) plot(t, u)
subplot(1,2,2); subplot(1,2,2);
plot(data(:, 3), data(:, 2)) plot(t, y)
%%
load('../mat/apa95ml_5kg_10V.mat', 'u', 't', 'y');
ht = load('../mat/huddle_test.mat', 'u', 't', 'y');
u = u - mean(u);
y = y - mean(y);
%%
[pxx, f] = pwelch(y, win, [], [], 1/Ts);
[pht, ~] = pwelch(ht.y, win, [], [], 1/Ts);
figure;
hold on;
plot(f, pxx);
plot(f, pht);
hold off;
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
ylabel('PSD'); xlabel('Frequency [Hz]');
%% %%
run setup; run setup;
win = hann(ceil(0.1/Ts)); win = hann(ceil(0.1/Ts));
[tf_est, f] = tfestimate(data(:, 1), data(:, 2), win, [], [], 1/Ts); [tf_est, f] = tfestimate(u, y, win, [], [], 1/Ts);
[co_est, ~] = mscohere(data(:, 1), data(:, 2), win, [], [], 1/Ts); [co_est, ~] = mscohere(u, y, win, [], [], 1/Ts);
%% %%
figure; figure;
hold on; hold on;
plot(f, co_est, 'k-') plot(f, co_est, 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Coherence'); xlabel('Frequency [Hz]'); ylabel('Coherence'); xlabel('Frequency [Hz]');
hold off; hold off;
%% %%
figure; figure;
ax1 = subplot(2, 1, 1); ax1 = subplot(2, 1, 1);
hold on; hold on;
plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified') plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log'); set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
ylabel('Amplitude'); xlabel('Frequency [Hz]'); ylabel('Amplitude'); xlabel('Frequency [Hz]');
legend(); hold off;
hold off;
ax2 = subplot(2, 1, 2); ax2 = subplot(2, 1, 2);
hold on; hold on;
plot(f, 180/pi*angle(-tf_est), 'k-') plot(f, 180/pi*unwrap(angle(-tf_est)), 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Phase'); xlabel('Frequency [Hz]'); ylabel('Phase'); xlabel('Frequency [Hz]');
legend(); hold off;
hold off;
linkaxes([ax1,ax2], 'x');
linkaxes([ax1,ax2], 'x'); xlim([10, 5000]);
xlim([10, 5000]);
%%
win = hann(ceil(10/Ts));
[tf_est, f] = tfestimate(u, v, win, [], [], 1/Ts);
[co_est, ~] = mscohere(u, v, win, [], [], 1/Ts);
%%
figure;
hold on;
plot(f, co_est, 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Coherence'); xlabel('Frequency [Hz]');
hold off;
%%
figure;
ax1 = subplot(2, 1, 1);
hold on;
plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
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*unwrap(angle(-tf_est)), 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Phase'); xlabel('Frequency [Hz]');
hold off;
linkaxes([ax1,ax2], 'x');
xlim([10, 5000]);

77
runtest.m
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@@ -1,77 +0,0 @@
tg = slrt;
%%
f = SimulinkRealTime.openFTP(tg);
mget(f, 'apa95ml.dat', 'data');
close(f);
%% Convert the Data
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
u = data(:, 1);
y = data(:, 2);
t = data(:, 3);
save('mat/apa95ml_5kg_10V.mat', 'u', 't', 'y');
%%
figure;
subplot(1,2,1);
plot(t, u)
subplot(1,2,2);
plot(t, y)
%%
load('mat/apa95ml_5kg_10V.mat', 'u', 't', 'y');
ht = load('mat/huddle_test.mat', 'u', 't', 'y');
u = u - mean(u);
y = y - mean(y);
%%
[pxx, f] = pwelch(y, win, [], [], 1/Ts);
[pht, ~] = pwelch(ht.y, win, [], [], 1/Ts);
figure;
hold on;
plot(f, pxx);
plot(f, pht);
hold off;
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
ylabel('PSD'); xlabel('Frequency [Hz]');
%%
run setup;
win = hann(ceil(10.1/Ts));
[tf_est, f] = tfestimate(u, y, win, [], [], 1/Ts);
[co_est, ~] = mscohere(u, y, win, [], [], 1/Ts);
%%
figure;
hold on;
plot(f, co_est, 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Coherence'); xlabel('Frequency [Hz]');
hold off;
%%
figure;
ax1 = subplot(2, 1, 1);
hold on;
plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
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*unwrap(angle(-tf_est)), 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Phase'); xlabel('Frequency [Hz]');
hold off;
linkaxes([ax1,ax2], 'x');
xlim([10, 5000]);

6
setup.m
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@@ -1,6 +0,0 @@
s = tf('s');
Ts = 1e-4;
Glpf = 1/(1 + s/2/pi/500);
Gz = c2d(Glpf, Ts, 'tustin');