Remove CSS/JS => use the one on the server

Move data folder
Removed few scripts
2020-11-12 09:30:03 +01:00 · 2020-11-12 09:27:57 +01:00 · 2020-11-12 09:27:24 +01:00 · 2020-11-12 09:24:52 +01:00 · 2020-11-12 09:23:35 +01:00
41 changed files with 168 additions and 3777 deletions
@@ -1,49 +0,0 @@
 .figure p{
    text-align: center;
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 .figure img{
    max-width:100%;
    display: block;
    margin: auto;
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 table {
    margin-left: auto;
    margin-right: auto;
 }
 .org-src-container > pre.src:before {
  display: inline;
  position: absolute;
  color: #808080;
  background-color: white;
  top: -10px;
  left: 10px;
  padding: 0px 4px;
  border: 1px solid #d0d0d0;
  font-size: 80%;
 }
 .org-src-container > pre {
  margin-top: 1.5em;
  position: relative;
  overflow: visible;
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 .org-src-container > pre > code.src:before {
  display: inline;
  position: absolute;
  color: #808080;
  background-color: white;
  top: -10px;
  left: 10px;
  padding: 0px 4px;
  border: 1px solid #d0d0d0;
  font-size: 80%;
 }
 .org-src-container > pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
 .org-src-container > pre.src-elisp:before { content: 'Emacs Lisp'; }
 .org-src-container > pre.src-sh:before { content: 'shell'; }
 .org-src-container > pre.src-bash:before { content: 'bash'; }
 .org-src-container > pre.src-org:before { content: 'Org mode'; }
 .org-src-container > pre.src-python:before { content: 'Python'; }
 .org-src-container > pre.src-matlab:before { content: 'Matlab'; }
@@ -1,145 +0,0 @@
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@@ -3,17 +3,17 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2020-11-12 jeu. 09:18 -->
+<!-- 2020-11-12 jeu. 09:29 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Test Bench APA95ML</title>
 <meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
-<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/htmlize.css"/>
-<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/readtheorg.css"/>
-<link rel="stylesheet" type="text/css" href="./css/custom.css"/>
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/custom.css"/>
-<script type="text/javascript" src="./js/jquery.min.js"></script>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/jquery.min.js"></script>
-<script type="text/javascript" src="./js/bootstrap.min.js"></script>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/bootstrap.min.js"></script>
-<script type="text/javascript" src="./js/readtheorg.js"></script>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/readtheorg.js"></script>
 </head>
 <body>
 <div id="org-div-home-and-up">
@@ -26,42 +26,30 @@
 <h2>Table of Contents</h2>
 <div id="text-table-of-contents">
 <ul>
-<li><a href="#orge1ce8ff">1. Setup</a>
+<li><a href="#org90a334e">1. Huddle Test</a>
 <ul>
-<li><a href="#org4f8d088">1.1. Parameters</a></li>
+<li><a href="#org285da21">1.1. Time Domain Data</a></li>
-<li><a href="#org92bcdf4">1.2. Filter White Noise</a></li>
+<li><a href="#org5e1c721">1.2. PSD of Measurement Noise</a></li>
 </ul>
 </li>
-<li><a href="#org17a026f">2. Run Experiment and Save Data</a>
+<li><a href="#orgd37467e">2. Identification of the dynamics from actuator to displacement</a>
 <ul>
-<li><a href="#org1b14494">2.1. Load Data</a></li>
+<li><a href="#org9434b07">2.1. Load Data</a></li>
-<li><a href="#org59026b4">2.2. Save Data</a></li>
+<li><a href="#org1eba886">2.2. Comparison of the PSD with Huddle Test</a></li>
 <li><a href="#orgcfe0cb7">2.3. Compute TF estimate and Coherence</a></li>
 <li><a href="#org1cdc3bc">2.4. Comparison with the FEM model</a></li>
 </ul>
 </li>
-<li><a href="#org1758121">3. Huddle Test</a>
+<li><a href="#orgcce11f7">3. Identification of the dynamics from actuator to force sensor</a>
 <ul>
-<li><a href="#org7fcc745">3.1. Time Domain Data</a></li>
+<li><a href="#org48d4bd0">3.1. System Identification</a></li>
-<li><a href="#org67ec115">3.2. PSD of Measurement Noise</a></li>
+<li><a href="#orge58d929">3.2. Integral Force Feedback</a></li>
 </ul>
 </li>
-<li><a href="#org3be6abe">4. Transfer Function Estimation using the PI Amplifier</a>
+<li><a href="#orgfe5bc71">4. Integral Force Feedback</a>
 <ul>
-<li><a href="#orgd263f64">4.1. Load Data</a></li>
+<li><a href="#orgd854491">4.1. First tests with few gains</a></li>
-<li><a href="#orga450ffc">4.2. Comparison of the PSD with Huddle Test</a></li>
+<li><a href="#org899fef5">4.2. Second test with many Gains</a></li>
 <li><a href="#orgc964fb2">4.3. Compute TF estimate and Coherence</a></li>
 <li><a href="#orge2ba96a">4.4. Comparison with the FEM model</a></li>
 </ul>
 </li>
 <li><a href="#org1988c0d">5. Transfer function from force actuator to force sensor</a>
 <ul>
 <li><a href="#org037188e">5.1. System Identification</a></li>
 <li><a href="#org0a38226">5.2. Integral Force Feedback</a></li>
 </ul>
 </li>
 <li><a href="#org5df0163">6. IFF Tests</a>
 <ul>
 <li><a href="#org26f64e8">6.1. First tests with few gains</a></li>
 <li><a href="#orgda4dc48">6.2. Second test with many Gains</a></li>
 </ul>
 </li>
 </ul>
@@ -69,90 +57,31 @@
 </div>
-<div id="orgf655a68" class="figure">
+<div id="org392f56d" class="figure">
 <p><img src="figs/setup_picture.png" alt="setup_picture.png" />
 </p>
 <p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
 </div>
-<div id="org9083f49" class="figure">
+<div id="org6970f6d" class="figure">
 <p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
 </p>
 <p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
 </div>
-<div id="outline-container-orge1ce8ff" class="outline-2">
+<div id="outline-container-org90a334e" class="outline-2">
-<h2 id="orge1ce8ff"><span class="section-number-2">1</span> Setup</h2>
+<h2 id="org90a334e"><span class="section-number-2">1</span> Huddle Test</h2>
 <div class="outline-text-2" id="text-1">
 <p>
 <a id="orga0e8ba1"></a>
 </p>
 </div>
-
+<div id="outline-container-org285da21" class="outline-3">
-<div id="outline-container-org4f8d088" class="outline-3">
+<h3 id="org285da21"><span class="section-number-3">1.1</span> Time Domain Data</h3>
 <h3 id="org4f8d088"><span class="section-number-3">1.1</span> Parameters</h3>
 <div class="outline-text-3" id="text-1-1">
 <div class="org-src-container">
 <pre class="src src-matlab">Ts = 1e<span class="org-type">-</span>4;
 </pre>
 </div>
 </div>
 </div>
-<div id="outline-container-org92bcdf4" class="outline-3">
+<div id="orgde9f524" class="figure">
 <h3 id="org92bcdf4"><span class="section-number-3">1.2</span> Filter White Noise</h3>
 <div class="outline-text-3" id="text-1-2">
 <div class="org-src-container">
 <pre class="src src-matlab">Glpf = 1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>500);
 Gz = c2d(Glpf, Ts, <span class="org-string">'tustin'</span>);
 </pre>
 </div>
 </div>
 </div>
 </div>
 <div id="outline-container-org17a026f" class="outline-2">
 <h2 id="org17a026f"><span class="section-number-2">2</span> Run Experiment and Save Data</h2>
 <div class="outline-text-2" id="text-2">
 </div>
 <div id="outline-container-org1b14494" class="outline-3">
 <h3 id="org1b14494"><span class="section-number-3">2.1</span> Load Data</h3>
 <div class="outline-text-3" id="text-2-1">
 <div class="org-src-container">
 <pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData(<span class="org-string">'data/apa95ml.dat'</span>).data;
 </pre>
 </div>
 </div>
 </div>
 <div id="outline-container-org59026b4" class="outline-3">
 <h3 id="org59026b4"><span class="section-number-3">2.2</span> Save Data</h3>
 <div class="outline-text-3" id="text-2-2">
 <div class="org-src-container">
 <pre class="src src-matlab">u = data(<span class="org-type">:</span>, 1); <span class="org-comment">% Input Voltage [V]</span>
 y = data(<span class="org-type">:</span>, 2); <span class="org-comment">% Output Displacement [m]</span>
 t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [s]</span>
 </pre>
 </div>
 <div class="org-src-container">
 <pre class="src src-matlab">save(<span class="org-string">'./mat/huddle_test.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'Glpf'</span>);
 </pre>
 </div>
 </div>
 </div>
 </div>
 <div id="outline-container-org1758121" class="outline-2">
 <h2 id="org1758121"><span class="section-number-2">3</span> Huddle Test</h2>
 <div class="outline-text-2" id="text-3">
 </div>
 <div id="outline-container-org7fcc745" class="outline-3">
 <h3 id="org7fcc745"><span class="section-number-3">3.1</span> Time Domain Data</h3>
 <div class="outline-text-3" id="text-3-1">
 <div id="orge79b739" class="figure">
 <p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
 </p>
 <p><span class="figure-number">Figure 3: </span>Measurement of the Mass displacement during Huddle Test</p>
@@ -160,9 +89,9 @@ t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [
 </div>
 </div>
-<div id="outline-container-org67ec115" class="outline-3">
+<div id="outline-container-org5e1c721" class="outline-3">
-<h3 id="org67ec115"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3>
+<h3 id="org5e1c721"><span class="section-number-3">1.2</span> PSD of Measurement Noise</h3>
-<div class="outline-text-3" id="text-3-2">
+<div class="outline-text-3" id="text-1-2">
 <div class="org-src-container">
 <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
 Fs = 1<span class="org-type">/</span>Ts;
@@ -177,7 +106,7 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
 </div>
-<div id="org8f41c21" class="figure">
+<div id="org71c1833" class="figure">
 <p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" />
 </p>
 <p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p>
@@ -186,16 +115,19 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
 </div>
 </div>
-<div id="outline-container-org3be6abe" class="outline-2">
+<div id="outline-container-orgd37467e" class="outline-2">
-<h2 id="org3be6abe"><span class="section-number-2">4</span> Transfer Function Estimation using the PI Amplifier</h2>
+<h2 id="orgd37467e"><span class="section-number-2">2</span> Identification of the dynamics from actuator to displacement</h2>
-<div class="outline-text-2" id="text-4">
+<div class="outline-text-2" id="text-2">
 <p>
 <a id="org7bb414b"></a>
 </p>
 </div>
-<div id="outline-container-orgd263f64" class="outline-3">
+<div id="outline-container-org9434b07" class="outline-3">
-<h3 id="orgd263f64"><span class="section-number-3">4.1</span> Load Data</h3>
+<h3 id="org9434b07"><span class="section-number-3">2.1</span> Load Data</h3>
-<div class="outline-text-3" id="text-4-1">
+<div class="outline-text-3" id="text-2-1">
 <div class="org-src-container">
-<pre class="src src-matlab">ht = load(<span class="org-string">'./mat/huddle_test.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>);
+<pre class="src src-matlab">ht = load(<span class="org-string">'huddle_test.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>);
-load(<span class="org-string">'./mat/apa95ml_5kg_Amp_E505.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'um'</span>, <span class="org-string">'y'</span>);
+load(<span class="org-string">'apa95ml_5kg_Amp_E505.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'um'</span>, <span class="org-string">'y'</span>);
 </pre>
 </div>
@@ -211,9 +143,9 @@ ht.y  = ht.y  <span class="org-type">-</span> mean(ht.y);
 </div>
 </div>
-<div id="outline-container-orga450ffc" class="outline-3">
+<div id="outline-container-org1eba886" class="outline-3">
-<h3 id="orga450ffc"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
+<h3 id="org1eba886"><span class="section-number-3">2.2</span> Comparison of the PSD with Huddle Test</h3>
-<div class="outline-text-3" id="text-4-2">
+<div class="outline-text-3" id="text-2-2">
 <div class="org-src-container">
 <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
 Fs = 1<span class="org-type">/</span>Ts;
@@ -229,7 +161,7 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
 </div>
-<div id="orge6cd415" class="figure">
+<div id="orgd9832c1" class="figure">
 <p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
 </p>
 <p><span class="figure-number">Figure 5: </span>Comparison of the ASD for the identification test and the huddle test</p>
@@ -237,9 +169,9 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
 </div>
 </div>
-<div id="outline-container-orgc964fb2" class="outline-3">
+<div id="outline-container-orgcfe0cb7" class="outline-3">
-<h3 id="orgc964fb2"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
+<h3 id="orgcfe0cb7"><span class="section-number-3">2.3</span> Compute TF estimate and Coherence</h3>
-<div class="outline-text-3" id="text-4-3">
+<div class="outline-text-3" id="text-2-3">
 <div class="org-src-container">
 <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
 Fs = 1<span class="org-type">/</span>Ts;
@@ -256,14 +188,14 @@ Fs = 1<span class="org-type">/</span>Ts;
 </div>
-<div id="orgc5081fd" class="figure">
+<div id="orgcd90594" class="figure">
 <p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
 </p>
 <p><span class="figure-number">Figure 6: </span>Coherence</p>
 </div>
-<div id="orgef956d1" class="figure">
+<div id="org55f5177" class="figure">
 <p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
 </p>
 <p><span class="figure-number">Figure 7: </span>Estimation of the transfer function from input voltage to displacement</p>
@@ -271,16 +203,16 @@ Fs = 1<span class="org-type">/</span>Ts;
 </div>
 </div>
-<div id="outline-container-orge2ba96a" class="outline-3">
+<div id="outline-container-org1cdc3bc" class="outline-3">
-<h3 id="orge2ba96a"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
+<h3 id="org1cdc3bc"><span class="section-number-3">2.4</span> Comparison with the FEM model</h3>
-<div class="outline-text-3" id="text-4-4">
+<div class="outline-text-3" id="text-2-4">
 <div class="org-src-container">
-<pre class="src src-matlab">load(<span class="org-string">'mat/fem_model_5kg.mat'</span>, <span class="org-string">'G'</span>);
+<pre class="src src-matlab">load(<span class="org-string">'fem_model_5kg.mat'</span>, <span class="org-string">'G'</span>);
 </pre>
 </div>
-<div id="org5df5018" class="figure">
+<div id="org7e7ad3c" class="figure">
 <p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
 </p>
 <p><span class="figure-number">Figure 8: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
@@ -289,9 +221,12 @@ Fs = 1<span class="org-type">/</span>Ts;
 </div>
 </div>
-<div id="outline-container-org1988c0d" class="outline-2">
+<div id="outline-container-orgcce11f7" class="outline-2">
-<h2 id="org1988c0d"><span class="section-number-2">5</span> Transfer function from force actuator to force sensor</h2>
+<h2 id="orgcce11f7"><span class="section-number-2">3</span> Identification of the dynamics from actuator to force sensor</h2>
-<div class="outline-text-2" id="text-5">
+<div class="outline-text-2" id="text-3">
 <p>
 <a id="org7d9ec69"></a>
 </p>
 <p>
 Two measurements are performed:
 </p>
@@ -307,9 +242,9 @@ The obtained dynamics from force actuator to force sensor are compare with the F
 The data are loaded:
 </p>
 <div class="org-src-container">
-<pre class="src src-matlab">a_ss = load(<span class="org-string">'mat/apa95ml_5kg_1a_2s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
+<pre class="src src-matlab">a_ss = load(<span class="org-string">'apa95ml_5kg_1a_2s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
-aa_s = load(<span class="org-string">'mat/apa95ml_5kg_2a_1s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
+aa_s = load(<span class="org-string">'apa95ml_5kg_2a_1s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
-load(<span class="org-string">'mat/G_force_sensor_5kg.mat'</span>, <span class="org-string">'G'</span>);
+load(<span class="org-string">'G_force_sensor_5kg.mat'</span>, <span class="org-string">'G'</span>);
 </pre>
 </div>
 <p>
@@ -337,7 +272,7 @@ Gfem_a_ss = exp(<span class="org-type">-</span>s<span class="org-type">/</span>1
 </pre>
 </div>
 <p>
-The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#orge6ce288">9</a>.
+The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#org93e238f">9</a>.
 </p>
 <div class="org-src-container">
 <pre class="src src-matlab">Ts = a_ss.t(end)<span class="org-type">/</span>(length(a_ss.t)<span class="org-type">-</span>1);
@@ -354,16 +289,15 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
 </div>
-<div id="orge6ce288" class="figure">
+<div id="org93e238f" class="figure">
 <p><img src="figs/bode_plot_force_sensor_voltage_comp_fem.png" alt="bode_plot_force_sensor_voltage_comp_fem.png" />
 </p>
 <p><span class="figure-number">Figure 9: </span>Comparison of the identified dynamics from voltage output to voltage input and the FEM</p>
 </div>
 </div>
-
+<div id="outline-container-org48d4bd0" class="outline-3">
-<div id="outline-container-org037188e" class="outline-3">
+<h3 id="org48d4bd0"><span class="section-number-3">3.1</span> System Identification</h3>
-<h3 id="org037188e"><span class="section-number-3">5.1</span> System Identification</h3>
+<div class="outline-text-3" id="text-3-1">
 <div class="outline-text-3" id="text-5-1">
 <div class="org-src-container">
 <pre class="src src-matlab">w_z = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>111; <span class="org-comment">% Zeros frequency [rad/s]</span>
 w_p = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>255; <span class="org-comment">% Pole frequency [rad/s]</span>
@@ -376,7 +310,7 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
 </div>
-<div id="orged1dc40" class="figure">
+<div id="orga3e3e7b" class="figure">
 <p><img src="figs/iff_plant_identification_apa95ml.png" alt="iff_plant_identification_apa95ml.png" />
 </p>
 <p><span class="figure-number">Figure 10: </span>Identification of the IFF plant</p>
@@ -385,11 +319,11 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
 </div>
-<div id="outline-container-org0a38226" class="outline-3">
+<div id="outline-container-orge58d929" class="outline-3">
-<h3 id="org0a38226"><span class="section-number-3">5.2</span> Integral Force Feedback</h3>
+<h3 id="orge58d929"><span class="section-number-3">3.2</span> Integral Force Feedback</h3>
-<div class="outline-text-3" id="text-5-2">
+<div class="outline-text-3" id="text-3-2">
-<div id="org86c0c5b" class="figure">
+<div id="org55e0695" class="figure">
 <p><img src="figs/root_locus_iff_apa95ml_identification.png" alt="root_locus_iff_apa95ml_identification.png" />
 </p>
 <p><span class="figure-number">Figure 11: </span>Root Locus for IFF</p>
@@ -398,17 +332,20 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
 </div>
 </div>
-<div id="outline-container-org5df0163" class="outline-2">
+<div id="outline-container-orgfe5bc71" class="outline-2">
-<h2 id="org5df0163"><span class="section-number-2">6</span> IFF Tests</h2>
+<h2 id="orgfe5bc71"><span class="section-number-2">4</span> Integral Force Feedback</h2>
-<div class="outline-text-2" id="text-6">
+<div class="outline-text-2" id="text-4">
 <p>
 <a id="org9e016b1"></a>
 </p>
 </div>
-<div id="outline-container-org26f64e8" class="outline-3">
+<div id="outline-container-orgd854491" class="outline-3">
-<h3 id="org26f64e8"><span class="section-number-3">6.1</span> First tests with few gains</h3>
+<h3 id="orgd854491"><span class="section-number-3">4.1</span> First tests with few gains</h3>
-<div class="outline-text-3" id="text-6-1">
+<div class="outline-text-3" id="text-4-1">
 <div class="org-src-container">
-<pre class="src src-matlab">iff_g10 = load(<span class="org-string">'./mat/apa95ml_iff_g10_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
+<pre class="src src-matlab">iff_g10 = load(<span class="org-string">'apa95ml_iff_g10_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
-iff_g100 = load(<span class="org-string">'./mat/apa95ml_iff_g100_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
+iff_g100 = load(<span class="org-string">'apa95ml_iff_g100_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
-iff_of = load(<span class="org-string">'./mat/apa95ml_iff_off_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
+iff_of = load(<span class="org-string">'apa95ml_iff_off_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
 </pre>
 </div>
@@ -428,7 +365,7 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
 </div>
-<div id="org01c9bde" class="figure">
+<div id="org2c6892b" class="figure">
 <p><img src="figs/iff_first_test_coherence.png" alt="iff_first_test_coherence.png" />
 </p>
 <p><span class="figure-number">Figure 12: </span>Coherence</p>
@@ -436,7 +373,7 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
-<div id="orgdcd9122" class="figure">
+<div id="org91fa41a" class="figure">
 <p><img src="figs/iff_first_test_bode_plot.png" alt="iff_first_test_bode_plot.png" />
 </p>
 <p><span class="figure-number">Figure 13: </span>Bode plot for different values of IFF gain</p>
@@ -444,11 +381,11 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
 </div>
 </div>
-<div id="outline-container-orgda4dc48" class="outline-3">
+<div id="outline-container-org899fef5" class="outline-3">
-<h3 id="orgda4dc48"><span class="section-number-3">6.2</span> Second test with many Gains</h3>
+<h3 id="org899fef5"><span class="section-number-3">4.2</span> Second test with many Gains</h3>
-<div class="outline-text-3" id="text-6-2">
+<div class="outline-text-3" id="text-4-2">
 <div class="org-src-container">
-<pre class="src src-matlab">load(<span class="org-string">'./mat/apa95ml_iff_test.mat'</span>, <span class="org-string">'results'</span>);
+<pre class="src src-matlab">load(<span class="org-string">'apa95ml_iff_test.mat'</span>, <span class="org-string">'results'</span>);
 </pre>
 </div>
@@ -474,7 +411,7 @@ g_iff = [0, 1, 5, 10, 50, 100];
 </div>
-<div id="org52a1b9d" class="figure">
+<div id="orgcf10be1" class="figure">
 <p><img src="figs/iff_results_bode_plots.png" alt="iff_results_bode_plots.png" />
 </p>
 </div>
@@ -496,13 +433,13 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
 </div>
-<div id="orga4ab0d0" class="figure">
+<div id="orgda781ba" class="figure">
 <p><img src="figs/iff_results_bode_plots_identification.png" alt="iff_results_bode_plots_identification.png" />
 </p>
 </div>
-<div id="org9a011df" class="figure">
+<div id="org473937a" class="figure">
 <p><img src="figs/iff_results_root_locus.png" alt="iff_results_root_locus.png" />
 </p>
 </div>
@@ -512,7 +449,7 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2020-11-12 jeu. 09:18</p>
+<p class="date">Created: 2020-11-12 jeu. 09:29</p>
 </div>
 </body>
 </html>
@@ -9,12 +9,12 @@
 #+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="https://research.tdehaeze.xyz/css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/readtheorg.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/custom.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/custom.css"/>
-#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/jquery.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/readtheorg.js"></script>
 #+HTML_MATHJAX: align: center tagside: right font: TeX
@@ -28,16 +28,6 @@
 #+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:
 * Introduction                                                        :ignore:
@@ -50,52 +40,13 @@
 #+caption: Zoom on the APA
 [[file:figs/setup_zoom.png]]
 * Setup
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/setup_experiment.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
 ** 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
 * Run Experiment and Save Data
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/run_experiment.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
 ** Load Data
 #+begin_src matlab
  data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
 #+end_src
 ** Save Data
 #+begin_src matlab
  u = data(:, 1); % Input Voltage [V]
  y = data(:, 2); % Output Displacement [m]
  t = data(:, 3); % Time [s]
 #+end_src
 #+begin_src matlab
  save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
 #+end_src
 * Huddle Test
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/huddle_test.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
-
+<<sec:huddle_test>>
 ** Introduction                                                      :ignore:
 ** 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>>
@@ -105,9 +56,17 @@
  <<matlab-init>>
 #+end_src
 #+begin_src matlab :tangle no
  addpath('./matlab/mat/');
 #+end_src
 #+begin_src matlab :eval no
  addpath('./mat/');
 #+end_src
 ** Load Data                                                       :noexport:
 #+begin_src matlab
-  load('./mat/huddle_test.mat', 't', 'y');
+  load('huddle_test.mat', 't', 'y');
 #+end_src
 #+begin_src matlab
@@ -159,17 +118,13 @@
 #+RESULTS:
 [[file:figs/huddle_test_pdf.png]]
-* Transfer Function Estimation using the DAC as the driver          :noexport:
+* Identification of the dynamics from actuator to displacement
 :PROPERTIES:
-:header-args:matlab+: :tangle matlab/tf_estimation.m
+:header-args:matlab+: :tangle matlab/motion_identification.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
-
+<<sec:motion_identification>>
 ** Introduction                                                      :ignore:
 #+begin_important
 Results presented in this sections are wrong as the ADC cannot deliver enought current to the piezoelectric actuator.
 #+end_important
 ** 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>>
@@ -179,188 +134,18 @@ Results presented in this sections are wrong as the ADC cannot deliver enought c
  <<matlab-init>>
 #+end_src
-** Load Data                                                       :noexport:
+#+begin_src matlab :tangle no
-#+begin_src matlab
+  addpath('./matlab/mat/');
  ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
  load('./mat/apa95ml_5kg_10V.mat', 't', 'u', 'y');
 #+end_src
-** Time Domain Data
+#+begin_src matlab :eval no
-#+begin_src matlab :exports none
+  addpath('./mat/');
  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]');
 #+end_src
 #+begin_src matlab :tangle no :exports results :results file replace
  exportFig('figs/apa95ml_5kg_10V_time_domain.pdf', 'width', 'full', 'height', 'tall');
 #+end_src
 #+name: fig:apa95ml_5kg_10V_time_domain
 #+caption: Time domain signals during the test
 #+RESULTS:
 [[file:figs/apa95ml_5kg_10V_time_domain.png]]
 ** 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 :exports none
  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('location', 'northeast');
  xlim([1, Fs/2]);
 #+end_src
 #+begin_src matlab :tangle no :exports results :results file replace
  exportFig('figs/apa95ml_5kg_10V_pdf_comp_huddle.pdf', 'width', 'wide', 'height', 'tall');
 #+end_src
 #+name: fig:apa95ml_5kg_10V_pdf_comp_huddle
 #+caption: Comparison of the ASD for the identification test and the huddle test
 #+RESULTS:
 [[file:figs/apa95ml_5kg_10V_pdf_comp_huddle.png]]
 ** Compute TF estimate and Coherence
 #+begin_src matlab
  Ts = t(end)/(length(t)-1);
  Fs = 1/Ts;
 #+end_src
 #+begin_src matlab
  win = hann(ceil(1/Ts));
  [tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
  [co_est, ~] = mscohere(  u, -y, win, [], [], 1/Ts);
 #+end_src
 #+begin_src matlab :exports none
  figure;
  hold on;
  plot(f, co_est, 'k-')
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
  ylabel('Coherence'); xlabel('Frequency [Hz]');
  hold off;
  xlim([10, 5e3]);
 #+end_src
 #+begin_src matlab :tangle no :exports results :results file replace
  exportFig('figs/apa95ml_5kg_10V_coh.pdf', 'width', 'wide', 'height', 'normal');
 #+end_src
 #+name: fig:apa95ml_5kg_10V_coh
 #+caption: Coherence
 #+RESULTS:
 [[file:figs/apa95ml_5kg_10V_coh.png]]
 #+begin_src matlab :exports none
  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]');
  hold off;
  linkaxes([ax1,ax2], 'x');
  xlim([10, 5e3]);
 #+end_src
 #+begin_src matlab :tangle no :exports results :results file replace
  exportFig('figs/apa95ml_5kg_10V_tf.pdf', 'width', 'full', 'height', 'full');
 #+end_src
 #+name: fig:apa95ml_5kg_10V_tf
 #+caption: Estimation of the transfer function from input voltage to displacement
 #+RESULTS:
 [[file:figs/apa95ml_5kg_10V_tf.png]]
 ** Comparison with the FEM model
 #+begin_src matlab
  load('mat/fem_model_5kg.mat', 'Ghm');
 #+end_src
 #+begin_src matlab :exports none
  figure;
  ax1 = subplot(2, 1, 1);
  hold on;
  plot(f, abs(tf_est), 'DisplayName', 'Identification')
  plot(f, abs(squeeze(freqresp(Ghm, f, 'Hz'))), 'DisplayName', 'FEM')
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
  ylabel('Amplitude'); xlabel('Frequency [Hz]');
  legend('location', 'northeast')
  hold off;
  ax2 = subplot(2, 1, 2);
  hold on;
  plot(f, 180/pi*angle(tf_est))
  plot(f, 180/pi*angle(squeeze(freqresp(Ghm, f, 'Hz'))))
  set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
  ylabel('Phase'); xlabel('Frequency [Hz]');
  hold off;
  linkaxes([ax1,ax2], 'x');
  xlim([10, 5e3]);
 #+end_src
 #+begin_src matlab :tangle no :exports results :results file replace
  exportFig('figs/apa95ml_5kg_comp_fem.pdf', 'width', 'full', 'height', 'full');
 #+end_src
 #+name: fig:apa95ml_5kg_comp_fem
 #+caption: Comparison of the identified transfer function and the one estimated from the FE model
 #+RESULTS:
 [[file:figs/apa95ml_5kg_comp_fem.png]]
 ** Conclusion                                                        :ignore:
 #+begin_important
 The problem comes from the fact that the piezo is driven directly by the DAC that cannot deliver enought current.
 In the next section, a current amplifier is used.
 #+end_important
 * Transfer Function Estimation using the PI Amplifier
 ** 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
 ** Load Data
 #+begin_src matlab
-  ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
+  ht = load('huddle_test.mat', 't', 'u', 'y');
-  load('./mat/apa95ml_5kg_Amp_E505.mat', 't', 'u', 'um', 'y');
+  load('apa95ml_5kg_Amp_E505.mat', 't', 'u', 'um', 'y');
 #+end_src
 #+begin_src matlab
@@ -476,7 +261,7 @@ In the next section, a current amplifier is used.
 ** Comparison with the FEM model
 #+begin_src matlab
-  load('mat/fem_model_5kg.mat', 'G');
+  load('fem_model_5kg.mat', 'G');
 #+end_src
 #+begin_src matlab :exports none
@@ -514,7 +299,12 @@ In the next section, a current amplifier is used.
 #+RESULTS:
 [[file:figs/apa95ml_5kg_pi_comp_fem.png]]
-* Transfer function from force actuator to force sensor
+* Identification of the dynamics from actuator to force sensor
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/force_sensor_identification.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
 <<sec:force_sensor_identification>>
 ** Introduction                                                      :ignore:
 Two measurements are performed:
 - Speedgoat DAC => Voltage Amplifier (x20) => 1 Piezo Stack => ... => 2 Stacks as Force Sensor (parallel) => Speedgoat ADC
@@ -531,12 +321,20 @@ The obtained dynamics from force actuator to force sensor are compare with the F
  <<matlab-init>>
 #+end_src
 #+begin_src matlab :tangle no
  addpath('./matlab/mat/');
 #+end_src
 #+begin_src matlab :eval no
  addpath('./mat/');
 #+end_src
 ** Load Data                                                         :ignore:
 The data are loaded:
 #+begin_src matlab
-  a_ss = load('mat/apa95ml_5kg_1a_2s.mat', 't', 'u', 'y', 'v');
+  a_ss = load('apa95ml_5kg_1a_2s.mat', 't', 'u', 'y', 'v');
-  aa_s = load('mat/apa95ml_5kg_2a_1s.mat', 't', 'u', 'y', 'v');
+  aa_s = load('apa95ml_5kg_2a_1s.mat', 't', 'u', 'y', 'v');
-  load('mat/G_force_sensor_5kg.mat', 'G');
+  load('G_force_sensor_5kg.mat', 'G');
 #+end_src
 ** Adjust gain                                                       :ignore:
@@ -698,7 +496,13 @@ The transfer function from input voltage to output voltage are computed and show
 #+RESULTS:
 [[file:figs/root_locus_iff_apa95ml_identification.png]]
-* IFF Tests
+* Integral Force Feedback
 :PROPERTIES:
 :header-args:matlab+: :tangle matlab/integral_force_feedback.m
 :header-args:matlab+: :comments org :mkdirp yes
 :END:
 <<sec:integral_force_feedback>>
 ** Introduction                                                      :ignore:
 ** 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>>
@@ -708,11 +512,19 @@ The transfer function from input voltage to output voltage are computed and show
  <<matlab-init>>
 #+end_src
 #+begin_src matlab :tangle no
  addpath('./matlab/mat/');
 #+end_src
 #+begin_src matlab :eval no
  addpath('./mat/');
 #+end_src
 ** First tests with few gains
 #+begin_src matlab
-  iff_g10 = load('./mat/apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
+  iff_g10 = load('apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
-  iff_g100 = load('./mat/apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
+  iff_g100 = load('apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
-  iff_of = load('./mat/apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
+  iff_of = load('apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
 #+end_src
 #+begin_src matlab
@@ -789,7 +601,7 @@ The transfer function from input voltage to output voltage are computed and show
 ** Second test with many Gains
 #+begin_src matlab
-  load('./mat/apa95ml_iff_test.mat', 'results');
+  load('apa95ml_iff_test.mat', 'results');
 #+end_src
 #+begin_src matlab
@@ -1,7 +0,0 @@
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 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}$]');
@@ -1,54 +0,0 @@
 %% Load Data
 iff_g10 = load('../mat/apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
 iff_g100 = load('../mat/apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
 iff_of = load('../mat/apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
 %% Compute TF
 Ts = 1e-4;
 win = hann(ceil(10/Ts));
 [tf_iff_g10, f] = tfestimate(iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
 [co_iff_g10, ~] = mscohere(iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
 [tf_iff_g100, f] = tfestimate(iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
 [co_iff_g100, ~] = mscohere(iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
 [tf_iff_of, ~] = tfestimate(iff_of.u, iff_of.y, win, [], [], 1/Ts);
 [co_iff_of, ~] = mscohere(iff_of.u, iff_of.y, win, [], [], 1/Ts);
 %% Coherence
 figure;
 hold on;
 plot(f, co_iff_of, '-', 'DisplayName', 'g=0')
 plot(f, co_iff_g10, '-', 'DisplayName', 'g=10')
 plot(f, co_iff_g100, '-', 'DisplayName', 'g=100')
 set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
 ylabel('Coherence'); xlabel('Frequency [Hz]');
 hold off;
 legend();
 xlim([60, 600])
 %% Compare Dynamics IFF ON/OFF
 figure;
 ax1 = subplot(2, 1, 1);
 hold on;
 plot(f, abs(tf_iff_of), '-', 'DisplayName', 'g=0')
 plot(f, abs(tf_iff_g10), '-', 'DisplayName', 'g=10')
 plot(f, abs(tf_iff_g100), '-', 'DisplayName', 'g=100')
 set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
 ylabel('Amplitude'); xlabel('Frequency [Hz]');
 hold off;
 legend();
 ax2 = subplot(2, 1, 2);
 hold on;
 plot(f, 180/pi*angle(-tf_iff_of), '-')
 plot(f, 180/pi*angle(-tf_iff_g10), '-')
 plot(f, 180/pi*angle(-tf_iff_g100), '-')
 set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
 ylabel('Phase'); xlabel('Frequency [Hz]');
 hold off;
 linkaxes([ax1,ax2], 'x');
 xlim([60, 600]);
@@ -1,112 +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); % 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;
 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(0.1/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]);
 %%
 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]);
@@ -1,6 +1,9 @@
-s = tf('s');
+% Parameters
 Ts = 1e-4;
 % Filter White Noise
 Glpf = 1/(1 + s/2/pi/500);
 Gz = c2d(Glpf, Ts, 'tustin');
@@ -1,9 +0,0 @@
 % Parameters
 Ts = 1e-4;
 % Filter White Noise
 Glpf = 1/(1 + s/2/pi/500);
 Gz = c2d(Glpf, Ts, 'tustin');
@@ -1,54 +0,0 @@
 tg = slrt;
 %% Gains to test
 g_iff = [0, 1, 5, 10, 50, 100];
 results = {zeros(1, length(g_iff))};
 if tg.Connected == "Yes"
    stop(tg);
    %% Set Parameters for the Simulation
    % setparam(tg, 'Noise', 'Variance', 0);
    setparam(tg, 'Sine', 'Amplitude', 0);
    setparam(tg, 'DC_value', 'Value', 0);
    setparam(tg, 'Chirp_gain', 'Gain', 0.03);
    setparam(tg, 'iff_enable', 'Gain', 1);
    if tg.Status == "stopped"
        for i = 1:length(g_iff)
            setparam(tg, 'g_iff', 'Gain', g_iff(i));
            fprintf('(%i/%i) - Testing for g_iff = %.1f', i, length(g_iff), g_iff(i));
            start(tg);
            pause(101);
            stop(tg);
            setparam(tg, 'g_iff', 'Gain', 0);
            %%
            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); % Input Voltage [V]
            y = data(:, 2); % Output Displacement [m]
            v = data(:, 3); % Output Voltage (Force Sensor) [V]
            t = data(:, 4); % Time [s]
            results(i) = {struct('t', t, 'u', u, 'y', y, 'v', v)};
        end
    end
 end
 save('../mat/apa95ml_iff_test.mat', 'results');
 %% Best functions
 % viewTargetScreen(tg);
@@ -1,74 +0,0 @@
 % 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]);
Author	SHA1	Message	Date
tdehaeze	c4584ed06e	Remove CSS/JS => use the one on the server	2020-11-12 09:30:03 +01:00
tdehaeze	acae193de0	Move data folder	2020-11-12 09:27:57 +01:00
tdehaeze	9677b4d3c4	Removed few scripts	2020-11-12 09:27:24 +01:00
tdehaeze	f32ff33474	Removed section about identification with DAC	2020-11-12 09:24:52 +01:00
tdehaeze	7b5a3c521f	Move mat files	2020-11-12 09:23:35 +01:00