index.org

@@ -50,134 +50,38 @@
   <<matlab-init>>
 #+end_src
 
-* Setup
+* Parameters
-: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
+* 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
+* Load 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;
+  data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml_5kg.dat').data;
 #+end_src
 
-** Save Data
+* Time Domain 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:
-
-** Load Data
-#+begin_src matlab
-  load('./mat/huddle_test.mat', 't', 'u', 'y');
-#+end_src
-
-** Time Domain Data
-#+begin_src matlab
-  figure;
-  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:
-:header-args:matlab+: :tangle matlab/tf_estimation.m
-:header-args:matlab+: :comments org :mkdirp yes
-:END:
-
-** Load Data
-#+begin_src matlab
-  ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
-  load('./mat/apa95ml_5kg.mat', 't', 'u', 'y');
-#+end_src
-
-** Time Domain Data
 #+begin_src matlab
   figure;
 
   subplot(1,2,1);
-  plot(t, u)
+  plot(data(:, 3), data(:, 1))
   ylabel('Input Voltage [V]'); xlabel('Time [s]');
 
 
   subplot(1,2,2);
-  plot(t, y)
+  plot(data(:, 3), data(:, 2))
   ylabel('Output Displacement [m]'); xlabel('Time [s]');
 #+end_src
 
-** Comparison of the PSD with Huddle Test
+* Compute TF estimate and Coherence
-#+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));
 
@@ -185,7 +89,7 @@
   [co_est, ~] = mscohere(  data(:, 1), -data(:, 2), win, [], [], 1/Ts);
 #+end_src
 
-** Coherence
+* Coherence
 #+begin_src matlab
   figure;
 
@@ -196,7 +100,7 @@
   hold off;
 #+end_src
 
-** Transfer Function
+* Transfer Function
 #+begin_src matlab
   figure;
   ax1 = subplot(2, 1, 1);

matlab/huddle_test.m

@@ -1,23 +0,0 @@
-% 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 [$m/\sqrt{Hz}$]');

matlab/run_experiment.m

@@ -1,11 +0,0 @@
-% 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');

matlab/setup_experiment.m

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

matlab/tf_estimation.m

@@ -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]);