319 lines
8.8 KiB
Org Mode
319 lines
8.8 KiB
Org Mode
#+TITLE: Test Bench APA95ML
|
|
:DRAWER:
|
|
#+STARTUP: overview
|
|
|
|
#+LANGUAGE: en
|
|
#+EMAIL: dehaeze.thomas@gmail.com
|
|
#+AUTHOR: Dehaeze Thomas
|
|
|
|
#+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="./css/readtheorg.css"/>
|
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
|
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
|
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
|
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
|
|
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
|
|
|
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
|
|
|
#+PROPERTY: header-args:matlab :session *MATLAB*
|
|
#+PROPERTY: header-args:matlab+ :comments org
|
|
#+PROPERTY: header-args:matlab+ :results none
|
|
#+PROPERTY: header-args:matlab+ :exports both
|
|
#+PROPERTY: header-args:matlab+ :eval no-export
|
|
#+PROPERTY: header-args:matlab+ :output-dir figs
|
|
#+PROPERTY: header-args:matlab+ :tangle no
|
|
#+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:
|
|
|
|
#+name: fig:setup_picture
|
|
#+caption: Picture of the Setup
|
|
[[file:figs/setup_picture.png]]
|
|
|
|
#+name: fig:setup_zoom
|
|
#+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:
|
|
|
|
** 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 :noexport:
|
|
#+begin_src matlab
|
|
load('./mat/huddle_test.mat', 't', 'u', 'y');
|
|
#+end_src
|
|
|
|
** Time Domain Data
|
|
#+begin_src matlab :exports none
|
|
figure;
|
|
plot(t, y)
|
|
ylabel('Output Displacement [m]'); xlabel('Time [s]');
|
|
#+end_src
|
|
|
|
#+begin_src matlab :tangle no :exports results :results file replace
|
|
exportFig('figs/huddle_test_time_domain.pdf', 'width', 'wide', 'height', 'normal');
|
|
#+end_src
|
|
|
|
#+name: fig:huddle_test_time_domain
|
|
#+caption: Measurement of the Mass displacement during Huddle Test
|
|
#+RESULTS:
|
|
[[file:figs/huddle_test_time_domain.png]]
|
|
|
|
** 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 :exports none
|
|
figure;
|
|
plot(f, sqrt(pxx));
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
|
xlim([1, Fs/2]);
|
|
#+end_src
|
|
|
|
#+begin_src matlab :tangle no :exports results :results file replace
|
|
exportFig('figs/huddle_test_pdf.pdf', 'width', 'wide', 'height', 'tall');
|
|
#+end_src
|
|
|
|
#+name: fig:huddle_test_pdf
|
|
#+caption: Amplitude Spectral Density of the Displacement during Huddle Test
|
|
#+RESULTS:
|
|
[[file:figs/huddle_test_pdf.png]]
|
|
|
|
* Transfer Function Estimation with m=5kg
|
|
:PROPERTIES:
|
|
:header-args:matlab+: :tangle matlab/tf_estimation.m
|
|
:header-args:matlab+: :comments org :mkdirp yes
|
|
:END:
|
|
|
|
** 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 :noexport:
|
|
#+begin_src matlab
|
|
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 :exports none
|
|
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
|
|
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]]
|
|
|
|
#+begin_src matlab
|
|
Glpf = 1/(1 + s/2/pi/500);
|
|
#+end_src
|
|
|
|
#+begin_src matlab :exports none
|
|
figure;
|
|
ax1 = subplot(2, 1, 1);
|
|
hold on;
|
|
plot(f, abs(tf_est./squeeze(freqresp(Glpf, f, 'Hz'))), '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./squeeze(freqresp(Glpf, f, 'Hz')))), 'k-')
|
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
|
ylabel('Phase'); xlabel('Frequency [Hz]');
|
|
hold off;
|
|
ylim([-180, 180]);
|
|
yticks([-180, -90, 0, 90, 180]);
|
|
|
|
linkaxes([ax1,ax2], 'x');
|
|
xlim([10, 5e3]);
|
|
#+end_src
|