Measurement of the first APA

matlab/frf_analyze.m

@@ -5,7 +5,89 @@
 
 
 %% Load all the measurements
-meas_data = {};
+% meas_data = {};
-for i = 1:7
+% for i = 1:7
-    meas_data(i) = {load(sprintf('mat/frf_data_%i.mat', i), 't', 'Va', 'Vs', 'd')};
+%     meas_data(i) = {load(sprintf('mat/frf_data_%i.mat', i), 't', 'Va', 'Vs', 'da', 'de')};
-end
+% end
+
+%%
+load(sprintf('mat/frf_data_%i_sweep.mat', 1), 't', 'Va', 'Vs', 'da', 'de')
+
+%%
+figure;
+plot(t, de);
+
+%%
+figure;
+plot(t, Va);
+
+%%
+Ts = (t(end) - t(1))/(length(t)-1);
+Fs = 1/Ts;
+
+win = hanning(ceil(5*Fs)); % Hannning Windows
+
+%%
+[G_dvf, f] = tfestimate(Va, de, win, [], [], 1/Ts);
+[G_d,   ~] = tfestimate(Va, da, win, [], [], 1/Ts);
+[G_iff, ~] = tfestimate(Va, Vs, win, [], [], 1/Ts);
+
+[coh_dvf, ~] = mscohere(Va, de, win, [], [], 1/Ts);
+[coh_d,   ~] = mscohere(Va, da, win, [], [], 1/Ts);
+[coh_iff, ~] = mscohere(Va, Vs, win, [], [], 1/Ts);
+
+%%
+figure;
+hold on;
+plot(f, coh_dvf);
+plot(f, coh_d);
+plot(f, coh_iff);
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlim([1, 5e3]); ylim([0, 1]);
+
+%%
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+hold on;
+plot(f, abs(G_dvf));
+plot(f, abs(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+hold on;
+plot(f, 180/pi*angle(G_dvf));
+plot(f, 180/pi*angle(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([5, 5e3]);
+
+%%
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+plot(f, abs(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+plot(f, 180/pi*angle(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([5, 5e3]);

matlab/frf_save.m

@@ -17,10 +17,10 @@ close(f);
 
 data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
 
-Va = data(:, 1); % Excitation Voltage (input of PD200) [V]
+da = data(:, 1); % Excitation Voltage (input of PD200) [V]
-Vs = data(:, 2); % Measured voltage (force sensor) [V]
+de = data(:, 2); % Measured voltage (force sensor) [V]
-de = data(:, 3); % Measurment displacement (encoder) [m]
+Vs = data(:, 3); % Measurment displacement (encoder) [m]
-da = data(:, 4); % Measurement displacement (attocube) [m]
+Va = data(:, 4); % Measurement displacement (attocube) [m]
 t  = data(:, end); % Time [s]
 
 
@@ -29,4 +29,4 @@ t  = data(:, end); % Time [s]
 
 apa_number = 1;
 
-save(sprintf('mat/frf_data_%i.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+save(sprintf('mat/frf_data_%i_huddle.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');

matlab/frf_setup.m

@@ -1,20 +1,30 @@
+s = tf('s');
+addpath('src')
+
+%%
 Fs = 10e3; % Sampling Frequency [Hz]
 Ts = 1/Fs; % Sampling Time [s]
 
-Tsim = 110; % Simulation Time [s]
-
 Trec_start = 5;  % Start time for Recording [s]
 Trec_dur   = 100; % Recording Duration [s]
 
+Tsim = 2*Trec_start + Trec_dur; % Simulation Time [s]
+
 %% Sweep Sine
+gc = 0.1;
+xi = 0.5;
+wn = 2*pi*94.3;
+
+G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
+
 V_sweep = generateSweepExc('Ts',      Ts, ...
                            'f_start', 10, ...
-                           'f_end',   1e3, ...
+                           'f_end',   2e3, ...
                            'V_mean',  3.25, ...
                            't_start', Trec_start, ...
                            'exc_duration', Trec_dur, ...
                            'sweep_type',   'log', ...
-                           'V_exc', 0.5/(1 + s/2/pi/100));
+                           'V_exc', G_sweep*1/(1 + s/2/pi/500));
 
 %% Shaped Noise
 V_noise = generateShapedNoise('Ts', 1/Fs, ...
@@ -22,22 +32,25 @@ V_noise = generateShapedNoise('Ts', 1/Fs, ...
                               't_start', Trec_start, ...
                               'exc_duration', Trec_dur, ...
                               'smooth_ends', true, ...
-                              'V_exc', 0.05/(1 + s/2/pi/10));
+                              'V_exc', 0.00/(1 + s/2/pi/50));
 
 %% Select the excitation signal
-V_exc = V_noise;
+V_exc = timeseries(V_noise(2,:), V_noise(1,:));
 
 figure;
 tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
 
 ax1 = nexttile;
-plot(V_exc(1,:), V_exc(2,:));
+plot(V_exc.Time, squeeze(V_exc.Data));
 xlabel('Time [s]'); ylabel('Amplitude [V]');
 
 ax2 = nexttile;
-win = hanning(floor(length(V_exc)/8));
+win = hanning(floor(length(V_exc.Data)/8));
-[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
+[pxx, f] = pwelch(squeeze(V_exc.Data), win, 0, [], Fs);
 plot(f, pxx)
 xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
 set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
 xlim([1, Fs/2]); ylim([1e-10, 1e0]);
+
+%% Save
+save('./frf_data.mat', 'Fs', 'Ts', 'Tsim', 'Trec_start', 'Trec_dur', 'V_exc');