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/Producer (Apache FOP Version 2.4.0-SNAPSHOT: PDFDocumentGraphics2D)
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@@ -1174,303 +1174,183 @@ J79-
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startxref
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startxref
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267847
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267815
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%%EOF
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%%EOF
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@@ -0,0 +1,247 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
Fs = 1e4; % Sampling Frequency [Hz]
|
||||||
|
Ts = 1/Fs; % Sampling Time [s]
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
addpath('./src/');
|
||||||
|
|
||||||
|
%% Load data
|
||||||
|
apa_sweep = load(sprintf('mat/frf_data_%i_sweep.mat', 1), 't', 'Va', 'Vs', 'da', 'de');
|
||||||
|
|
||||||
|
%% Time vector
|
||||||
|
t = apa_sweep.t - apa_sweep.t(1) ; % Time vector [s]
|
||||||
|
|
||||||
|
%% Plot the excitation signal
|
||||||
|
figure;
|
||||||
|
plot(t, apa_sweep.Va)
|
||||||
|
xlabel('Time [s]'); ylabel('Excitation Voltage $V_a$ [V]');
|
||||||
|
|
||||||
|
%% Sampling Frequency / Time
|
||||||
|
Ts = (t(end) - t(1))/(length(t)-1); % Sampling Time [s]
|
||||||
|
Fs = 1/Ts; % Sampling Frequency [Hz]
|
||||||
|
|
||||||
|
win = hanning(ceil(1*Fs)); % Hannning Windows
|
||||||
|
|
||||||
|
% Only used to have the frequency vector "f"
|
||||||
|
[~, f] = tfestimate(apa_sweep.Va, apa_sweep.de, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Compute the coherence
|
||||||
|
[enc_coh, ~] = mscohere(apa_sweep.Va, apa_sweep.de, win, [], [], 1/Ts);
|
||||||
|
[int_coh, ~] = mscohere(apa_sweep.Va, apa_sweep.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, enc_coh, 'DisplayName', '$d_e/V_a$');
|
||||||
|
plot(f, int_coh, 'DisplayName', '$d_a/V_a$');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([5, 5e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% TF - Encoder and interferometer
|
||||||
|
[frf_enc, ~] = tfestimate(apa_sweep.Va, apa_sweep.de, win, [], [], 1/Ts);
|
||||||
|
[frf_int, ~] = tfestimate(apa_sweep.Va, apa_sweep.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(frf_enc), 'color', colors(1, :), ...
|
||||||
|
'DisplayName', 'Encoder');
|
||||||
|
plot(f, abs(frf_int), 'color', colors(2, :), ...
|
||||||
|
'DisplayName', 'Interferometer');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast');
|
||||||
|
ylim([1e-9, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(frf_enc), 'color', colors(1, :));
|
||||||
|
plot(f, 180/pi*angle(frf_int), 'color', colors(2, :));
|
||||||
|
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([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compute the coherence from Va to Vs
|
||||||
|
[iff_coh, ~] = mscohere(apa_sweep.Va, apa_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, iff_coh, 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([5, 5e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute the TF from Va to Vs
|
||||||
|
[iff_sweep, ~] = tfestimate(apa_sweep.Va, apa_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the TF
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(iff_sweep), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(iff_sweep), 'k-');
|
||||||
|
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([10, 2e3]);
|
||||||
|
|
||||||
|
%% Load measured data - hysteresis
|
||||||
|
apa_hyst = load('frf_data_1_hysteresis.mat', 't', 'Va', 'de');
|
||||||
|
% Initial time set to zero
|
||||||
|
apa_hyst.t = apa_hyst.t - apa_hyst.t(1);
|
||||||
|
|
||||||
|
ampls = [0.1, 0.2, 0.4, 1, 2, 4]; % Excitation voltage amplitudes
|
||||||
|
|
||||||
|
%% Plot the excitation voltages and measured displacements
|
||||||
|
figure;
|
||||||
|
tiledlayout(1, 2, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile;
|
||||||
|
plot(apa_hyst.t, apa_hyst.Va)
|
||||||
|
xlabel('Time [s]'); ylabel('Output Voltage [V]');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
plot(apa_hyst.t, apa_hyst.de)
|
||||||
|
xlabel('Time [s]'); ylabel('Measured Displacement [m]');
|
||||||
|
|
||||||
|
%% Measured displacement as a function of the output voltage
|
||||||
|
figure;
|
||||||
|
tiledlayout(1, 3, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([1,2]);
|
||||||
|
hold on;
|
||||||
|
for i = flip(1:6)
|
||||||
|
i_lim = apa_hyst.t > i*5-1 & apa_hyst.t < i*5;
|
||||||
|
plot(apa_hyst.Va(i_lim) - mean(apa_hyst.Va(i_lim)), apa_hyst.de(i_lim) - mean(apa_hyst.de(i_lim)), ...
|
||||||
|
'DisplayName', sprintf('$V_a = %.1f [V]$', ampls(i)))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Output Voltage [V]'); ylabel('Measured Displacement [m]');
|
||||||
|
legend('location', 'northeast');
|
||||||
|
xlim([-4, 4]); ylim([-1.2e-4, 1.2e-4]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = flip(1:6)
|
||||||
|
i_lim = apa_hyst.t > i*5-1 & apa_hyst.t < i*5;
|
||||||
|
plot(apa_hyst.Va(i_lim) - mean(apa_hyst.Va(i_lim)), apa_hyst.de(i_lim) - mean(apa_hyst.de(i_lim)))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlim([-0.4, 0.4]); ylim([-0.8e-5, 0.8e-5]);
|
||||||
|
|
||||||
|
%% Load data for stiffness measurement
|
||||||
|
apa_mass = load(sprintf('frf_data_%i_add_mass_closed_circuit.mat', 1), 't', 'de');
|
||||||
|
apa_mass.de = apa_mass.de - mean(apa_mass.de(apa_mass.t<11));
|
||||||
|
|
||||||
|
%% Plot the deflection at a function of time
|
||||||
|
figure;
|
||||||
|
plot(apa_mass.t, apa_mass.de, 'k-');
|
||||||
|
xlabel('Time [s]'); ylabel('Displacement $d_e$ [m]');
|
||||||
|
|
||||||
|
added_mass = 6.4; % Added mass [kg]
|
||||||
|
|
||||||
|
k = 9.8 * added_mass / (mean(apa_mass.de(apa_mass.t > 12 & apa_mass.t < 12.5)) - mean(apa_mass.de(apa_mass.t > 20 & apa_mass.t < 20.5)));
|
||||||
|
|
||||||
|
wz = 2*pi*94; % [rad/s]
|
||||||
|
msus = 5.7; % [kg]
|
||||||
|
k = msus * wz^2;
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
add_mass_oc = load(sprintf('frf_data_%i_add_mass_open_circuit.mat', 1), 't', 'de');
|
||||||
|
add_mass_cc = load(sprintf('frf_data_%i_add_mass_closed_circuit.mat', 1), 't', 'de');
|
||||||
|
|
||||||
|
%% Zero displacement at initial time
|
||||||
|
add_mass_oc.de = add_mass_oc.de - mean(add_mass_oc.de(add_mass_oc.t<11));
|
||||||
|
add_mass_cc.de = add_mass_cc.de - mean(add_mass_cc.de(add_mass_cc.t<11));
|
||||||
|
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(add_mass_oc.t, add_mass_oc.de, 'DisplayName', 'Not connected');
|
||||||
|
plot(add_mass_cc.t, add_mass_cc.de, 'DisplayName', 'Connected');
|
||||||
|
hold off;
|
||||||
|
xlabel('Time [s]'); ylabel('Displacement $d_e$ [m]');
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
apa_k_oc = 9.8 * added_mass / (mean(add_mass_oc.de(add_mass_oc.t > 12 & add_mass_oc.t < 12.5)) - mean(add_mass_oc.de(add_mass_oc.t > 20 & add_mass_oc.t < 20.5)));
|
||||||
|
apa_k_cc = 9.8 * added_mass / (mean(add_mass_cc.de(add_mass_cc.t > 12 & add_mass_cc.t < 12.5)) - mean(add_mass_cc.de(add_mass_cc.t > 20 & add_mass_cc.t < 20.5)));
|
||||||
|
|
||||||
|
%% Load the data
|
||||||
|
wi_k = load('frf_data_1_sweep_lf_with_R.mat', 't', 'Vs', 'Va'); % With the resistor
|
||||||
|
wo_k = load('frf_data_1_sweep_lf.mat', 't', 'Vs', 'Va'); % Without the resistor
|
||||||
|
|
||||||
|
win = hanning(ceil(50*Fs)); % Hannning Windows
|
||||||
|
|
||||||
|
%% Compute the transfer functions from Va to Vs
|
||||||
|
[frf_wo_k, f] = tfestimate(wo_k.Va, wo_k.Vs, win, [], [], 1/Ts);
|
||||||
|
[frf_wi_k, ~] = tfestimate(wi_k.Va, wi_k.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Model for the high pass filter
|
||||||
|
C = 5.1e-6; % Sensor Stack capacitance [F]
|
||||||
|
R = 80.6e3; % Parallel Resistor [Ohm]
|
||||||
|
|
||||||
|
f0 = 1/(2*pi*R*C); % Crossover frequency of RC HPF [Hz]
|
||||||
|
|
||||||
|
G_hpf = 0.6*(s/2*pi*f0)/(1 + s/2*pi*f0);
|
||||||
|
|
||||||
|
%% Compare the HPF model and the measured FRF
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(frf_wo_k), 'DisplayName', 'Without $k$');
|
||||||
|
plot(f, abs(frf_wi_k), 'DisplayName', 'With $k$');
|
||||||
|
plot(f, abs(squeeze(freqresp(G_hpf, f, 'Hz'))), 'k--', 'DisplayName', sprintf('HPF $f_o = %.2f [Hz]$', f0));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-1, 1e0]);
|
||||||
|
legend('location', 'southeast')
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(frf_wo_k));
|
||||||
|
plot(f, 180/pi*angle(frf_wi_k));
|
||||||
|
plot(f, 180/pi*angle(squeeze(freqresp(G_hpf, f, 'Hz'))), 'k--');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:45:360); ylim([-45, 90]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([0.2, 8]);
|
||||||
@@ -0,0 +1,217 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
addpath('./src/');
|
||||||
|
|
||||||
|
added_mass = 6.4; % Added mass [kg]
|
||||||
|
|
||||||
|
apa_nums = [1 2 4 5 6 7 8];
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
apa_mass = {};
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
apa_mass(i) = {load(sprintf('frf_data_%i_add_mass_closed_circuit.mat', apa_nums(i)), 't', 'de')};
|
||||||
|
% The initial displacement is set to zero
|
||||||
|
apa_mass{i}.de = apa_mass{i}.de - mean(apa_mass{i}.de(apa_mass{i}.t<11));
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the time domain measured deflection
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(apa_mass{i}.t, apa_mass{i}.de, 'DisplayName', sprintf('APA %i', apa_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Time [s]'); ylabel('Displacement $d_e$ [m]');
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
|
||||||
|
%% Compute the stiffness
|
||||||
|
apa_k = zeros(length(apa_nums), 1);
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
apa_k(i) = 9.8 * added_mass / (mean(apa_mass{i}.de(apa_mass{i}.t > 12 & apa_mass{i}.t < 12.5)) - mean(apa_mass{i}.de(apa_mass{i}.t > 20 & apa_mass{i}.t < 20.5)));
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Second identification
|
||||||
|
apa_sweep = {};
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
apa_sweep(i) = {load(sprintf('frf_data_%i_sweep.mat', apa_nums(i)), 't', 'Va', 'Vs', 'de', 'da')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Third identification
|
||||||
|
apa_noise_hf = {};
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
apa_noise_hf(i) = {load(sprintf('frf_data_%i_noise_hf.mat', apa_nums(i)), 't', 'Va', 'Vs', 'de', 'da')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Time vector
|
||||||
|
t = apa_sweep{1}.t - apa_sweep{1}.t(1) ; % Time vector [s]
|
||||||
|
|
||||||
|
%% Sampling
|
||||||
|
Ts = (t(end) - t(1))/(length(t)-1); % Sampling Time [s]
|
||||||
|
Fs = 1/Ts; % Sampling Frequency [Hz]
|
||||||
|
|
||||||
|
win = hanning(ceil(0.5*Fs)); % Hannning Windows
|
||||||
|
|
||||||
|
% Only used to have the frequency vector "f"
|
||||||
|
[~, f] = tfestimate(apa_sweep{1}.Va, apa_sweep{1}.de, win, [], [], 1/Ts);
|
||||||
|
i_lf = f <= 350;
|
||||||
|
i_hf = f > 350;
|
||||||
|
|
||||||
|
%% Coherence computation
|
||||||
|
coh_enc = zeros(length(f), length(apa_nums));
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
[coh_lf, ~] = mscohere(apa_sweep{i}.Va, apa_sweep{i}.de, win, [], [], 1/Ts);
|
||||||
|
[coh_hf, ~] = mscohere(apa_noise_hf{i}.Va, apa_noise_hf{i}.de, win, [], [], 1/Ts);
|
||||||
|
coh_enc(:, i) = [coh_lf(i_lf); coh_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, coh_enc(:, i));
|
||||||
|
end;
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([5, 5e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Transfer function estimation
|
||||||
|
enc_frf = zeros(length(f), length(apa_nums));
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
[frf_lf, ~] = tfestimate(apa_sweep{i}.Va, apa_sweep{i}.de, win, [], [], 1/Ts);
|
||||||
|
[frf_hf, ~] = tfestimate(apa_noise_hf{i}.Va, apa_noise_hf{i}.de, win, [], [], 1/Ts);
|
||||||
|
enc_frf(:, i) = [frf_lf(i_lf); frf_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('APA %i', apa_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
ylim([1e-9, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)));
|
||||||
|
end
|
||||||
|
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([10, 2e3]);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('APA %i', apa_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
ylim([2e-5, 4e-4]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360);
|
||||||
|
ylim([-10, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([80, 120]);
|
||||||
|
|
||||||
|
%% Compute the Coherence
|
||||||
|
coh_iff = zeros(length(f), length(apa_nums));
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
[coh_lf, ~] = mscohere(apa_sweep{i}.Va, apa_sweep{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
[coh_hf, ~] = mscohere(apa_noise_hf{i}.Va, apa_noise_hf{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
coh_iff(:, i) = [coh_lf(i_lf); coh_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, coh_iff(:, i));
|
||||||
|
end;
|
||||||
|
hold off;
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlim([5, 5e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% FRF estimation of the transfer function from Va to Vs
|
||||||
|
iff_frf = zeros(length(f), length(apa_nums));
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
[frf_lf, ~] = tfestimate(apa_sweep{i}.Va, apa_sweep{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
[frf_hf, ~] = tfestimate(apa_noise_hf{i}.Va, apa_noise_hf{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
iff_frf(:, i) = [frf_lf(i_lf); frf_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to Vs
|
||||||
|
figure;
|
||||||
|
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('APA %i', apa_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:, i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Remove the APA 7 (6 in the list) from measurements
|
||||||
|
apa_nums(6) = [];
|
||||||
|
enc_frf(:,6) = [];
|
||||||
|
iff_frf(:,6) = [];
|
||||||
|
|
||||||
|
%% Save the measured FRF
|
||||||
|
save('mat/meas_apa_frf.mat', 'f', 'Ts', 'enc_frf', 'iff_frf', 'apa_nums');
|
||||||
@@ -0,0 +1,383 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
%% Add useful folders to the path
|
||||||
|
addpath('test_bench_apa300ml/');
|
||||||
|
addpath('png/');
|
||||||
|
addpath('mat/');
|
||||||
|
addpath('src/');
|
||||||
|
|
||||||
|
%% Frequency vector used for many plots
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
%% Open Simscape Model
|
||||||
|
options = linearizeOptions;
|
||||||
|
options.SampleTime = 0;
|
||||||
|
|
||||||
|
% Name of the Simulink File
|
||||||
|
mdl = 'test_bench_apa300ml';
|
||||||
|
|
||||||
|
open(mdl)
|
||||||
|
|
||||||
|
%% Initialize the structure with default values
|
||||||
|
n_hexapod = struct();
|
||||||
|
n_hexapod.actuator = initializeAPA(...
|
||||||
|
'type', '2dof', ...
|
||||||
|
'Ga', 1, ... % Actuator constant [N/V]
|
||||||
|
'Gs', 1); % Sensor constant [V/m]
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % DAC Voltage
|
||||||
|
io(io_i) = linio([mdl, '/Vs'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
io(io_i) = linio([mdl, '/da'], 1, 'openoutput'); io_i = io_i + 1; % Interferometer
|
||||||
|
|
||||||
|
%% Run the linearization
|
||||||
|
Ga = linearize(mdl, io, 0.0, options);
|
||||||
|
Ga.InputName = {'Va'};
|
||||||
|
Ga.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from u to taum
|
||||||
|
freqs = logspace(1, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Ga('Vs', 'Va'), freqs, 'Hz'))), 'k-')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga('Vs', 'Va'), freqs, 'Hz'))), 'k-')
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:45:360);
|
||||||
|
ylim([-180, 0])
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([freqs(1), freqs(end)]);
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from Va to de and da
|
||||||
|
freqs = logspace(1, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Ga('de', 'Va'), freqs, 'Hz'))), 'DisplayName', 'Encoder')
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Ga('da', 'Va'), freqs, 'Hz'))), 'DisplayName', 'Interferometer')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'southwest');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga('da', 'Va'), freqs, 'Hz'))))
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:45:360);
|
||||||
|
ylim([-180, 0])
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
load('meas_apa_frf.mat', 'f', 'Ts', 'enc_frf', 'iff_frf', 'apa_nums');
|
||||||
|
|
||||||
|
%% Initialize a 2DoF APA with Ga=Gs=1
|
||||||
|
n_hexapod.actuator = initializeAPA(...
|
||||||
|
'type', '2dof', ...
|
||||||
|
'ga', 1, ...
|
||||||
|
'gs', 1);
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage
|
||||||
|
io(io_i) = linio([mdl, '/Vs'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
io(io_i) = linio([mdl, '/da'], 1, 'openoutput'); io_i = io_i + 1; % Attocube
|
||||||
|
|
||||||
|
%% Identification
|
||||||
|
Gs = linearize(mdl, io, 0.0, options);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Estimated Actuator Constant
|
||||||
|
ga = -mean(abs(enc_frf(f>10 & f<20)))./dcgain(Gs('de', 'Va')); % [N/V]
|
||||||
|
|
||||||
|
%% Estimated Sensor Constant
|
||||||
|
gs = -mean(abs(iff_frf(f>400 & f<500)))./(ga*abs(squeeze(freqresp(Gs('Vs', 'Va'), 1e3, 'Hz')))); % [V/m]
|
||||||
|
|
||||||
|
%% Set the identified constants
|
||||||
|
n_hexapod.actuator = initializeAPA(...
|
||||||
|
'type', '2dof', ...
|
||||||
|
'ga', ga, ... % Actuator gain [N/V]
|
||||||
|
'gs', gs); % Sensor gain [V/m]
|
||||||
|
|
||||||
|
%% Identify again the dynamics with correct Ga,Gs
|
||||||
|
Gs = linearize(mdl, io, 0.0, options);
|
||||||
|
Gs = Gs*exp(-Ts*s);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from u to de
|
||||||
|
freqs = logspace(1,4,1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d\mathcal{L}_m/u$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:,1)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from Va to Vs (both Simscape and measured FRF)
|
||||||
|
freqs = logspace(1,4,1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $\tau_m/u$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:,1)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Initialize the APA as a flexible body
|
||||||
|
n_hexapod.actuator = initializeAPA(...
|
||||||
|
'type', 'flexible', ...
|
||||||
|
'ga', 1, ...
|
||||||
|
'gs', 1);
|
||||||
|
|
||||||
|
%% Identify the dynamics
|
||||||
|
Gs = linearize(mdl, io, 0.0, options);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Actuator Constant
|
||||||
|
ga = -mean(abs(enc_frf(f>10 & f<20)))./dcgain(Gs('de', 'Va')); % [N/V]
|
||||||
|
|
||||||
|
%% Sensor Constant
|
||||||
|
gs = -mean(abs(iff_frf(f>400 & f<500)))./(ga*abs(squeeze(freqresp(Gs('Vs', 'Va'), 1e3, 'Hz')))); % [V/m]
|
||||||
|
|
||||||
|
%% Set the identified constants
|
||||||
|
n_hexapod.actuator = initializeAPA(...
|
||||||
|
'type', 'flexible', ...
|
||||||
|
'ga', ga, ... % Actuator gain [N/V]
|
||||||
|
'gs', gs); % Sensor gain [V/m]
|
||||||
|
|
||||||
|
%% Identify with updated constants
|
||||||
|
Gs = linearize(mdl, io, 0.0, options);
|
||||||
|
Gs = Gs*exp(-Ts*s);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from V_a to d_e (both Simscape and measured FRF)
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d\mathcal{L}_m/u$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-9, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:,1)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Bode plot of the transfer function from Va to Vs (both Simscape and measured FRF)
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $\tau_m/u$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:,1)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Optimized parameters
|
||||||
|
n_hexapod.actuator = initializeAPA('type', '2dof', ...
|
||||||
|
'Ga', -32.2, ...
|
||||||
|
'Gs', 0.088, ...
|
||||||
|
'k', ones(6,1)*0.38e6, ...
|
||||||
|
'ke', ones(6,1)*1.75e6, ...
|
||||||
|
'ka', ones(6,1)*3e7, ...
|
||||||
|
'c', ones(6,1)*1.3e2, ...
|
||||||
|
'ce', ones(6,1)*1e1, ...
|
||||||
|
'ca', ones(6,1)*1e1 ...
|
||||||
|
);
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage
|
||||||
|
io(io_i) = linio([mdl, '/Vs'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
|
||||||
|
%% Identification with optimized parameters
|
||||||
|
Gs = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de'};
|
||||||
|
|
||||||
|
%% Comparison of the experimental data and Simscape Model
|
||||||
|
freqs = 5*logspace(0, 3, 1000);
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 2, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
|
||||||
|
ax1b = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
ax2b = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(apa_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))))
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2,ax1b,ax2b],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
|
||||||
|
%% Measured height for all the APA at the 8 locations
|
||||||
|
apa1 = 1e-6*[0, -0.5 , 3.5 , 3.5 , 42 , 45.5, 52.5 , 46];
|
||||||
|
apa2 = 1e-6*[0, -2.5 , -3 , 0 , -1.5 , 1 , -2 , -4];
|
||||||
|
apa3 = 1e-6*[0, -1.5 , 15 , 17.5 , 6.5 , 6.5 , 21 , 23];
|
||||||
|
apa4 = 1e-6*[0, 6.5 , 14.5 , 9 , 16 , 22 , 29.5 , 21];
|
||||||
|
apa5 = 1e-6*[0, -12.5, 16.5 , 28.5 , -43 , -52 , -22.5, -13.5];
|
||||||
|
apa6 = 1e-6*[0, -8 , -2 , 5 , -57.5, -62 , -55.5, -52.5];
|
||||||
|
apa7 = 1e-6*[0, 19.5 , -8 , -29.5, 75 , 97.5, 70 , 48];
|
||||||
|
apa7b = 1e-6*[0, 9 , -18.5, -30 , 31 , 46.5, 16.5 , 7.5];
|
||||||
|
|
||||||
|
apa = {apa1, apa2, apa3, apa4, apa5, apa6, apa7b};
|
||||||
|
|
||||||
|
%% X-Y positions of the measurements points
|
||||||
|
W = 20e-3; % Width [m]
|
||||||
|
L = 61e-3; % Length [m]
|
||||||
|
d = 1e-3; % Distance from border [m]
|
||||||
|
l = 15.5e-3; % [m]
|
||||||
|
|
||||||
|
pos = [[-L/2 + d; W/2 - d],
|
||||||
|
[-L/2 + l - d; W/2 - d],
|
||||||
|
[-L/2 + l - d; -W/2 + d],
|
||||||
|
[-L/2 + d; -W/2 + d],
|
||||||
|
[L/2 - l + d; W/2 - d],
|
||||||
|
[L/2 - d; W/2 - d],
|
||||||
|
[L/2 - d; -W/2 + d],
|
||||||
|
[L/2 - l + d; -W/2 + d]];
|
||||||
|
|
||||||
|
%% Using fminsearch to find the best fitting plane
|
||||||
|
apa_d = zeros(1, 7);
|
||||||
|
for i = 1:7
|
||||||
|
fun = @(x)max(abs(([pos; apa{i}]-[0;0;x(1)])'*([x(2:3);1]/norm([x(2:3);1]))));
|
||||||
|
x0 = [0;0;0];
|
||||||
|
[x, min_d] = fminsearch(fun,x0);
|
||||||
|
apa_d(i) = min_d;
|
||||||
|
end
|
||||||
@@ -0,0 +1,97 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('mat/');
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
bending_X = load('apa300ml_bending_X_top.mat');
|
||||||
|
|
||||||
|
%% Spectral Analysis setup
|
||||||
|
Ts = bending_X.Track1_X_Resolution; % Sampling Time [s]
|
||||||
|
win = hann(ceil(1/Ts));
|
||||||
|
|
||||||
|
%% Compute the transfer function from applied force to measured rotation
|
||||||
|
[G_bending_X, f] = tfestimate(bending_X.Track1, bending_X.Track2, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the transfer function
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(G_bending_X), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude');
|
||||||
|
xlim([50, 2e3]); ylim([1e-5, 2e-1]);
|
||||||
|
text(280, 5.5e-2,{'280Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(840, 2.0e-3,{'840Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(1400, 7.0e-3,{'1400Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
bending_Y = load('apa300ml_bending_Y_top.mat');
|
||||||
|
|
||||||
|
%% Compute the transfer function
|
||||||
|
[G_bending_Y, ~] = tfestimate(bending_Y.Track1, bending_Y.Track2, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the transfer function
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(G_bending_Y), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude');
|
||||||
|
xlim([50, 2e3]); ylim([1e-5, 3e-2])
|
||||||
|
text(412, 1.5e-2,{'412Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(1218, 1.5e-2,{'1220Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
torsion = load('apa300ml_torsion_left.mat');
|
||||||
|
|
||||||
|
%% Compute transfer function
|
||||||
|
[G_torsion, ~] = tfestimate(torsion.Track1, torsion.Track2, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the transfer function
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(G_torsion), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude');
|
||||||
|
xlim([50, 2e3]); ylim([1e-5, 2e-2])
|
||||||
|
text(415, 4.3e-3,{'415Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(267, 8e-4,{'267Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
|
||||||
|
text(800, 6e-4,{'800Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
|
||||||
|
|
||||||
|
%% Load data
|
||||||
|
torsion = load('apa300ml_torsion_top.mat');
|
||||||
|
|
||||||
|
%% Compute transfer function
|
||||||
|
[G_torsion_top, ~] = tfestimate(torsion.Track1, torsion.Track2, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Plot the two transfer functions
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(G_torsion), 'k-', 'DisplayName', 'Left excitation');
|
||||||
|
plot(f, abs(G_torsion_top), '-', 'DisplayName', 'Top excitation');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude');
|
||||||
|
xlim([50, 2e3]); ylim([1e-5, 2e-2])
|
||||||
|
text(415, 4.3e-3,{'415Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(267, 8e-4,{'267Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
|
||||||
|
text(800, 2e-3,{'800Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
|
||||||
|
legend('location', 'northwest');
|
||||||
|
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(G_torsion), 'DisplayName', 'Torsion');
|
||||||
|
plot(f, abs(G_bending_X), 'DisplayName', 'Bending - X');
|
||||||
|
plot(f, abs(G_bending_Y), 'DisplayName', 'Bending - Y');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude');
|
||||||
|
xlim([50, 2e3]); ylim([1e-5, 1e-1]);
|
||||||
|
legend('location', 'southeast');
|
||||||
@@ -0,0 +1,112 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
|
||||||
|
%% Load the measurements
|
||||||
|
apa300ml_1s = {};
|
||||||
|
for i = 1:7
|
||||||
|
apa300ml_1s(i) = {load(['mat/stroke_apa_1stacks_' num2str(i) '.mat'], 't', 'V', 'd')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Only take the data between t=2 and t=10 and reset the measured displacement at t=2
|
||||||
|
for i = 1:7
|
||||||
|
t = apa300ml_1s{i}.t;
|
||||||
|
apa300ml_1s{i}.d = apa300ml_1s{i}.d - mean(apa300ml_1s{i}.d(t > 1.9 & t < 2.0));
|
||||||
|
apa300ml_1s{i}.d = apa300ml_1s{i}.d(t > 2.0 & t < 10.0);
|
||||||
|
apa300ml_1s{i}.V = apa300ml_1s{i}.V(t > 2.0 & t < 10.0);
|
||||||
|
apa300ml_1s{i}.t = apa300ml_1s{i}.t(t > 2.0 & t < 10.0);
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Applied voltage as a function of time
|
||||||
|
figure;
|
||||||
|
plot(apa300ml_1s{1}.t, 20*apa300ml_1s{1}.V)
|
||||||
|
xlabel('Time [s]'); ylabel('Voltage [V]');
|
||||||
|
ylim([-20,160]); yticks([-20 0 20 40 60 80 100 120 140 160]);
|
||||||
|
|
||||||
|
%% Measured motion for all the APA300ML
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:7
|
||||||
|
plot(apa300ml_1s{i}.t, 1e6*apa300ml_1s{i}.d, 'DisplayName', sprintf('APA %i', i))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Time [s]'); ylabel('Displacement [$\mu m$]')
|
||||||
|
legend('location', 'southeast', 'FontSize', 8)
|
||||||
|
|
||||||
|
%% Displacement as a function of the applied voltage
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:7
|
||||||
|
plot(20*apa300ml_1s{i}.V, 1e6*apa300ml_1s{i}.d, 'DisplayName', sprintf('APA %i', i))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Voltage [V]'); ylabel('Displacement [$\mu m$]')
|
||||||
|
legend('location', 'southwest', 'FontSize', 8)
|
||||||
|
xlim([-20, 160]); ylim([-140, 0]);
|
||||||
|
|
||||||
|
%% Load the measurements
|
||||||
|
apa300ml_2s = {};
|
||||||
|
for i = 1:7
|
||||||
|
apa300ml_2s(i) = {load(['mat/stroke_apa_2stacks_' num2str(i) '.mat'], 't', 'V', 'd')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Only take the data between t=2 and t=10 and reset the measured displacement at t=2
|
||||||
|
for i = 1:7
|
||||||
|
t = apa300ml_2s{i}.t;
|
||||||
|
apa300ml_2s{i}.d = apa300ml_2s{i}.d - mean(apa300ml_2s{i}.d(t > 1.9 & t < 2.0));
|
||||||
|
apa300ml_2s{i}.d = apa300ml_2s{i}.d(t > 2.0 & t < 10.0);
|
||||||
|
apa300ml_2s{i}.V = apa300ml_2s{i}.V(t > 2.0 & t < 10.0);
|
||||||
|
apa300ml_2s{i}.t = apa300ml_2s{i}.t(t > 2.0 & t < 10.0);
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Measured motion for all the APA300ML
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:7
|
||||||
|
plot(apa300ml_2s{i}.t, 1e6*apa300ml_2s{i}.d, 'DisplayName', sprintf('APA %i', i))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Time [s]'); ylabel('Displacement [$\mu m$]')
|
||||||
|
legend('location', 'southeast', 'FontSize', 8)
|
||||||
|
ylim([-250, 0]);
|
||||||
|
|
||||||
|
%% Displacement as a function of the applied voltage
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:7
|
||||||
|
plot(20*apa300ml_2s{i}.V, 1e6*apa300ml_2s{i}.d, 'DisplayName', sprintf('APA %i', i))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Voltage [V]'); ylabel('Displacement [$\mu m$]')
|
||||||
|
legend('location', 'southwest', 'FontSize', 8)
|
||||||
|
xlim([-20, 160]); ylim([-250, 0]);
|
||||||
|
|
||||||
|
%% Motion induced by applying a voltage to the three stack is the sum to the previous two measured displacements
|
||||||
|
apa300ml_3s = {};
|
||||||
|
for i = 1:7
|
||||||
|
apa300ml_3s(i) = apa300ml_1s(i);
|
||||||
|
apa300ml_3s{i}.d = apa300ml_1s{i}.d + apa300ml_2s{i}.d;
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Displacement as a function of the applied voltage
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:7
|
||||||
|
plot(20*apa300ml_3s{i}.V, 1e6*apa300ml_3s{i}.d, 'DisplayName', sprintf('APA %i', i))
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
xlabel('Voltage [V]'); ylabel('Displacement [$\mu m$]')
|
||||||
|
legend('location', 'southwest', 'FontSize', 8)
|
||||||
|
xlim([-20, 160]); ylim([-400, 0]);
|
||||||
|
|
||||||
|
%% Estimate the maximum stroke
|
||||||
|
apa300ml_stroke = zeros(1, 7);
|
||||||
|
for i = 1:7
|
||||||
|
apa300ml_stroke(i) = max(apa300ml_3s{i}.d) - min(apa300ml_3s{i}.d);
|
||||||
|
end
|
||||||
@@ -0,0 +1,369 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
addpath('./src/');
|
||||||
|
|
||||||
|
%% Load Data
|
||||||
|
leg_sweep = load(sprintf('frf_data_leg_%i_sweep.mat', 1), 't', 'Va', 'Vs', 'de', 'da');
|
||||||
|
leg_noise_hf = load(sprintf('frf_data_leg_%i_noise_hf.mat', 1), 't', 'Va', 'Vs', 'de', 'da');
|
||||||
|
|
||||||
|
%% Time vector
|
||||||
|
t = leg_sweep.t - leg_sweep.t(1) ; % Time vector [s]
|
||||||
|
|
||||||
|
%% Sampling frequency/time
|
||||||
|
Ts = (t(end) - t(1))/(length(t)-1); % Sampling Time [s]
|
||||||
|
Fs = 1/Ts; % Sampling Frequency [Hz]
|
||||||
|
|
||||||
|
win = hanning(ceil(0.5*Fs)); % Hannning Windows
|
||||||
|
|
||||||
|
% Only used to have the frequency vector "f"
|
||||||
|
[~, f] = tfestimate(leg_sweep.Va, leg_sweep.de, win, [], [], 1/Ts);
|
||||||
|
i_lf = f <= 350; % Indices used for the low frequency
|
||||||
|
i_hf = f > 350; % Indices used for the low frequency
|
||||||
|
|
||||||
|
%% Compute the coherence for both excitation signals
|
||||||
|
[int_coh_sweep, ~] = mscohere(leg_sweep.Va, leg_sweep.da, win, [], [], 1/Ts);
|
||||||
|
[int_coh_noise_hf, ~] = mscohere(leg_noise_hf.Va, leg_noise_hf.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the coherence
|
||||||
|
int_coh = [int_coh_sweep(i_lf); int_coh_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, int_coh(:, 1), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute FRF function from Va to da
|
||||||
|
[frf_sweep, ~] = tfestimate(leg_sweep.Va, leg_sweep.da, win, [], [], 1/Ts);
|
||||||
|
[frf_noise_hf, ~] = tfestimate(leg_noise_hf.Va, leg_noise_hf.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the FRF
|
||||||
|
int_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the measured FRF
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(int_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-9, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(int_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compute the coherence for both excitation signals
|
||||||
|
[iff_coh_sweep, ~] = mscohere(leg_sweep.Va, leg_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
[iff_coh_noise_hf, ~] = mscohere(leg_noise_hf.Va, leg_noise_hf.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the coherence
|
||||||
|
iff_coh = [iff_coh_sweep(i_lf); iff_coh_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, iff_coh, 'k-');
|
||||||
|
hold off;
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute the FRF
|
||||||
|
[frf_sweep, ~] = tfestimate(leg_sweep.Va, leg_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
[frf_noise_hf, ~] = tfestimate(leg_noise_hf.Va, leg_noise_hf.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the FRF
|
||||||
|
iff_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the measured FRF
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(iff_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(iff_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Load data
|
||||||
|
leg_enc_sweep = load(sprintf('frf_data_leg_coder_badly_align_%i_noise.mat', 1), 't', 'Va', 'Vs', 'de', 'da');
|
||||||
|
leg_enc_noise_hf = load(sprintf('frf_data_leg_coder_badly_align_%i_noise_hf.mat', 1), 't', 'Va', 'Vs', 'de', 'da');
|
||||||
|
|
||||||
|
%% Compute the coherence for both excitation signals
|
||||||
|
[int_coh_sweep, ~] = mscohere(leg_enc_sweep.Va, leg_enc_sweep.da, win, [], [], 1/Ts);
|
||||||
|
[int_coh_noise_hf, ~] = mscohere(leg_enc_noise_hf.Va, leg_enc_noise_hf.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the coherinte
|
||||||
|
int_coh = [int_coh_sweep(i_lf); int_coh_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, int_coh(:, 1), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute FRF function from Va to da
|
||||||
|
[frf_sweep, ~] = tfestimate(leg_enc_sweep.Va, leg_enc_sweep.da, win, [], [], 1/Ts);
|
||||||
|
[frf_noise_hf, ~] = tfestimate(leg_enc_noise_hf.Va, leg_enc_noise_hf.da, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the FRF
|
||||||
|
int_with_enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to de
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(int_with_enc_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_a/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-7, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(int_with_enc_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to da with and without the encoder
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(int_with_enc_frf), '-', 'DisplayName', 'With encoder');
|
||||||
|
plot(f, abs(int_frf), '-', 'DisplayName', 'Without encoder');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_a/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-7, 1e-3]);
|
||||||
|
legend('location', 'northeast')
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(int_with_enc_frf), '-');
|
||||||
|
plot(f, 180/pi*angle(int_frf), '-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compute the coherence for both excitation signals
|
||||||
|
[enc_coh_sweep, ~] = mscohere(leg_enc_sweep.Va, leg_enc_sweep.de, win, [], [], 1/Ts);
|
||||||
|
[enc_coh_noise_hf, ~] = mscohere(leg_enc_noise_hf.Va, leg_enc_noise_hf.de, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the coherence
|
||||||
|
enc_coh = [enc_coh_sweep(i_lf); enc_coh_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, enc_coh(:, 1), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute FRF function from Va to da
|
||||||
|
[frf_sweep, ~] = tfestimate(leg_enc_sweep.Va, leg_enc_sweep.de, win, [], [], 1/Ts);
|
||||||
|
[frf_noise_hf, ~] = tfestimate(leg_enc_noise_hf.Va, leg_enc_noise_hf.de, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the FRF
|
||||||
|
enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to de
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-7, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(enc_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf), 'DisplayName', 'Encoder');
|
||||||
|
plot(f, abs(int_with_enc_frf), 'DisplayName', 'Interferometer');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(enc_frf));
|
||||||
|
plot(f, 180/pi*angle(int_with_enc_frf));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Transfer function from Vs to de with indicated resonances
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf), 'k-');
|
||||||
|
text(93, 4e-4, {'93Hz'}, 'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(200, 1.3e-4,{'197Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(300, 4e-6, {'290Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
text(400, 1.4e-6,{'376Hz'},'VerticalAlignment','bottom','HorizontalAlignment','center')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); xlabel('Frequency [Hz]');
|
||||||
|
hold off;
|
||||||
|
ylim([1e-7, 1e-3]); xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compute the coherence for both excitation signals
|
||||||
|
[iff_coh_sweep, ~] = mscohere(leg_enc_sweep.Va, leg_enc_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
[iff_coh_noise_hf, ~] = mscohere(leg_enc_noise_hf.Va, leg_enc_noise_hf.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the coherence
|
||||||
|
iff_coh = [iff_coh_sweep(i_lf); iff_coh_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
plot(f, iff_coh, 'k-');
|
||||||
|
hold off;
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Compute FRF function from Va to da
|
||||||
|
[frf_sweep, ~] = tfestimate(leg_enc_sweep.Va, leg_enc_sweep.Vs, win, [], [], 1/Ts);
|
||||||
|
[frf_noise_hf, ~] = tfestimate(leg_enc_noise_hf.Va, leg_enc_noise_hf.Vs, win, [], [], 1/Ts);
|
||||||
|
|
||||||
|
%% Combine the FRF
|
||||||
|
iff_with_enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)];
|
||||||
|
|
||||||
|
%% Plot FRF of the transfer function from Va to Vs
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(iff_with_enc_frf), 'k-');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(iff_with_enc_frf), 'k');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compare the IFF plant with and without the encoders
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(iff_with_enc_frf), 'DisplayName', 'With Encoder');
|
||||||
|
plot(f, abs(iff_frf), 'DisplayName', 'Without Encoder');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8);
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(f, 180/pi*angle(iff_with_enc_frf));
|
||||||
|
plot(f, 180/pi*angle(iff_frf));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
@@ -0,0 +1,217 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
colors = colororder;
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
addpath('./src/');
|
||||||
|
|
||||||
|
%% Numnbers of the measured legs
|
||||||
|
leg_nums = [1 2 3 4 5];
|
||||||
|
|
||||||
|
%% First identification (low frequency noise)
|
||||||
|
leg_noise = {};
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
leg_noise(i) = {load(sprintf('frf_data_leg_coder_%i_noise.mat', leg_nums(i)), 't', 'Va', 'Vs', 'de', 'da')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Second identification (high frequency noise)
|
||||||
|
leg_noise_hf = {};
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
leg_noise_hf(i) = {load(sprintf('frf_data_leg_coder_%i_noise_hf.mat', leg_nums(i)), 't', 'Va', 'Vs', 'de', 'da')};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Time vector
|
||||||
|
t = leg_noise{1}.t - leg_noise{1}.t(1) ; % Time vector [s]
|
||||||
|
|
||||||
|
%% Sampling
|
||||||
|
Ts = (t(end) - t(1))/(length(t)-1); % Sampling Time [s]
|
||||||
|
Fs = 1/Ts; % Sampling Frequency [Hz]
|
||||||
|
|
||||||
|
win = hanning(ceil(0.5*Fs)); % Hannning Windows
|
||||||
|
|
||||||
|
% Only used to have the frequency vector "f"
|
||||||
|
[~, f] = tfestimate(leg_noise{1}.Va, leg_noise{1}.de, win, [], [], 1/Ts);
|
||||||
|
i_lf = f <= 350;
|
||||||
|
i_hf = f > 350;
|
||||||
|
|
||||||
|
%% Coherence computation
|
||||||
|
coh_enc = zeros(length(f), length(leg_nums));
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[coh_lf, ~] = mscohere(leg_noise{i}.Va, leg_noise{i}.de, win, [], [], 1/Ts);
|
||||||
|
[coh_hf, ~] = mscohere(leg_noise_hf{i}.Va, leg_noise_hf{i}.de, win, [], [], 1/Ts);
|
||||||
|
coh_enc(:, i) = [coh_lf(i_lf); coh_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, coh_enc(:, i));
|
||||||
|
end;
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Transfer function estimation
|
||||||
|
enc_frf = zeros(length(f), length(leg_nums));
|
||||||
|
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[frf_lf, ~] = tfestimate(leg_noise{i}.Va, leg_noise{i}.de, win, [], [], 1/Ts);
|
||||||
|
[frf_hf, ~] = tfestimate(leg_noise_hf{i}.Va, leg_noise_hf{i}.de, win, [], [], 1/Ts);
|
||||||
|
enc_frf(:, i) = [frf_lf(i_lf); frf_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Bode plot of the FRF from Va to de
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('Leg %i', leg_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Coherence computation
|
||||||
|
coh_int = zeros(length(f), length(leg_nums));
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[coh_lf, ~] = mscohere(leg_noise{i}.Va, leg_noise{i}.da, win, [], [], 1/Ts);
|
||||||
|
[coh_hf, ~] = mscohere(leg_noise_hf{i}.Va, leg_noise_hf{i}.da, win, [], [], 1/Ts);
|
||||||
|
coh_int(:, i) = [coh_lf(i_lf); coh_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, coh_int(:, i));
|
||||||
|
end;
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% Transfer function estimation
|
||||||
|
int_frf = zeros(length(f), length(leg_nums));
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[frf_lf, ~] = tfestimate(leg_noise{i}.Va, leg_noise{i}.da, win, [], [], 1/Ts);
|
||||||
|
[frf_hf, ~] = tfestimate(leg_noise_hf{i}.Va, leg_noise_hf{i}.da, win, [], [], 1/Ts);
|
||||||
|
int_frf(:, i) = [frf_lf(i_lf); frf_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to de (interferometer)
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, abs(int_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('Leg %i', leg_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_a/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
ylim([1e-9, 1e-3]);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(int_frf(:, i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Coherence
|
||||||
|
coh_iff = zeros(length(f), length(leg_nums));
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[coh_lf, ~] = mscohere(leg_noise{i}.Va, leg_noise{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
[coh_hf, ~] = mscohere(leg_noise_hf{i}.Va, leg_noise_hf{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
coh_iff(:, i) = [coh_lf(i_lf); coh_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the coherence
|
||||||
|
figure;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, coh_iff(:, i));
|
||||||
|
end;
|
||||||
|
hold off;
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Coherence [-]');
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlim([10, 2e3]); ylim([0, 1]);
|
||||||
|
|
||||||
|
%% FRF estimation of the transfer function from Va to Vs
|
||||||
|
iff_frf = zeros(length(f), length(leg_nums));
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
[frf_lf, ~] = tfestimate(leg_noise{i}.Va, leg_noise{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
[frf_hf, ~] = tfestimate(leg_noise_hf{i}.Va, leg_noise_hf{i}.Vs, win, [], [], 1/Ts);
|
||||||
|
iff_frf(:, i) = [frf_lf(i_lf); frf_hf(i_hf)];
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the FRF from Va to Vs
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), ...
|
||||||
|
'DisplayName', sprintf('Leg %i', leg_nums(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 2);
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:, i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Save the estimated FRF for further analysis
|
||||||
|
save('mat/meas_struts_frf.mat', 'f', 'Ts', 'enc_frf', 'int_frf', 'iff_frf', 'leg_nums');
|
||||||
@@ -0,0 +1,597 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
%% Add useful folders to the path
|
||||||
|
addpath('test_bench_struts/');
|
||||||
|
addpath('png/');
|
||||||
|
addpath('mat/');
|
||||||
|
addpath('src/');
|
||||||
|
|
||||||
|
%% Frequency vector used for many plots
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
%% Options for Linearized
|
||||||
|
options = linearizeOptions;
|
||||||
|
options.SampleTime = 0;
|
||||||
|
|
||||||
|
%% Name of the Simulink File
|
||||||
|
mdl = 'test_bench_struts';
|
||||||
|
|
||||||
|
%% Open the Simulink File
|
||||||
|
open(mdl)
|
||||||
|
|
||||||
|
%% Initialize structure containing data for the Simscape model
|
||||||
|
n_hexapod = struct();
|
||||||
|
n_hexapod.flex_bot = initializeBotFlexibleJoint('type', '4dof');
|
||||||
|
n_hexapod.flex_top = initializeTopFlexibleJoint('type', '4dof');
|
||||||
|
n_hexapod.actuator = initializeAPA('type', '2dof');
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage
|
||||||
|
io(io_i) = linio([mdl, '/Vs'], 1, 'openoutput'); io_i = io_i + 1; % Sensor Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
io(io_i) = linio([mdl, '/da'], 1, 'openoutput'); io_i = io_i + 1; % Interferometer
|
||||||
|
|
||||||
|
%% Run the linearization
|
||||||
|
Gs = linearize(mdl, io, 0.0, options);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'Vs', 'de', 'da'};
|
||||||
|
|
||||||
|
%% Bode plot of the transfer functions
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))), 'DisplayName', 'Encoder')
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('da', 'Va'), freqs, 'Hz'))), 'DisplayName', 'Interferometer')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
legend('location', 'southwest');
|
||||||
|
|
||||||
|
ax1b = nexttile([2,1]);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))), 'k-')
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))))
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('da', 'Va'), freqs, 'Hz'))))
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:45:360);
|
||||||
|
ylim([-180, 180])
|
||||||
|
|
||||||
|
ax2b = nexttile;
|
||||||
|
hold on;
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))), 'k-')
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:45:360);
|
||||||
|
ylim([0, 180])
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2,ax1b,ax2b],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Load measured FRF
|
||||||
|
load('meas_struts_frf.mat', 'f', 'Ts', 'enc_frf', 'int_frf', 'iff_frf', 'leg_nums');
|
||||||
|
|
||||||
|
%% Add time delay to the Simscape model
|
||||||
|
Gs = exp(-s*Ts)*Gs;
|
||||||
|
|
||||||
|
%% Compare the FRF and identified dynamics from Va to Vs and da
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(int_frf(:, 1)), 'color', [0,0,0,0.2], ...
|
||||||
|
'DisplayName', 'Meas. FRF');
|
||||||
|
for i = 2:length(leg_nums)
|
||||||
|
plot(f, abs(int_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'HandleVisibility', 'off');
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('da', 'Va'), freqs, 'Hz'))), '-', ...
|
||||||
|
'DisplayName', 'Model')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_a/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax1b = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(iff_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'DisplayName', 'Meas. FRF');
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, abs(iff_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'HandleVisibility', 'off');
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))), '-', ...
|
||||||
|
'DisplayName', 'Model')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $V_s/V_a$ [V/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-2, 1e2]);
|
||||||
|
legend('location', 'southeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(int_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('da', 'Va'), freqs, 'Hz'))), '-')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
ax2b = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(iff_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('Vs', 'Va'), freqs, 'Hz'))), '-')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2,ax1b,ax2b],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Compare the FRF and identified dynamics from Va to de
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 1)), 'color', [0,0,0,0.2], ...
|
||||||
|
'DisplayName', 'Meas. FRF');
|
||||||
|
for i = 2:length(leg_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'HandleVisibility', 'off');
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))), '-', ...
|
||||||
|
'DisplayName', 'Model')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))), '-')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([20, 2e3]);
|
||||||
|
|
||||||
|
%% Load measured FRF of the struts
|
||||||
|
load('meas_struts_frf.mat', 'f', 'Ts', 'enc_frf', 'int_frf', 'iff_frf', 'leg_nums');
|
||||||
|
|
||||||
|
%% Initialize Simscape data
|
||||||
|
n_hexapod.flex_bot = initializeBotFlexibleJoint('type', '4dof');
|
||||||
|
n_hexapod.flex_top = initializeTopFlexibleJoint('type', '4dof');
|
||||||
|
n_hexapod.actuator = initializeAPA('type', 'flexible');
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
|
||||||
|
%% Identification
|
||||||
|
Gs = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
Gs.InputName = {'Va'};
|
||||||
|
Gs.OutputName = {'de'};
|
||||||
|
|
||||||
|
%% Measured FRF from Vs to de and identified dynamics using the flexible APA
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'DisplayName', 'Meas. FRF');
|
||||||
|
for i = 2:length(leg_nums)
|
||||||
|
plot(f, abs(enc_frf(:, i)), 'color', [0,0,0,0.2], ...
|
||||||
|
'HandleVisibility', 'off');
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))), '-', ...
|
||||||
|
'DisplayName', 'Model')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(leg_nums)
|
||||||
|
plot(f, 180/pi*angle(enc_frf(:, i)), 'color', [0,0,0,0.2]);
|
||||||
|
end
|
||||||
|
set(gca,'ColorOrderIndex',1);
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs('de', 'Va'), freqs, 'Hz'))), '-')
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Considered misalignments
|
||||||
|
dy_aligns = [-0.5, -0.1, 0, 0.1, 0.5]*1e-3; % [m]
|
||||||
|
|
||||||
|
%% Transfer functions from u to de for all the misalignment in y direction
|
||||||
|
Gs_align = {zeros(length(dy_aligns), 1)};
|
||||||
|
|
||||||
|
for i = 1:length(dy_aligns)
|
||||||
|
n_hexapod.actuator = initializeAPA('type', 'flexible', 'd_align', [0; dy_aligns(i); 0]);
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs_align(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Transfer function from Vs to de - effect of x-misalignment
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(dy_aligns)
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{i}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', sprintf('$d_y = %.1f$ [mm]', 1e3*dy_aligns(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(dy_aligns)
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_align{i}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Considered misalignments
|
||||||
|
dx_aligns = [-0.1, -0.05, 0, 0.05, 0.1]*1e-3; % [m]
|
||||||
|
|
||||||
|
%% Transfer functions from u to de for all the misalignment in x direction
|
||||||
|
Gs_align = {zeros(length(dx_aligns), 1)};
|
||||||
|
|
||||||
|
for i = 1:length(dx_aligns)
|
||||||
|
n_hexapod.actuator = initializeAPA('type', 'flexible', 'd_align', [dx_aligns(i); 0; 0]);
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs_align(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Transfer function from Vs to de - effect of x-misalignment
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(dx_aligns)
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{i}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', sprintf('$d_x = %.2f$ [mm]', 1e3*dx_aligns(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(dx_aligns)
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_align{i}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([10, 2e3]);
|
||||||
|
|
||||||
|
%% Tuned misalignment [m]
|
||||||
|
d_aligns = [[-0.05, -0.3, 0];
|
||||||
|
[ 0, 0.5, 0];
|
||||||
|
[-0.1, -0.3, 0];
|
||||||
|
[ 0, 0.3, 0];
|
||||||
|
[-0.05, 0.05, 0]]'*1e-3;
|
||||||
|
|
||||||
|
%% Idenfity the transfer function from actuator to encoder for all cases
|
||||||
|
Gs_align = {zeros(size(d_aligns,2), 1)};
|
||||||
|
|
||||||
|
for i = 1:size(d_aligns,2)
|
||||||
|
n_hexapod.actuator = initializeAPA('type', 'flexible', 'd_align', d_aligns(:,i));
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs_align(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Comparison of the plants (encoder output) when tuning the misalignment
|
||||||
|
freqs = 2*logspace(0, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(2, 3, 'TileSpacing', 'Compact', 'Padding', 'None');
|
||||||
|
ax1 = nexttile();
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 1)));
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{1}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/V]');
|
||||||
|
|
||||||
|
ax2 = nexttile();
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 2)));
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{2}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]);
|
||||||
|
|
||||||
|
ax3 = nexttile(4);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 3)), 'DisplayName', 'Meas.');
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{3}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', 'Model');
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Amplitude [m/V]');
|
||||||
|
legend('location', 'southwest', 'FontSize', 8);
|
||||||
|
|
||||||
|
ax4 = nexttile(5);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 4)));
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{4}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
hold off;
|
||||||
|
xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]);
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
|
||||||
|
ax5 = nexttile(6);
|
||||||
|
hold on;
|
||||||
|
plot(f, abs(enc_frf(:, 5)));
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs_align{5}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2,ax3,ax4,ax5],'xy');
|
||||||
|
xlim([20, 2e3]); ylim([1e-8, 1e-3]);
|
||||||
|
|
||||||
|
%% Input/Output definition
|
||||||
|
clear io; io_i = 1;
|
||||||
|
io(io_i) = linio([mdl, '/Va'], 1, 'openinput'); io_i = io_i + 1; % Actuator Voltage
|
||||||
|
io(io_i) = linio([mdl, '/de'], 1, 'openoutput'); io_i = io_i + 1; % Encoder
|
||||||
|
|
||||||
|
%% APA Initialization
|
||||||
|
n_hexapod.actuator = initializeAPA('type', 'flexible', 'd_align', [0.1e-3; 0.5e-3; 0]);
|
||||||
|
|
||||||
|
%% Tested bending stiffnesses [Nm/rad]
|
||||||
|
kRs = [3, 4, 5, 6, 7];
|
||||||
|
|
||||||
|
%% Idenfity the transfer function from actuator to encoder for all bending stiffnesses
|
||||||
|
Gs = {zeros(length(kRs), 1)};
|
||||||
|
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
n_hexapod.flex_bot = initializeBotFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'kRx', kRs(i), ...
|
||||||
|
'kRy', kRs(i));
|
||||||
|
n_hexapod.flex_top = initializeTopFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'kRx', kRs(i), ...
|
||||||
|
'kRy', kRs(i));
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the obtained transfer functions for all the bending stiffnesses
|
||||||
|
freqs = 2*logspace(1, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', sprintf('$k_R = %.0f$ [Nm/rad]', kRs(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([20, 2e3]);
|
||||||
|
|
||||||
|
%% Tested axial stiffnesses [N/m]
|
||||||
|
kzs = [5e7 7.5e7 1e8 2.5e8];
|
||||||
|
|
||||||
|
%% Idenfity the transfer function from actuator to encoder for all bending stiffnesses
|
||||||
|
Gs = {zeros(length(kzs), 1)};
|
||||||
|
|
||||||
|
for i = 1:length(kzs)
|
||||||
|
n_hexapod.flex_bot = initializeBotFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'kz', kzs(i));
|
||||||
|
n_hexapod.flex_top = initializeTopFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'kz', kzs(i));
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the obtained transfer functions for all the axial stiffnesses
|
||||||
|
freqs = 2*logspace(1, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kzs)
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', sprintf('$k_z = %.1e$ [N/m]', kzs(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'northeast');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kzs)
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([20, 2e3]);
|
||||||
|
|
||||||
|
%% Tested bending dampings [Nm/(rad/s)]
|
||||||
|
cRs = [1e-3, 5e-3, 1e-2, 5e-2, 1e-1];
|
||||||
|
|
||||||
|
%% Idenfity the transfer function from actuator to encoder for all bending dampins
|
||||||
|
Gs = {zeros(length(kRs), 1)};
|
||||||
|
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
n_hexapod.flex_bot = initializeBotFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'cRx', cRs(i), ...
|
||||||
|
'cRy', cRs(i));
|
||||||
|
n_hexapod.flex_top = initializeTopFlexibleJoint(...
|
||||||
|
'type', '4dof', ...
|
||||||
|
'cRx', cRs(i), ...
|
||||||
|
'cRy', cRs(i));
|
||||||
|
|
||||||
|
G = exp(-s*Ts)*linearize(mdl, io, 0.0, options);
|
||||||
|
G.InputName = {'Va'};
|
||||||
|
G.OutputName = {'de'};
|
||||||
|
|
||||||
|
Gs(i) = {G};
|
||||||
|
end
|
||||||
|
|
||||||
|
%% Plot the obtained transfer functions for all the bending stiffnesses
|
||||||
|
freqs = 2*logspace(1, 3, 1000);
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
|
||||||
|
ax1 = nexttile([2,1]);
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
plot(freqs, abs(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))), ...
|
||||||
|
'DisplayName', sprintf('$c_R = %.3f\\,[\\frac{Nm}{rad/s}]$', cRs(i)));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||||
|
ylabel('Amplitude $d_e/V_a$ [m/V]'); set(gca, 'XTickLabel',[]);
|
||||||
|
hold off;
|
||||||
|
ylim([1e-8, 1e-3]);
|
||||||
|
legend('location', 'southwest');
|
||||||
|
|
||||||
|
ax2 = nexttile;
|
||||||
|
hold on;
|
||||||
|
for i = 1:length(kRs)
|
||||||
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('de', 'Va'), freqs, 'Hz'))));
|
||||||
|
end
|
||||||
|
hold off;
|
||||||
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||||
|
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||||
|
hold off;
|
||||||
|
yticks(-360:90:360); ylim([-180, 180]);
|
||||||
|
|
||||||
|
linkaxes([ax1,ax2],'x');
|
||||||
|
xlim([20, 2e3]);
|
||||||
Binary file not shown.
Binary file not shown.
@@ -8,6 +8,8 @@
|
|||||||
number = 2,
|
number = 2,
|
||||||
pages = {157--165},
|
pages = {157--165},
|
||||||
year = 2018,
|
year = 2018,
|
||||||
|
doi = {10.1007/s12567-017-0180-6},
|
||||||
|
url = {https://doi.org/10.1007/s12567-017-0180-6},
|
||||||
publisher = {Springer},
|
publisher = {Springer},
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
+1791
-1529
File diff suppressed because it is too large
Load Diff
+1189
-957
File diff suppressed because it is too large
Load Diff
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user