68 lines
1.6 KiB
Mathematica
68 lines
1.6 KiB
Mathematica
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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addpath('./mat/');
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% Load Data
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oc = load('identification_open_circuit.mat', 't', 'encoder', 'u');
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sc = load('identification_short_circuit.mat', 't', 'encoder', 'u');
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% Transfer Functions
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Ts = 1e-4; % Sampling Time [s]
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win = hann(ceil(10/Ts));
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[tf_oc_est, f] = tfestimate(oc.u, oc.encoder, win, [], [], 1/Ts);
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[co_oc_est, ~] = mscohere( oc.u, oc.encoder, win, [], [], 1/Ts);
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[tf_sc_est, ~] = tfestimate(sc.u, sc.encoder, win, [], [], 1/Ts);
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[co_sc_est, ~] = mscohere( sc.u, sc.encoder, win, [], [], 1/Ts);
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figure;
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hold on;
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plot(f, co_oc_est, '-')
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plot(f, co_sc_est, '-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Coherence'); xlabel('Frequency [Hz]');
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hold off;
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xlim([0.5, 5e3]);
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% #+name: fig:stiffness_force_sensor_coherence
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% #+caption:
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% #+RESULTS:
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% [[file:figs/stiffness_force_sensor_coherence.png]]
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figure;
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tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
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ax1 = nexttile;
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hold on;
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plot(f, abs(tf_oc_est), '-', 'DisplayName', 'Open-Circuit')
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plot(f, abs(tf_sc_est), '-', 'DisplayName', 'Short-Circuit')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); set(gca, 'XTickLabel',[]);
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hold off;
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ylim([1e-7, 3e-4]);
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legend('location', 'southwest');
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ax2 = nexttile;
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hold on;
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plot(f, 180/pi*angle(tf_oc_est), '-')
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plot(f, 180/pi*angle(tf_sc_est), '-')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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yticks(-360:90:360);
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axis padded 'auto x'
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linkaxes([ax1,ax2], 'x');
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xlim([0.5, 5e3]);
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