tdehaeze/test-bench-nano-hexapod
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

update scripts

Browse Source
This commit is contained in:
Thomas Dehaeze
2021-06-08 17:31:16 +02:00
parent 94fa35e357
commit 409efbdbc7
6 changed files with 278 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

BIN
matlab/frf_data.mat Normal file
View File

Binary file not shown.

94
matlab/identif_analyze_all.m Normal file
View File

@@ -0,0 +1,94 @@
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
addpath('./src/');
% Test with one APA
%% Load measurement data for APA number 1
meas_data = {};
for i = 1:6
meas_data(i) = {load(sprintf('mat/frf_data_exc_strut_%i_noise_lf.mat', i), 't', 'Va', 'Vs', 'de')};
% load(sprintf('mat/frf_data_exc_strut_%i_noise_hf.mat', i), 't', 'Va', 'Vs', 'de');
end
%%
Ts = (meas_data{1}.t(end) - (meas_data{1}.t(1)))/(length(meas_data{1}.t)-1);
Fs = 1/Ts;
win = hanning(ceil(1*Fs)); % Hannning Windows
%% DVF
[~, f] = tfestimate(meas_data{1}.Va, meas_data{1}.de, win, [], [], 1/Ts);
G_dvf = zeros(length(f), 6, 6);
for i = 1:6
G_dvf(:, :, i) = tfestimate(meas_data{i}.Va, meas_data{i}.de, win, [], [], 1/Ts);
end
%% IFF
[~, f] = tfestimate(meas_data{1}.Va, meas_data{1}.de, win, [], [], 1/Ts);
G_iff = zeros(length(f), 6, 6);
for i = 1:6
G_iff(:, :, i) = tfestimate(meas_data{i}.Va, meas_data{i}.Vs, win, [], [], 1/Ts);
end
%%
figure;
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
ax1 = nexttile([2,1]);
hold on;
for i =1:6
plot(f, abs(G_dvf(:,i, i)));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
hold off;
ax2 = nexttile;
hold on;
for i =1:6
plot(f, 180/pi*angle(G_dvf(:,i, 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([5, 5e3]);
%%
figure;
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
ax1 = nexttile([2,1]);
hold on;
for i =1:6
plot(f, abs(G_iff(:,i, i)));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
hold off;
ax2 = nexttile;
hold on;
for i =1:6
plot(f, 180/pi*angle(G_iff(:,i, 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([5, 5e3]);

2
matlab/identif_save.m
View File

@@ -24,7 +24,7 @@ t = data(:, end); % Time [s]
% And we save this to a =mat= file:
strut_number = 1;
strut_number = 6;
% save(sprintf('mat/frf_data_exc_strut_%i_noise.mat', strut_number), 't', 'Va', 'Vs', 'de');
% save(sprintf('mat/frf_data_exc_strut_%i_noise_lf.mat', strut_number), 't', 'Va', 'Vs', 'de');

53
matlab/src/generateShapedNoise.m Normal file
View File

@@ -0,0 +1,53 @@
function [U_exc] = generateShapedNoise(args)
% generateShapedNoise - Generate a Shaped Noise excitation signal
%
% Syntax: [U_exc] = generateShapedNoise(args)
%
% Inputs:
% - args - Optinal arguments:
% - Ts - Sampling Time - [s]
% - V_mean - Mean value of the excitation voltage - [V]
% - V_exc - Excitation Amplitude, could be numeric or TF - [V rms]
% - t_start - Time at which the noise begins - [s]
% - exc_duration - Duration of the noise - [s]
% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-]
arguments
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4
args.V_mean (1,1) double {mustBeNumeric} = 0
args.V_exc = 1
args.t_start (1,1) double {mustBeNumeric, mustBePositive} = 5
args.exc_duration (1,1) double {mustBeNumeric, mustBePositive} = 10
args.smooth_ends logical {mustBeNumericOrLogical} = true
end
t_noise = 0:args.Ts:args.exc_duration;
if isnumeric(args.V_exc)
V_noise = args.V_mean + args.V_exc*sqrt(1/args.Ts/2)*randn(length(t_noise), 1)';
elseif isct(args.V_exc)
V_noise = args.V_mean + lsim(args.V_exc, sqrt(1/args.Ts/2)*randn(length(t_noise), 1), t_noise)';
end
t_smooth_start = args.Ts:args.Ts:args.t_start;
V_smooth_start = zeros(size(t_smooth_start));
V_smooth_end = zeros(size(t_smooth_start));
if args.smooth_ends
Vd_max = args.V_mean/(0.7*args.t_start);
V_d = zeros(size(t_smooth_start));
V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start);
V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max;
V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start);
V_smooth_start = cumtrapz(V_d)*args.Ts;
V_smooth_end = args.V_mean - V_smooth_start;
end
V_exc = [V_smooth_start, V_noise, V_smooth_end];
t_exc = args.Ts*[0:1:length(V_exc)-1];
U_exc = [t_exc; V_exc];

54
matlab/src/generateSinIncreasingAmpl.m Normal file
View File

@@ -0,0 +1,54 @@
function [U_exc] = generateSinIncreasingAmpl(args)
% generateSinIncreasingAmpl - Generate Sinus with increasing amplitude
%
% Syntax: [U_exc] = generateSinIncreasingAmpl(args)
%
% Inputs:
% - args - Optinal arguments:
% - Ts - Sampling Time - [s]
% - V_mean - Mean value of the excitation voltage - [V]
% - sin_ampls - Excitation Amplitudes - [V]
% - sin_freq - Excitation Frequency - [Hz]
% - sin_num - Number of period for each amplitude - [-]
% - t_start - Time at which the excitation begins - [s]
% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-]
arguments
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4
args.V_mean (1,1) double {mustBeNumeric} = 0
args.sin_ampls double {mustBeNumeric, mustBePositive} = [0.1, 0.2, 0.3]
args.sin_period (1,1) double {mustBeNumeric, mustBePositive} = 1
args.sin_num (1,1) double {mustBeNumeric, mustBePositive, mustBeInteger} = 3
args.t_start (1,1) double {mustBeNumeric, mustBePositive} = 5
args.smooth_ends logical {mustBeNumericOrLogical} = true
end
t_noise = 0:args.Ts:args.sin_period*args.sin_num;
sin_exc = [];
for sin_ampl = args.sin_ampls
sin_exc = [sin_exc, args.V_mean + sin_ampl*sin(2*pi/args.sin_period*t_noise)];
end
t_smooth_start = args.Ts:args.Ts:args.t_start;
V_smooth_start = zeros(size(t_smooth_start));
V_smooth_end = zeros(size(t_smooth_start));
if args.smooth_ends
Vd_max = args.V_mean/(0.7*args.t_start);
V_d = zeros(size(t_smooth_start));
V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start);
V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max;
V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start);
V_smooth_start = cumtrapz(V_d)*args.Ts;
V_smooth_end = args.V_mean - V_smooth_start;
end
V_exc = [V_smooth_start, sin_exc, V_smooth_end];
t_exc = args.Ts*[0:1:length(V_exc)-1];
U_exc = [t_exc; V_exc];

76
matlab/src/generateSweepExc.m Normal file
View File

@@ -0,0 +1,76 @@
function [U_exc] = generateSweepExc(args)
% generateSweepExc - Generate a Sweep Sine excitation signal
%
% Syntax: [U_exc] = generateSweepExc(args)
%
% Inputs:
% - args - Optinal arguments:
% - Ts - Sampling Time - [s]
% - f_start - Start frequency of the sweep - [Hz]
% - f_end - End frequency of the sweep - [Hz]
% - V_mean - Mean value of the excitation voltage - [V]
% - V_exc - Excitation Amplitude for the Sweep, could be numeric or TF - [V]
% - t_start - Time at which the sweep begins - [s]
% - exc_duration - Duration of the sweep - [s]
% - sweep_type - 'logarithmic' or 'linear' - [-]
% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-]
arguments
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4
args.f_start (1,1) double {mustBeNumeric, mustBePositive} = 1
args.f_end (1,1) double {mustBeNumeric, mustBePositive} = 1e3
args.V_mean (1,1) double {mustBeNumeric} = 0
args.V_exc = 1
args.t_start (1,1) double {mustBeNumeric, mustBeNonnegative} = 5
args.exc_duration (1,1) double {mustBeNumeric, mustBePositive} = 10
args.sweep_type char {mustBeMember(args.sweep_type,{'log', 'lin'})} = 'lin'
args.smooth_ends logical {mustBeNumericOrLogical} = true
end
t_sweep = 0:args.Ts:args.exc_duration;
if strcmp(args.sweep_type, 'log')
V_exc = sin(2*pi*args.f_start * args.exc_duration/log(args.f_end/args.f_start) * (exp(log(args.f_end/args.f_start)*t_sweep/args.exc_duration) - 1));
elseif strcmp(args.sweep_type, 'lin')
V_exc = sin(2*pi*(args.f_start + (args.f_end - args.f_start)/2/args.exc_duration*t_sweep).*t_sweep);
else
error('sweep_type should either be equal to "log" or to "lin"');
end
if isnumeric(args.V_exc)
V_sweep = args.V_mean + args.V_exc*V_exc;
elseif isct(args.V_exc)
if strcmp(args.sweep_type, 'log')
V_sweep = args.V_mean + abs(squeeze(freqresp(args.V_exc, args.f_start*(args.f_end/args.f_start).^(t_sweep/args.exc_duration), 'Hz')))'.*V_exc;
elseif strcmp(args.sweep_type, 'lin')
V_sweep = args.V_mean + abs(squeeze(freqresp(args.V_exc, args.f_start+(args.f_end-args.f_start)/args.exc_duration*t_sweep, 'Hz')))'.*V_exc;
end
end
if args.t_start > 0
t_smooth_start = args.Ts:args.Ts:args.t_start;
V_smooth_start = zeros(size(t_smooth_start));
V_smooth_end = zeros(size(t_smooth_start));
if args.smooth_ends
Vd_max = args.V_mean/(0.7*args.t_start);
V_d = zeros(size(t_smooth_start));
V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start);
V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max;
V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start);
V_smooth_start = cumtrapz(V_d)*args.Ts;
V_smooth_end = args.V_mean - V_smooth_start;
end
else
V_smooth_start = [];
V_smooth_end = [];
end
V_exc = [V_smooth_start, V_sweep, V_smooth_end];
t_exc = args.Ts*[0:1:length(V_exc)-1];
U_exc = [t_exc; V_exc];