Initial Commit

matlab/identif_analyze.m

@@ -0,0 +1,89 @@
+%% 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
+load(sprintf('mat/frf_data_%i_sweep_lf.mat', 2), 't', 'Va', 'Vs', 'de', 'da');
+
+% Compute transfer functions:
+
+Ts = (t(end) - t(1))/(length(t)-1);
+Fs = 1/Ts;
+
+win = hanning(ceil(1*Fs)); % Hannning Windows
+
+[G_dvf, f] = tfestimate(Va, de, win, [], [], 1/Ts);
+[G_d,   ~] = tfestimate(Va, da, win, [], [], 1/Ts);
+[G_iff, ~] = tfestimate(Va, Vs, win, [], [], 1/Ts);
+
+[coh_dvf, ~] = mscohere(Va, de, win, [], [], 1/Ts);
+[coh_d,   ~] = mscohere(Va, da, win, [], [], 1/Ts);
+[coh_iff, ~] = mscohere(Va, Vs, win, [], [], 1/Ts);
+
+%%
+figure;
+hold on;
+plot(f, coh_dvf);
+plot(f, coh_d);
+plot(f, coh_iff);
+hold off;
+set(gca, 'XScale', 'log');
+
+%%
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+hold on;
+plot(f, abs(G_dvf));
+plot(f, abs(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+hold on;
+plot(f, 180/pi*angle(G_dvf));
+plot(f, 180/pi*angle(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([5, 5e3]);
+
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+plot(f, abs(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+plot(f, 180/pi*angle(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([0.1, 10]);
+
+% Comparison of all APA
+
+%% Load all the measurements
+meas_data = {};
+for i = 1:7
+    meas_data(i) = {load(sprintf('mat/frf_data_%i.mat', i), 't', 'Va', 'Vs', 'de', 'da')};
+end

matlab/identif_save.m

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+% =frf_save.m= - Save Data
+% :PROPERTIES:
+% :header-args: :tangle matlab/frf_save.m
+% :END:
+
+% First, we get data from the Speedgoat:
+
+tg = slrt;
+
+f = SimulinkRealTime.openFTP(tg);
+mget(f, 'data/data.dat');
+close(f);
+
+
+
+% And we load the data on the Workspace:
+
+data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
+
+da = data(:, 1); % Excitation Voltage (input of PD200) [V]
+de = data(:, 2); % Measured voltage (force sensor) [V]
+Vs = data(:, 3); % Measurment displacement (encoder) [m]
+Va = data(:, 4); % Measurement displacement (attocube) [m]
+t  = data(:, end); % Time [s]
+
+
+
+% And we save this to a =mat= file:
+apa_number = 1;
+% leg_number = 4;
+
+save(sprintf('mat/frf_data_leg_coder_%i_noise.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_sweep.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_noise_hf.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_add_mass_closed_circuit.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');

matlab/identif_setup.m

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+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+addpath('./src/');
+
+%% Simulation configuration
+Fs   = 10e3; % Sampling Frequency [Hz]
+Ts   = 1/Fs; % Sampling Time [s]
+
+%% Data record configuration
+Trec_start = 5;  % Start time for Recording [s]
+Trec_dur   = 100; % Recording Duration [s]
+
+Tsim = 2*Trec_start + Trec_dur;  % Simulation Time [s]
+
+%% Shaped Noise
+V_noise = generateShapedNoise('Ts', 1/Fs, ...
+                              'V_mean', 3.25, ...
+                              't_start', Trec_start, ...
+                              'exc_duration', Trec_dur, ...
+                              'smooth_ends', true, ...
+                              'V_exc', 0.05/(1 + s/2/pi/10));
+
+%% Sweep Sine
+gc = 0.1;
+xi = 0.5;
+wn = 2*pi*94.3;
+
+% Notch filter at the resonance of the APA
+G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
+
+V_sweep = generateSweepExc('Ts',      Ts, ...
+                           'f_start', 10, ...
+                           'f_end',   400, ...
+                           'V_mean',  3.25, ...
+                           't_start', Trec_start, ...
+                           'exc_duration', Trec_dur, ...
+                           'sweep_type',   'log', ...
+                           'V_exc', G_sweep*1/(1 + s/2/pi/500));
+
+%% High Frequency Shaped Noise
+[b,a] = cheby1(10, 2, 2*pi*[300 2e3], 'bandpass', 's');
+wL = 0.005*tf(b, a);
+
+V_noise_hf = generateShapedNoise('Ts', 1/Fs, ...
+                              'V_mean', 3.25, ...
+                              't_start', Trec_start, ...
+                              'exc_duration', Trec_dur, ...
+                              'smooth_ends', true, ...
+                              'V_exc', wL);
+
+%% Sinus excitation with increasing amplitude
+V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
+                                  'V_mean', 3.25, ...
+                                  'sin_ampls', [0.1, 0.2, 0.4, 1, 2, 4], ...
+                                  'sin_period', 1, ...
+                                  'sin_num', 5, ...
+                                  't_start', Trec_start, ...
+                                  'smooth_ends', true);
+
+%% Select the excitation signal
+V_exc = timeseries(V_noise(2,:), V_noise(1,:));
+
+%% Plot
+figure;
+tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
+
+ax1 = nexttile;
+plot(V_exc(1,:), V_exc(2,:));
+xlabel('Time [s]'); ylabel('Amplitude [V]');
+
+ax2 = nexttile;
+win = hanning(floor(length(V_exc)/8));
+[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
+plot(f, pxx)
+xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+xlim([1, Fs/2]); ylim([1e-10, 1e0]);
+
+%% Save data that will be loaded in the Simulink file
+save('./frf_data.mat', 'Fs', 'Ts', 'Tsim', 'Trec_start', 'Trec_dur', 'V_exc');