update simulink file

matlab/identif_analyze.m

@@ -11,7 +11,7 @@ addpath('./src/');
 %% Load measurement data for APA number 1
 strut_number = 1;
 % load(sprintf('mat/frf_data_exc_strut_%i_noise_lf.mat', strut_number), 't', 'Va', 'Vs', 'de');
-load(sprintf('mat/frf_data_exc_strut_%i_noise_hf.mat', strut_number), 't', 'Va', 'Vs', 'de');
+load(sprintf('mat/iff_strut_%i_noise.mat', strut_number), 't', 'Va', 'Vs', 'de');
 
 % Compute transfer functions:
 
@@ -21,7 +21,7 @@ Fs = 1/Ts;
 win = hanning(ceil(1*Fs)); % Hannning Windows
 
 %% DVF
-[G_dvf, f] = tfestimate(Va, de, win, [], [], 1/Ts);
+[G_dvf, f] = tfestimate(Vexc, de, win, [], [], 1/Ts);
 
 figure;
 tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');

matlab/identif_save.m

@@ -19,15 +19,16 @@ data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
 
 de = data(:, 1:6); % Measurment displacement (encoder) [m]
 Vs = data(:, 7:12); % Measured voltage (force sensor) [V]
-Va = data(:, 13); % Excitation Voltage [V]
+u = data(:, 13:18); % DAC Voltage (command) [V]
+Vexc = data(:, 19); % Excitation Voltage [V]
 t  = data(:, end); % Time [s]
 
 
 % And we save this to a =mat= file:
 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');
-% save(sprintf('mat/frf_data_exc_strut_%i_sweep.mat', strut_number), 't', 'Va', 'Vs', 'de');
-save(sprintf('mat/frf_data_exc_strut_%i_noise_hf.mat', strut_number), 't', 'Va', 'Vs', 'de');
-% save(sprintf('mat/frf_data_exc_strut_%i_add_mass_closed_circuit.mat', strut_number), 't', 'Va', 'Vs', 'de');
+save(sprintf('mat/iff_strut_%i_noise_g_400.mat', strut_number), 't', 'u', 'Vs', 'Vexc', 'de');
+% save(sprintf('mat/frf_data_exc_strut_%i_noise_lf.mat', strut_number), 't', 'u', 'Vs', 'de');
+% save(sprintf('mat/frf_data_exc_strut_%i_sweep.mat', strut_number), 't', 'u', 'Vs', 'de');
+% save(sprintf('mat/iff_strut_%i_noise_hf.mat', strut_number), 't', 'u', 'Vs', 'de');
+% save(sprintf('mat/frf_data_exc_strut_%i_add_mass_closed_circuit.mat', strut_number), 't', 'u', 'Vs', 'de');

matlab/identif_setup.m

@@ -16,9 +16,13 @@ Trec_dur   = 100; % Recording Duration [s]
 
 Tsim = 2*Trec_start + Trec_dur;  % Simulation Time [s]
 
+%% Security
+u_min = -1;
+u_max = 6;
+
 %% Shaped Noise
 V_noise = generateShapedNoise('Ts', 1/Fs, ...
-                              'V_mean', 3.25, ...
+    'V_mean', 0, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'smooth_ends', true, ...
@@ -35,7 +39,7 @@ 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, ...
+    'V_mean',  0, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'sweep_type',   'log', ...
@@ -44,7 +48,7 @@ V_sweep = generateSweepExc('Ts',      Ts, ...
 V_sweep_lf = generateSweepExc('Ts',      Ts, ...
     'f_start', 0.1, ...
     'f_end',   10, ...
-                           'V_mean',  3.25, ...
+    'V_mean',  0, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'sweep_type',   'log', ...
@@ -55,7 +59,7 @@ V_sweep_lf = generateSweepExc('Ts',      Ts, ...
 wL = 0.005*tf(b, a);
 
 V_noise_hf = generateShapedNoise('Ts', 1/Fs, ...
-                              'V_mean', 3.25, ...
+    'V_mean', 0, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'smooth_ends', true, ...
@@ -66,7 +70,7 @@ V_noise_hf = generateShapedNoise('Ts', 1/Fs, ...
 wL = 0.005*tf(b, a);
 
 V_noise_lf = generateShapedNoise('Ts', 1/Fs, ...
-                              'V_mean', 3.25, ...
+    'V_mean', 0, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'smooth_ends', true, ...
@@ -74,35 +78,31 @@ V_noise_lf = generateShapedNoise('Ts', 1/Fs, ...
 
 %% Sinus excitation with increasing amplitude
 V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
-                                  'V_mean', 3.25, ...
+    'V_mean', 0, ...
     'sin_ampls', [0.1, 0.2, 0.4, 1, 2, 4], ...
     'sin_period', 1, ...
     'sin_num', 5, ...
     't_start', Trec_start, ...
     'smooth_ends', true);
 
-%% Zero Excitation
-Trec_start = 10;  % Start time for Recording [s]
-Trec_dur   = 10; % Recording Duration [s]
-
-Tsim = 2*Trec_start + Trec_dur;  % Simulation Time [s]
-
+%% Offset Voltage for all APA
 V_zero = generateShapedNoise('Ts', 1/Fs, ...
-                             'V_mean', 1.25, ...
+    'V_mean', 3.25, ...
     't_start', Trec_start, ...
     'exc_duration', Trec_dur, ...
     'smooth_ends', true, ...
     'V_exc', tf(0));
 
-%% Select the excitation signal
-V_exc = timeseries(V_zero(2,:), V_zero(1,:));
+%% Select the excitation signal and offset voltage
+V_exc = timeseries(V_noise(2,:), V_noise(1,:));
+V_off = timeseries(V_zero(2,:), V_zero(1,:));
 
 %% Plot
 figure;
 tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
 
 ax1 = nexttile;
-plot(V_exc.Time, squeeze(V_exc.Data));
+plot(V_exc.Time, squeeze(V_exc.Data+V_off.Data));
 xlabel('Time [s]'); ylabel('Amplitude [V]');
 
 ax2 = nexttile;

matlab/iff_setup.m

@@ -9,4 +9,11 @@ Kiff_g1 = (1/(s + 2*pi*40))*... % Low pass filter (provides integral action abov
 Kiff = c2d(Kiff_g1, Ts, 'tustin');
 
 %%
-save('./frf_data.mat', 'Fs', 'Ts', 'Tsim', 'Trec_start', 'Trec_dur', 'V_exc', 'Kiff');
+save('./frf_data.mat', 'Fs', ...
+    'Ts', ...
+    'Tsim', ...
+    'Trec_start', ...
+    'Trec_dur', ...
+    'V_exc', ...
+    'V_off', ...
+    'Kiff');