52 lines
1.6 KiB
Matlab
52 lines
1.6 KiB
Matlab
%% First make sure the model is open, and we are connected to the
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% Speedgoat Machine.
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%% Run Multiple Simulations
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my_model = 'iff_measure';
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tg = slrt;
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%% For each strut
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for i_leg = 1:6
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%% Get excitation strut
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p = Simulink.Mask.get([my_model, '/Subsystem7']);
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p.Parameters.Value = sprintf('%i', i_leg);
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%% Connect
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set_param(my_model,'SimulationCommand','connect')
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%% Run the simulation
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sprintf('Start excitation for strut %i', i_leg)
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set_param(my_model,'SimulationCommand','start')
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%% Wait for the simulation to finish
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pause(1)
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while strcmp(get_param(my_model,'SimulationStatus'), 'external')
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pause(1)
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end
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sprintf('Finished excitation for strut %i', i_leg)
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%% Disconnect
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set_param(my_model,'SimulationCommand','disconnect')
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%% Save the data
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f = SimulinkRealTime.openFTP(tg);
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mget(f, 'data/data.dat');
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close(f);
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data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
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de = data(:, 1:6); % Measurment displacement (encoder) [m]
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Vs = data(:, 7:12); % Force Sensor [V]
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u = data(:, 13:18); % Control Output [V]
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Va = data(:, 19); % Excitation Signal [V]
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% Rx = data(:, 20:25); % Reference Signal [m/rad]
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t = data(:, end); % Time [s]
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load('sim_data/data_sim.mat', 'Ts'); % To save Sampling Period
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save('sim_data/Kiff.mat', 'Kiff'); % To save Controller
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save(sprintf('mat/frf_data_exc_strut_%i_iff_vib_table_0m.mat', i_leg), ...
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't', 'Ts', 'de', 'Vs', 'u', 'Va', 'Kiff');
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sprintf('Saved Data for strut %i', i_leg)
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end
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