65 lines
955 B
Matlab
65 lines
955 B
Matlab
%% Remove first second
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Ts = t(2)-t(1);
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t = t(ceil(1/Ts):end);
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d = d(ceil(1/Ts):end);
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dp = dp(ceil(1/Ts):end);
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F = F(ceil(1/Ts):end);
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t = t - t(1);
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F = F - F(1);
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%% LPf
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s = tf('s');
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G_lpf = 1/(1+s/2/pi/10);
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F = lsim(G_lpf, F, t);
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d = lsim(G_lpf, d, t);
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dp = lsim(G_lpf, dp, t);
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%%
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figure;
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plot(t, F);
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figure;
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hold on;
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plot(t, d, 'DisplayName', 'Encoder');
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plot(t, dp, 'DisplayName', 'Mahr')
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hold off;
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legend;
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%%
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t_start = 0.05;
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t_end = 0.12;
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d = d(t < t_end & t > t_start);
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dp = dp(t < t_end & t > t_start);
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F = F(t < t_end & t > t_start);
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d = d - d(1);
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dp = dp - dp(1);
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F = F - F(1);
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%%
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figure;
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plot(F, dp);
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xlabel('Measured Force [N]');
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ylabel('Measured Displacement [m]');
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%%
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sprintf('Stiffness is %.3f [N/mm]', abs(1e-3*(d\F)))
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%%
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figure;
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hold on;
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plot(F, d);
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plot(F, F/(d\F));
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hold off;
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xlabel('Measured Force [N]');
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ylabel('Measured Displacement [m]');
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%%
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figure;
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hold on;
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plot(dp, d);
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hold off;
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xlabel('Probe [m]');
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ylabel('Encoder [m]');
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