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optimize

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This commit is contained in:
zamofing_t
2019-03-08 10:18:20 +01:00
parent c962ebdc63
commit 0c45705715
4 changed files with 167 additions and 61 deletions
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36
matlab/DeltaTauOptimizer.m
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@@ -19,24 +19,32 @@ function DeltaTauOptimizer()
%SIM2=[8 3; 9 3;8 4; 9 4];
%SIM2=[9 4;9 0];
%SIM2=[8 3; 9 3];
SIM1=[9 1; 9 2; 9 3; 9 4; 9 5];
if isempty(simData1)
close all;
simData1=ExecSim(mot{1},SIM1);
end
if isempty(simData2)
close all;
simData2=ExecSim(mot{2},SIM2);
end
%if isempty(simData2)
% close all;
% simData2=ExecSim(mot{2},SIM2);
%end
close all;
%test()
bodeSim(simData1);
bodeSim(simData2);
test()
%bodeSim(simData1);
%bodeSim(simData2);
end
function test()
global pb mot simData1 simData2;
%pb=DeltaTauParam(mot{2},8,0);
pb=DeltaTauParam(mot{2},9,0);
pb=DeltaTauParam(mot{1},9,0);
sim('DeltaTauSim');
i=6;
simData1(i).pb=pb;
simData1(i).desPos_actPos=desPos_actPos;
simData1=bodeSim(simData1);
return
%simData2(i).mot_mdl_param=SIM(i,:);
%pb.C=[0.04877];
%pb.D=[1 -0.9512];
%pb.C=[1 -1.3236 6.2472 -11.8555 11.3067 -5.4188 1.0440];
@@ -51,15 +59,9 @@ function test()
tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
tfs=tf0*tf1
tfz=c2d(tfs,Ts)
h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
pb.C=tfz.Numerator{1};
pb.D=tfz.Denominator{1};
sim('DeltaTauSim');
i=2;
%simData2(i).mot_mdl_param=SIM(i,:);
simData2(i).pb=pb;
simData2(i).desPos_actPos=desPos_actPos;
simData2=bodeSim(simData2);
%h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
%pb.C=tfz.Numerator{1};
%pb.D=tfz.Denominator{1};
opt=tfestOptions;
opt.Display='off';