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first rewrite of ovserver

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This commit is contained in:
zamofing_t
2019-02-08 09:47:46 +01:00
parent 3e83b82a5d
commit 6b5b8750d1
6 changed files with 70 additions and 163 deletions
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16
MXfastStageDoc/MXfastStage.tex
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@@ -448,8 +448,7 @@ It has to be checked if the model matches the real stage. Therefore simulations
To compare the measurements with the model following lines were executed in MATLAB
\begin{verbatim}
clear;clear global;close all;
mot=cell(2,1);
[mot{1},mot{2}]=identifyFxFyStage();
mot=identifyFxFyStage(7);
for k =1:2
[pb]=simFxFyStage(mot{k});sim('stage_closed_loop');
f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
@@ -537,10 +536,11 @@ As first approach the tf function is just converted to the ss space and the ss m
The matlab models are:\\
\begin{tabular}{ll}
\texttt{ssPlt:} & best approach of the plant with mechanics, resonance, current loop etc.\\
\texttt{ssMdl\_c1:} & model without resonance (only current and main mechanical)\\
\texttt{ssMdl\_12:} & model without current loop, with one resonance (main mechanical + first resonance)\\
\texttt{ssMdl\_1:} & model without current loop, no resonance (only main mechanical)\\
\texttt{ss\_plt:} & best approach of the plant with mechanics, resonance, current loop etc.\\
\texttt{ss\_c1:} & model without resonance (only current and main mechanical)\\
\texttt{ss\_d1:} & model without resonance (simplified current and main mechanical)\\
\texttt{ss\_1:} & model without current loop, no resonance (only main mechanical)\\
\texttt{ss\_0:} & simplified mechanical, no current loop, no resonance\\
\end{tabular}\\
\vspace{1pc}
@@ -549,9 +549,9 @@ Following code calculates parameters for a observer controller, does a simulatio
\begin{verbatim}
clear;clear global;close all;
mot=cell(2,1);
[mot{1},mot{2}]=identifyFxFyStage();
[mot{1},mot{2}]=identifyFxFyStage(7);
for k =1:2
[ssc]=StateSpaceControlDesign(mot1{k});sim('observer');
[ssc]=StateSpaceControlDesign(mot{k});sim('observer');
f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
print(f,sprintf('figures/sim_cl_observer_%d',mot{k}.id),'-depsc');