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towards pole placement

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This commit is contained in:
zamofing_t
2019-03-01 14:48:44 +01:00
parent 6ac4915925
commit 842dc87860
9 changed files with 300 additions and 28 deletions
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69
matlab/DeltaTauOptimizer.m
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@@ -9,32 +9,76 @@ function DeltaTauOptimizer()
if isempty(mot)
mot=identifyFxFyStage(7);
end
SIM1=[1 1; 1 2; 8 2; 9 2];
SIM2=[1 1; 1 2; 8 2; 9 2];
if isempty(simData1)
%SIM1=[1 1; 1 2; 8 2; 9 2];
%SIM2=[1 1; 1 2; 8 2; 9 2];
SIM1=[10 0;7 3];
SIM1=[10 0];
%SIM2=[9 0];
if 1 || 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);
%bodeSim(simData2);
end
function test()
global pb mot simData1 simData2;
%pb=DeltaTauParam(mot{2},7,0);
%pb=DeltaTauParam(mot{2},8,0);
pb=DeltaTauParam(mot{2},9,0);
%pb.C=[0.04877];
%pb.D=[1 -0.9512];
%pb.C=[1 -1.3236 6.2472 -11.8555 11.3067 -5.4188 1.0440];
%pb.D=[1.0000 -6.6330 17.6945 -24.5314 18.7409 -7.5020 1.2309];
global tfs
tfz=c2d(tf(tfs),1/5000)
h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
pb.C=tfz.Numerator{1};
pb.D=tfz.Denominator{1};
sim('DeltaTauSim');
i=6;
i=2;
%simData2(i).mot_mdl_param=SIM(i,:);
simData2(i).pb=pb;
simData2(i).desPos_actPos=desPos_actPos;
bodeSim(simData2);
simData2=bodeSim(simData2);
opt=tfestOptions;
opt.Display='off';
% %tfa=tfest(simData2(i).tfEst, 6, 5,opt);
tfa=tfest(simData2(i).tfEst, 6, 6,opt);
% tfb=1/tfa
% tfc=c2d(tfb,1/5000)
%
% tfs=tf([1],[.001 1])
% tfz=c2d(tfs,1/5000)
% h=bodeplot(tfs,tfz)
% setoptions(h,'FreqUnits','Hz','Grid','on');
%C=num=0 -1.3236 6.2472 -11.8555 11.3067 -5.4188 1.0440
%D=den=1.0000 -6.6330 17.6945 -24.5314 18.7409 -7.5020 1.2309
% controlSystemDesigner('bode',1,tf(1,1))
% controlSystemDesigner( 1/simData2(2).tfEst2)
% controlSystemDesigner(tfa)
%C =
% 1035.3 (s+217.8)
% -------------------
% (s+845.3) (s+266.8)
% 0.18956 (z-0.9574)
% --------------------
% (z-0.948) (z-0.8444)
% 0.1896 z - 0.1815
% ----------------------
% z^2 - 1.792 z + 0.8006
end
@@ -55,7 +99,7 @@ function simData=ExecSim(mot,SIM)
end
end
function bodeSim(simData)
function simData=bodeSim(simData)
fig=figure();
ax1=subplot(2,1,1); hold(ax1,'on')
ax2=subplot(2,1,2); hold(ax2,'on')
@@ -83,6 +127,7 @@ function bodeSim(simData)
h=plot(ax1,frq,abs(tfn), 'DisplayName',simData(i).pb.desc);
p=unwrap(phase(tfn))/(2*pi)*360;
h=plot(ax2,frq,p, 'DisplayName',simData(i).pb.desc);
simData(i).tfEst=idfrd(tfn,frq*2*pi,0);
end
grid(ax1,'on');grid(ax2,'on');
set(ax1, 'XScale', 'log');