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adding optimizer tool and found better parameters

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This commit is contained in:
zamofing_t
2019-02-26 16:48:48 +01:00
parent 966134a06d
commit 952925d25f
7 changed files with 218 additions and 28 deletions
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22
matlab/identifyFxFyStage.m
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@@ -270,7 +270,6 @@ function motCell=identifyFxFyStage(mode)
mot.ss_q.Name='simplified mechanics, no current loop, no resonance';
chkCtrlObsv(mot.ss_q,'ss_q fyStage');
% TESTS
% u +-----------+ y
%iqCmd------->|1 1|-------> iqMeas
% | 2|-------> actVel
@@ -281,7 +280,6 @@ function motCell=identifyFxFyStage(mode)
mot.ss_cq.Name='simplified mechanics, current loop, no resonance';
tfq.InputName{1}=s;%restore
% TESTS
% u +-----------+ y
%iqCmd------->|1 1|-------> actVel
% | 2|-------> actPos
@@ -386,6 +384,26 @@ function motCell=identifyFxFyStage(mode)
% +-----------+
mot.ss_q=ss(tfq);
chkCtrlObsv(mot.ss_q,'ss_q fxStage');
% u +-----------+ y
%iqCmd------->|1 1|-------> iqMeas
% | 2|-------> actVel
% | 3|-------> actPos
% +-----------+
s=tfq.InputName{1};tfq.InputName{1}='iqMeas';
mot.ss_cq=connect(tfc,tfq,'iqCmd',{'iqMeas','actVel','actPos'});
mot.ss_cq.Name='simplified mechanics, current loop, no resonance';
tfq.InputName{1}=s;%restore
% u +-----------+ y
%iqCmd------->|1 1|-------> actVel
% | 2|-------> actPos
% +-----------+
s=tf1.InputName{1};tf1.InputName{1}='iqCmd';
mot.ss_qr=connect(tfq,tf1,tf2,tf3,tf4,'iqCmd',{'actVel','actPos'});
mot.ss_qr.Name='simplified mechanics, no current loop, resonance';
tfp.InputName{1}=s;%restore
plotBode(mot)
end