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first running observer with new data

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zamofing_t
2019-02-08 13:38:45 +01:00
parent 6b5b8750d1
commit cc582d1bf8
10 changed files with 560 additions and 43 deletions
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97
matlab/documentFunctions.m
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@@ -1,39 +1,68 @@
baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuningDoc/';
%plots bode of desPos_actPos
[mot1,mot2]=identifyFxFyStage();
close all;
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
t=desPos_actPos.Time;
u=desPos_actPos.Data(:,1);
y=desPos_actPos.Data(:,2);
figure(1);
clf;
plot(t,u,'b');hold on;
plot(t,y,'color',[0 .5 0]);
grid on;ylim([-4 4]);
grid on;ylim([-2 2]);
saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');
baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/matlab/figures';
clear;clear global;
close all;disp('löoad identification data...');
mot=identifyFxFyStage(7);
close all;disp('simulate stage closed loop...');
for k =1:2
[pb]=simFxFyStage(mot{k});sim('stage_closed_loop');
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_DTGz_%d',mot{k}.id),'-depsc');
f=bodeSamples(desPos_actPos);
print(f,sprintf('figures/sim_cl_DTGz_bode%d',mot{k}.id),'-depsc');
end
close all;disp('simulate observer...');
for k =1:2
[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');
f=bodeSamples(desPos_actPos);
print(f,sprintf('figures/sim_cl_observer_bode%d',mot{k}.id),'-depsc');
end
disp('document figure generation done');close all;
function SCRATCH()
%plots bode of desPos_actPos
[mot1,mot2]=identifyFxFyStage();
close all;
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
saveas(gca, baseDir+"m2_mdl_bode.eps",'epsc');
t=desPos_actPos.Time;
u=desPos_actPos.Data(:,1);
y=desPos_actPos.Data(:,2);
figure(1);
clf;
plot(t,u,'b');hold on;
plot(t,y,'color',[0 .5 0]);
grid on;ylim([-4 4]);
grid on;ylim([-2 2]);
saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');
minFrq=1;maxFrq=1000;
tSec=t(length(t));
f=(1:length(t))/tSec;
fu=fft(u);
fy=fft(y);
ph=phase(fy./fu)
mag=abs(fy)./abs(fu);
magDb=20*log10(mag);
figure(2);
subplot(2,1,1);
semilogx(f,magDb);
subplot(2,1,2);
semilogx(f,ph);
grid on;
saveas(gca, baseDir+"m2_mdl_bode.eps",'epsc');
minFrq=1;maxFrq=1000;
tSec=t(length(t));
f=(1:length(t))/tSec;
fu=fft(u);
fy=fft(y);
ph=phase(fy./fu)
mag=abs(fy)./abs(fu);
magDb=20*log10(mag);
figure(2);
subplot(2,1,1);
semilogx(f,magDb);
subplot(2,1,2);
semilogx(f,ph);
grid on;
end