first running observer with new data
This commit is contained in:
29
.gitignore
vendored
29
.gitignore
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@@ -7,26 +7,41 @@
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*.slxc
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*.slxc
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*.autosave
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*.original
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modules.order
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.cvsignore
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python/usr_code/usrcode.c
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python/usr_code/usrcode.h
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.idea/
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.idea/
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.tmp_versions/
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.tmp_versions/
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gather/
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gather/
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matlab/slprj/
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matlab/slprj/
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old/
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old/
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python/images/
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python/images/
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python/MXTuning/
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python/MXTuning/
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python/old_npz/
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python/old_npz/
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python/PBMotionAnalyzer/records/
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python/ShapePathAnalyser/records/
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matlab/figures/*.eps
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matlab/figures/*-eps-converted-to.pdf
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src/usrServo/usrServo.sublime-project
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src/usrServo/usrServo.sublime-workspace
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*Doc/*.aux
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*Doc/*.log
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*Doc/*.log
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*Doc/*.out
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*Doc/*.out
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*Doc/fastStageTune.pdf
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*Doc/MXfastStage.pdf
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*Doc/*.synctex.gz
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*Doc/*.synctex.gz
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*Doc/*.toc
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*Doc/*.toc
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*Doc/*-eps-converted-to.pdf
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*Doc/*-eps-converted-to.pdf
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@@ -468,7 +468,9 @@ Figures \ref{fig:mot_chirp_sim} showed similar response as the real stages (Figu
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\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz.png}
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\includegraphics[scale=.45]{../matlab/figures/sim_cl_DTGz.png}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_1.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_1.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_bode1.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_2.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_2.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_DTGz_bode2.eps}
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\caption{Motor 1 sim Motor 2 sim}
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\caption{Motor 1 sim Motor 2 sim}
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\label{fig:mot_chirp_sim}
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\label{fig:mot_chirp_sim}
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\end{figure}
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\end{figure}
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@@ -548,8 +550,7 @@ The state space controller is calculated by pole placement.\\
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Following code calculates parameters for a observer controller, does a simulation and plots the results:
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Following code calculates parameters for a observer controller, does a simulation and plots the results:
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\begin{verbatim}
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\begin{verbatim}
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clear;clear global;close all;
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clear;clear global;close all;
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mot=cell(2,1);
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mot=identifyFxFyStage(7);
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[mot{1},mot{2}]=identifyFxFyStage(7);
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for k =1:2
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for k =1:2
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[ssc]=StateSpaceControlDesign(mot{k});sim('observer');
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[ssc]=StateSpaceControlDesign(mot{k});sim('observer');
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f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
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f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
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@@ -558,6 +559,23 @@ for k =1:2
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end
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end
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\end{verbatim}
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\end{verbatim}
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\begin{figure}[h!]
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\center
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\includegraphics[scale=.45]{../matlab/figures/sim_cl_observer.png}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_1.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_bode1.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_2.eps}
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\includegraphics[scale=.65]{../matlab/figures/sim_cl_observer_bode2.eps}
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\caption{Motor 1 sim Motor 2 sim}
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\label{fig:mot_chirp_sim}
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\end{figure}
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With an additional prefilter resonance and reductions can be suppressed a bit.\\
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With an additional prefilter resonance and reductions can be suppressed a bit.\\
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The system was simulated with 5kHz servo loop frequency.
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The system was simulated with 5kHz servo loop frequency.
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380
MXfastStageDoc/model4.eps
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380
MXfastStageDoc/model4.eps
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4 M q 1 0 0 -1 0 56.692913 cm
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85.816 0.582 59.762 55.531 re S Q
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0.79937 w
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q 1 0 0 -1 0 56.692913 cm
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40.148 10.883 m 85.516 10.883 l S Q
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|
l 85.391 45.427 l 85.785 45.533 85.785 46.091 85.391 46.197 c h
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79.09 47.888 m f*
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BT
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(iqCmd)Tj
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ET
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q 1 0 0 -1 0 56.692913 cm
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145.422 8.34 m 190.789 8.34 l S Q
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h
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184.363 50.431 m f*
|
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BT
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145.422 27.891 m 190.789 27.891 l S Q
|
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184.363 30.877 m 184.156 30.103 l 189.02 28.802 l 184.156 27.498 l 184.363
|
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26.724 l 190.664 28.416 l 191.059 28.521 191.059 29.08 190.664 29.185 c
|
||||||
|
h
|
||||||
|
184.363 30.877 m f*
|
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|
BT
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|
12 0 0 12 194.155811 24.326858 Tm
|
||||||
|
/f-0-0 1 Tf
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[(actV)77(el)]TJ
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||||||
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ET
|
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q 1 0 0 -1 0 56.692913 cm
|
||||||
|
146.16 47.445 m 191.527 47.445 l S Q
|
||||||
|
185.102 11.322 m 184.891 10.548 l 189.758 9.248 l 184.891 7.943 l 185.102
|
||||||
|
7.173 l 191.402 8.861 l 191.797 8.966 191.797 9.525 191.402 9.63 c h
|
||||||
|
185.102 11.322 m f*
|
||||||
|
BT
|
||||||
|
12 0 0 12 195.608154 4.957537 Tm
|
||||||
|
/f-0-0 1 Tf
|
||||||
|
[(actP)33(os)]TJ
|
||||||
|
-8.080548 2.327006 Td
|
||||||
|
[(stage)]TJ
|
||||||
|
0 -1.25 Td
|
||||||
|
[(x or y)]TJ
|
||||||
|
ET
|
||||||
|
Q Q
|
||||||
|
showpage
|
||||||
|
%%Trailer
|
||||||
|
end restore
|
||||||
|
%%EOF
|
||||||
32
matlab/bodeSamples.m
Normal file
32
matlab/bodeSamples.m
Normal file
@@ -0,0 +1,32 @@
|
|||||||
|
|
||||||
|
function [fig]=bodeSamples(simData)
|
||||||
|
%f=figure(); h=plot(simData.Time,simData.Data,'g');
|
||||||
|
%set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
|
||||||
|
Ts=1/5000; % sampling period
|
||||||
|
t=0:Ts:simData.Time(end);
|
||||||
|
posI=interp1(simData.Time,simData.Data(:,1),t);
|
||||||
|
posO=interp1(simData.Time,simData.Data(:,2),t);
|
||||||
|
ftI=fft(posI);
|
||||||
|
ftO=fft(posO);
|
||||||
|
tf=ftO./ftI;
|
||||||
|
|
||||||
|
L=length(t);
|
||||||
|
k=(L-1)*Ts; % fmax =1/Ts at sample (L-1)/2 (index0-base)
|
||||||
|
N=[10 220]*k; % number of relevant indexes (index0-base)
|
||||||
|
frq=(N(1):N(2))/k;
|
||||||
|
N=N+1;%index0-base -> index1-base
|
||||||
|
tfn=tf(N(1):N(2));
|
||||||
|
|
||||||
|
%fig=figure(); h=plot(abs(ftI));
|
||||||
|
%fig=figure(); h=plot(abs(ftO));
|
||||||
|
%fig=figure(); h=plot(abs(ftI(N(1):N(2))));
|
||||||
|
fig=figure();
|
||||||
|
ax1=subplot(2,1,1);
|
||||||
|
ax2=subplot(2,1,2);
|
||||||
|
h=plot(ax1,frq,abs(tfn));
|
||||||
|
p=unwrap(phase(tfn))/(2*pi)*360;
|
||||||
|
h=plot(ax2,frq,p);
|
||||||
|
grid(ax1,'on');grid(ax2,'on');
|
||||||
|
set(ax1, 'XScale', 'log');
|
||||||
|
set(ax2, 'XScale', 'log');
|
||||||
|
end
|
||||||
@@ -1,39 +1,68 @@
|
|||||||
|
|
||||||
baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/python/MXTuningDoc/';
|
baseDir='/home/zamofing_t/Documents/prj/SwissFEL/epics_ioc_modules/ESB_MX/matlab/figures';
|
||||||
%plots bode of desPos_actPos
|
|
||||||
[mot1,mot2]=identifyFxFyStage();
|
clear;clear global;
|
||||||
close all;
|
close all;disp('löoad identification data...');
|
||||||
[pb]=simFxFyStage(mot2);sim('stage_closed_loop');
|
mot=identifyFxFyStage(7);
|
||||||
t=desPos_actPos.Time;
|
|
||||||
u=desPos_actPos.Data(:,1);
|
close all;disp('simulate stage closed loop...');
|
||||||
y=desPos_actPos.Data(:,2);
|
for k =1:2
|
||||||
figure(1);
|
[pb]=simFxFyStage(mot{k});sim('stage_closed_loop');
|
||||||
clf;
|
f=figure(); h=plot(desPos_actPos.Time,desPos_actPos.Data,'g');
|
||||||
plot(t,u,'b');hold on;
|
set(h(1),'color','b'); set(h(2),'color',[0 0.5 0]);
|
||||||
plot(t,y,'color',[0 .5 0]);
|
print(f,sprintf('figures/sim_cl_DTGz_%d',mot{k}.id),'-depsc');
|
||||||
grid on;ylim([-4 4]);
|
f=bodeSamples(desPos_actPos);
|
||||||
grid on;ylim([-2 2]);
|
print(f,sprintf('figures/sim_cl_DTGz_bode%d',mot{k}.id),'-depsc');
|
||||||
saveas(gca, baseDir+"m2_sim_pb.eps",'epsc');
|
end
|
||||||
saveas(gca, baseDir+"m1_sim_ss.eps",'epsc');
|
|
||||||
saveas(gca, baseDir+"m2_sim_ss.eps",'epsc');
|
close all;disp('simulate observer...');
|
||||||
saveas(gca, baseDir+"m1_sim_ss_pref.eps",'epsc');
|
for k =1:2
|
||||||
saveas(gca, baseDir+"m2_sim_ss_pref.eps",'epsc');
|
[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
|
||||||
|
|||||||
BIN
matlab/figures/sim_cl_DTGz.png
Normal file
BIN
matlab/figures/sim_cl_DTGz.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 20 KiB |
BIN
matlab/figures/sim_cl_observer.png
Normal file
BIN
matlab/figures/sim_cl_observer.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 29 KiB |
Binary file not shown.
Binary file not shown.
43
python/usr_code/usr_code.cbp
Normal file
43
python/usr_code/usr_code.cbp
Normal file
@@ -0,0 +1,43 @@
|
|||||||
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||||||
|
<CodeBlocks_project_file>
|
||||||
|
<FileVersion major="1" minor="6" />
|
||||||
|
<Project>
|
||||||
|
<Option title="usr_code" />
|
||||||
|
<Option makefile_is_custom="1" />
|
||||||
|
<Option pch_mode="2" />
|
||||||
|
<Option compiler="deltatau_gcc_compiler" />
|
||||||
|
<MakeCommands>
|
||||||
|
<Build command="$make -f $makefile" />
|
||||||
|
<CompileFile command="$make -f $makefile $file" />
|
||||||
|
<Clean command="$make -f $makefile clean$target" />
|
||||||
|
<DistClean command="$make -f $makefile distclean$target" />
|
||||||
|
<AskRebuildNeeded command="$make -q -f $makefile $target" />
|
||||||
|
<SilentBuild command="$make -f $makefile > $(CMD_NULL)" />
|
||||||
|
</MakeCommands>
|
||||||
|
<Build>
|
||||||
|
<Target title="Debug">
|
||||||
|
<Option output="bin/Debug/usr_code" prefix_auto="1" extension_auto="1" />
|
||||||
|
<Option object_output="obj/Debug/" />
|
||||||
|
<Option type="1" />
|
||||||
|
<Option compiler="deltatau_gcc_compiler" />
|
||||||
|
</Target>
|
||||||
|
</Build>
|
||||||
|
<Unit filename="Makefile" />
|
||||||
|
<Unit filename="pp_proj.h" />
|
||||||
|
<Unit filename="usralgomain.c">
|
||||||
|
<Option compilerVar="CC" />
|
||||||
|
</Unit>
|
||||||
|
<Unit filename="usrcode.c">
|
||||||
|
<Option compilerVar="CC" />
|
||||||
|
</Unit>
|
||||||
|
<Unit filename="usrcode.h" />
|
||||||
|
<Unit filename="usrcode_template.c">
|
||||||
|
<Option compilerVar="CC" />
|
||||||
|
</Unit>
|
||||||
|
<Unit filename="usrcode_template.h" />
|
||||||
|
<Extensions>
|
||||||
|
<code_completion />
|
||||||
|
<debugger />
|
||||||
|
</Extensions>
|
||||||
|
</Project>
|
||||||
|
</CodeBlocks_project_file>
|
||||||
Reference in New Issue
Block a user