major renaming of transfer functions
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@@ -163,11 +163,11 @@ function motCell=identifyFxFyStage(mode)
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catch
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return
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end
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h=bodeplot(mot.meas,'r',mot.ss_plt(3,1),'g',mot.ss_c1(3,1),'b',mot.ss_d1(3,1),'m',mot.ss_1(2,1),'c',mot.ss_0(2,1),'k',mot.w);
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h=bodeplot(mot.meas,'r',mot.ss_plt(3,1),'g',mot.ss_cp(3,1),'b',mot.ss_dp(3,1),'m',mot.ss_p(2,1),'c',mot.ss_q(2,1),'k',mot.w);
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setoptions(h,'FreqUnits','Hz','Grid','on');
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p=getoptions(h);p.YLim{2}=[-360 90];p.YLimMode='manual';setoptions(h,p);
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ax=h.getaxes();
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legend(ax(1),'Location','sw',{'real','plant','c1','d1','1','0'});
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legend(ax(1),'Location','sw',{'real','plant','cp','dp','p','q'});
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print(gcf,sprintf('figures/plotBode_%d',mot.id),'-depsc');
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end
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@@ -175,24 +175,24 @@ function motCell=identifyFxFyStage(mode)
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%current loop iqCmd->iqMeas
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tfc=tf(mot.mdl.numc,mot.mdl.denc,'InputName','iqCmd','OutputName','iqMeas');
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%simplified current loop iqCmd->iqMeas (first order tf)
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tfd=tf(mot.mdl.numd,mot.mdl.dend,'InputName','iqCmd','OutputName','iqMeas');
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%force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tfp=tf({[mot.mdl.nump 0];mot.mdl.nump},mot.mdl.denp,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%simplified force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tfq=tf({[mot.mdl.numq 0];mot.mdl.numq},mot.mdl.denq,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%simplified force(=current) to velocity iqForce->(actVel)
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tfv=tf(mot.mdl.numv,mot.mdl.denv,'InputName','iqForce','OutputName',{'actVel'});
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%resonance iqMeas->iqForce
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tf2=tf(mot.mdl.num2,mot.mdl.den2,'InputName','iqMeas','OutputName','iqForce');
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tf1=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqMeas','OutputName','iqForce');
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%current to position iqForce->actPos
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tf1_=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqForce','OutputName','actPos');
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%force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tf1=tf({[mot.mdl.num1 0];mot.mdl.num1},mot.mdl.den1,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%simplified force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tf0=tf({[mot.mdl.num0 0];mot.mdl.num0},mot.mdl.den0,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%tf1_=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqForce','OutputName','actPos');
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%check observable/controlable of transfer functions
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ssLst=["tfc","tfd","tf0","tf1","tf2","tfc*tf1*tf2","tfc*tf1","tfd*tf1","tf1*tf2"];
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ssLst=["tfc","tfd","tfp","tfq","tfv","tf1","tfc*tfp*tf1","tfc*tfp","tfd*tfp","tfp*tf1","tfc*tfv","tfd*tfv","tfd*tfv*tf1"];
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sys=[];
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for s = ssLst
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eval('sys=ss('+s+');')
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@@ -201,23 +201,32 @@ function motCell=identifyFxFyStage(mode)
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% sample code:
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%tfc iqCmd-> iqMeas
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%tf2 resonance iqMeas->iqForce
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%tf1 iqForce->(actVel,actPos)
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%tfp iqForce->(actVel,actPos)
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%tf1 resonance iqMeas->iqForce
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%connect(tfc,tf2,'iqCmd','iqForce');
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%connect(tfc,tf2,'iqCmd',{'iqMeas','iqForce'});
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%connect(tfc,tf2,tf1_,'iqCmd',{'iqMeas','iqForce','actPos'});
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%connect(tfc,tf2,tf1_,'iqCmd',{'iqMeas','actPos'});
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% best plant approximation
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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mot.ss_plt=connect(tfc,tf1,tf2,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_plt=connect(tfc,tfp,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_plt.Name='best plant approximation';
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chkCtrlObsv(mot.ss_plt,'ss_plt fyStage');
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% best plant approximation without friction (always -40dB)
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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mot.ss_cqr=connect(tfc,tfq,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_cqr.Name='plant no friction';
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chkCtrlObsv(mot.ss_plt,'ss_cqr fyStage');
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%without resonance
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% u +-----------+ y
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@@ -225,44 +234,41 @@ function motCell=identifyFxFyStage(mode)
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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s=tf1.InputName{1};tf1.InputName{1}='iqMeas';
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mot.ss_c1=connect(tfc,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_c1.Name='without resonance';
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chkCtrlObsv(mot.ss_c1,'ss_c1 fyStage');
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tf1.InputName{1}=s;%restore
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s=tfp.InputName{1};tfp.InputName{1}='iqMeas';
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mot.ss_cp=connect(tfc,tfp,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_cp.Name='without resonance';
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chkCtrlObsv(mot.ss_cp,'ss_cp fyStage');
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tfp.InputName{1}=s;%restore
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%simplified current, without resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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s=tf1.InputName{1};tf1.InputName{1}='iqMeas';
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mot.ss_d1=connect(tfd,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_d1.Name='simplified current, without resonance';
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chkCtrlObsv(mot.ss_d1,'ss_d1 fyStage');
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tf1.InputName{1}=s;%restore
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s=tfp.InputName{1};tfp.InputName{1}='iqMeas';
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mot.ss_dp=connect(tfd,tfp,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_dp.Name='simplified current, without resonance';
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chkCtrlObsv(mot.ss_dp,'ss_dp fyStage');
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tfp.InputName{1}=s;%restore
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%no current loop, no resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> actVel
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% | 2|-------> actPos
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% +-----------+
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mot.ss_1=ss(tf1);
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mot.ss_1.Name='no current loop, no resonance';
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chkCtrlObsv(mot.ss_1,'ss_1 fyStage');
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mot.ss_p=ss(tfp);
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mot.ss_p.Name='no current loop, no resonance';
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chkCtrlObsv(mot.ss_p,'ss_p fyStage');
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%simplified mechanics, no current loop, no resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> actVel
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% | 2|-------> actPos
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% +-----------+
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mot.ss_0=ss(tf0);
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mot.ss_0.Name='simplified mechanics, no current loop, no resonance';
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chkCtrlObsv(mot.ss_0,'ss_0 fyStage');
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mot.ss_q=ss(tfq);
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mot.ss_q.Name='simplified mechanics, no current loop, no resonance';
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chkCtrlObsv(mot.ss_q,'ss_q fyStage');
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%h=bodeplot(mot.meas,'r',mot.tf4_2,'b',mot.tf6_4,'g');
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%h=bodeplot(mot.meas,'r',mot.tf2_0,'b',mot.tf_mdl,'g',mot.w);
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@@ -272,58 +278,64 @@ function motCell=identifyFxFyStage(mode)
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function mot=fxStage(mot)
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%current loop iqCmd->iqMeas
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tfc=tf(mot.mdl.numc,mot.mdl.denc,'InputName','iqCmd','OutputName','iqMeas');
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%simplified current loop iqCmd->iqMeas (first order tf)
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tfd=tf(mot.mdl.numd,mot.mdl.dend,'InputName','iqCmd','OutputName','iqMeas');
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%force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tfp=tf({[mot.mdl.nump 0];mot.mdl.nump},mot.mdl.denp,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%simplified force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tfq=tf({[mot.mdl.numq 0];mot.mdl.numq},mot.mdl.denq,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%resonance iqMeas->iqForce
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tf2=tf(mot.mdl.num2,mot.mdl.den2,'InputName','iqMeas','OutputName','iqF1');
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tf1=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqMeas','OutputName','iqF1');
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%resonance iqMeas->iqForce
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tf3=tf(mot.mdl.num3,mot.mdl.den3,'InputName','iqF1','OutputName','iqF2');
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tf2=tf(mot.mdl.num2,mot.mdl.den2,'InputName','iqF1','OutputName','iqF2');
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%resonance iqMeas->iqForce
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tf4=tf(mot.mdl.num4,mot.mdl.den4,'InputName','iqF2','OutputName','iqF3');
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tf3=tf(mot.mdl.num3,mot.mdl.den3,'InputName','iqF2','OutputName','iqF3');
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%resonance iqMeas->iqForce
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tf5=tf(mot.mdl.num5,mot.mdl.den5,'InputName','iqF3','OutputName','iqForce');
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tf4=tf(mot.mdl.num4,mot.mdl.den4,'InputName','iqF3','OutputName','iqForce');
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%current to position iqForce->actPos
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tf1_=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqForce','OutputName','actPos');
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%force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tf1=tf({[mot.mdl.num1 0];mot.mdl.num1},mot.mdl.den1,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%simplified force(=current) to velocity and position iqForce->(actVel,actPos), actVel=s*actPos
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tf0=tf({[mot.mdl.num0 0];mot.mdl.num0},mot.mdl.den0,'InputName','iqForce','OutputName',{'actVel','actPos'});
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%tf1_=tf(mot.mdl.num1,mot.mdl.den1,'InputName','iqForce','OutputName','actPos');
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%check observable/controlable of transfer functions
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ssLst=["tfc","tfd","tf0","tf1","tf2","tf3","tf4","tf5",...
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"tfc*tf1*tf2","tfc*tf1","tfd*tf1","tf1*tf2","tf1*tf2*tf3"];
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ssLst=["tfc","tfd","tfp","tfq","tf1","tf2","tf3","tf4",...
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"tfc*tfp*tf1","tfc*tfp","tfd*tfp","tfp*tf1","tfd*tfp*tf1","tfc*tf1","tfd*tf1","tfc*tf1*tf2","tfd*tf1*tf2"];
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sys=[];
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for s = ssLst
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eval('sys=ss('+s+');')
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chkCtrlObsv(sys,char(s));
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end
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% best plant approximation
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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mot.ss_plt=connect(tfc,tf1,tf2,tf3,tf4,tf5,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_plt=connect(tfc,tfp,tf1,tf2,tf3,tf4,'iqCmd',{'iqMeas','actVel','actPos'});
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chkCtrlObsv(mot.ss_plt,'ss_plt fxStage');
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% best plant approximation without friction (always -40dB)
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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mot.ss_cqr=connect(tfc,tfq,tf1,tf2,tf3,tf4,'iqCmd',{'iqMeas','actVel','actPos'});
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mot.ss_cqr.Name='plant no friction';
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chkCtrlObsv(mot.ss_cqr,'ss_plt0 fxStage');
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%without resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> iqMeas
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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s=tf1.InputName{1};tf1.InputName{1}='iqMeas';
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mot.ss_c1=connect(tfc,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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chkCtrlObsv(mot.ss_c1,'ss_c1 fxStage');
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tf1.InputName{1}=s;%restore
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s=tfp.InputName{1};tfp.InputName{1}='iqMeas';
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mot.ss_cp=connect(tfc,tfp,'iqCmd',{'iqMeas','actVel','actPos'});
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chkCtrlObsv(mot.ss_cp,'ss_cp fxStage');
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tfp.InputName{1}=s;%restore
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%simplified current, without resonance
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% u +-----------+ y
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@@ -331,28 +343,26 @@ function motCell=identifyFxFyStage(mode)
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% | 2|-------> actVel
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% | 3|-------> actPos
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% +-----------+
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s=tf1.InputName{1};tf1.InputName{1}='iqMeas';
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mot.ss_d1=connect(tfd,tf1,'iqCmd',{'iqMeas','actVel','actPos'});
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chkCtrlObsv(mot.ss_d1,'ss_d1 fxStage');
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tf1.InputName{1}=s;%restore
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s=tfp.InputName{1};tfp.InputName{1}='iqMeas';
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mot.ss_dp=connect(tfd,tfp,'iqCmd',{'iqMeas','actVel','actPos'});
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chkCtrlObsv(mot.ss_dp,'ss_dp fxStage');
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tfp.InputName{1}=s;%restore
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%no current loop, no resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> actVel
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% | 2|-------> actPos
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% +-----------+
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mot.ss_1=ss(tf1);
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chkCtrlObsv(mot.ss_1,'ss_1 fxStage');
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mot.ss_p=ss(tfp);
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chkCtrlObsv(mot.ss_p,'ss_p fxStage');
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%simplified mechanics, no current loop, no resonance
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% u +-----------+ y
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%iqCmd------->|1 1|-------> actVel
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% | 2|-------> actPos
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% +-----------+
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mot.ss_0=ss(tf0);
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chkCtrlObsv(mot.ss_0,'ss_0 fxStage');
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mot.ss_q=ss(tfq);
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chkCtrlObsv(mot.ss_q,'ss_q fxStage');
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plotBode(mot)
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end
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