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zamofing_t
2019-03-19 09:10:28 +01:00
parent 0c45705715
commit eda8caf985
10 changed files with 268 additions and 142 deletions
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122
matlab/DeltaTauOptimizer.m
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@@ -10,73 +10,55 @@ function DeltaTauOptimizer()
mot=identifyFxFyStage(7);
end
%SIM1=[1 1; 1 2; 8 2; 9 2;9 3];
%SIM1=[9 1; 9 2; 9 3; 9 4];
%SIM1=[9 1; 9 2; 9 3; 9 4; 9 5; 9 6];
SIM1=[9 1; 9 2; 9 5; 9 6];
%SIM2=[1 1; 1 2; 8 2; 9 2];
SIM1=[9 1; 9 2; 9 3; 9 4];
SIM2=[9 1; 9 2; 9 3; 9 4];
%SIM2=[8 1; 8 2; 8 3; 8 4];
%SIM2=[8 1; 8 2; 9 1; 9 2];
%SIM2=[8 2; 9 2;8 3; 9 3];
%SIM2=[8 3; 9 3;8 4; 9 4];
%SIM2=[9 4;9 0];
%SIM2=[8 3; 9 3];
SIM1=[9 1; 9 2; 9 3; 9 4; 9 5];
%SIM2=[9 1; 9 2; 9 3; 9 4];
SIM2=[9 1; 9 2];
if 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);
%test1();return
%test2();return
bodeSim(simData1);
bodeSim(simData2);
for i =1:2
set(i,'OuterPosition',[80 400 1000 700]);
print(i,sprintf('figures/sim_optimize%d',i),'-depsc');
end
end
function test()
global pb mot simData1 simData2;
%pb=DeltaTauParam(mot{2},8,0);
function test1()
global pb mot simData1;
%pb=DeltaTauParam(mot{1},8,0);
pb=DeltaTauParam(mot{1},9,0);
sim('DeltaTauSim');
i=6;
i=7;
simData1(i).pb=pb;
simData1(i).desPos_actPos=desPos_actPos;
simData1=bodeSim(simData1);
return
%simData2(i).mot_mdl_param=SIM(i,:);
%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
Ts=1/5000;
frq0=55;d0=.5;
frq1=85;d1=.5;
w0=frq0*2*pi;
w1=frq1*2*pi;
tf0=tf([w0^2],[1 2*d0*w0 w0^2 ])
tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
tfs=tf0*tf1
tfz=c2d(tfs,Ts)
%h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
%pb.C=tfz.Numerator{1};
%pb.D=tfz.Denominator{1};
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');
% controlSystemDesigner(tfa)
end
function test2()
global pb mot simData2;
%pb=DeltaTauParam(mot{2},8,0); % ss_cq no resonance
pb=DeltaTauParam(mot{2},9,0); % ss_cqr with resonance
sim('DeltaTauSim');
i=3;
simData2(i).pb=pb;
simData2(i).desPos_actPos=desPos_actPos;
simData2=bodeSim(simData2);
return
end
function simData=ExecSim(mot,SIM)
global pb;
@@ -130,4 +112,38 @@ function simData=bodeSim(simData)
set(ax2, 'XScale', 'log');
linkaxes([ax1,ax2],'x')
legend('Location','best');
end
end
function SCRATCH()
%simData2(i).mot_mdl_param=SIM(i,:);
%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
Ts=1/5000;
frq0=55;d0=.5;
frq1=85;d1=.5;
w0=frq0*2*pi;
w1=frq1*2*pi;
tf0=tf([w0^2],[1 2*d0*w0 w0^2 ])
tf1=tf([1 2*d1*w1 w1^2 ],[w1^2])
tfs=tf0*tf1
tfz=c2d(tfs,Ts)
%h=bodeplot(tfz,tfs);setoptions(h,'FreqUnits','Hz','Grid','on');
%pb.C=tfz.Numerator{1};
%pb.D=tfz.Denominator{1};
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');
% controlSystemDesigner(tfa)
end