towards matlab

matlab/SCRATCH.m

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+
+clear;
+clear global;
+[mot1,mot2]=identifyFxFyStage();
+[Kp,Kvfb,Ki,Kvff,Kaff,MaxInt,mot_num,mot_den,Ts,MaxDac,MaxPosErr,A,B,C,D]=simFxFyStage(mot1,1);
+
+[Nbar,A,B,C,Ao,Bo,Co,Do,L,K]=StateSpaceControlDesign(mot1,1);
+
+
+
+
+
+
+
+
+
+
+
+
+function f=SCRATCH()
+open('stage_closed_loop.slx')
+
+
+  [m1,m2]=identifyFxFyStage();
+  controlSystemDesigner(1,m2.tf_py);    % <<<<<<<<< This opens a transferfiûnction that can be edited
+
+  %identification toolbox
+  systemIdentification
+
+  
+  
+  
+  
+  %opt=tfestOptions('Display','off');
+  %opt=tfestOptions('Display','on','initializeMethod','svf');
+  %opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[]);
+  %opt=tfestOptions('Display','on','initializeMethod','iv','WeightingFilter',[1,5;20,570]);
+  %tf1 = tfest(mot1frq, 6, 4, opt);
+  % Model refinement
+  % Options = tf1.Report.OptionsUsed;
+  % Options.WeightingFilter = 'prediction';
+  % tf1_1 = pem(mot1frq, tf1, Options)
+
+
+
+
+
+  bodeplot(mot1frq,tf1)
+  mag,phase=bode(tf1,frq)
+  figure(1)
+  subplot(211)
+
+
+  bodeplot(tf1)
+
+  Opt = n4sidOptions('N4Horizon',[15 15 15]);
+  n4s3 = n4sid(mot1frq, 3, Opt)
+
+
+
+
+
+  %tf([1 2],[1 0 10])
+  %specifies the transfer function (s+2)/(s^2+10) while
+  sys=tf([1],[1,0,0])
+  bode(sys)
+  step(sys)
+
+  sys=tf([1],[1,-1,2]) %instable
+
+  sys=tf([1],[1,1,2]) %stable
+
+
+  %0dB at 12 Hz=12*2*pi rad/s =75.4=k^2 -> k=8.6833
+
+  sys=tf([10],[1,0,0])
+  %1/s^2 -> 0dB at 1Hz -40dB/decade
+  %10=+20dB
+
+
+  sys=tf([1],[1,0,2]) %not damped constant sine after step
+
+
+  sys=zpk([],[1,0,0],100) %stable
+
+  sys=zpk([],[-10,-10],100)
+
+
+  %parker stage 1 
+  %!encoder_sim(enc=1,tbl=9,mot=9,posSf=13000./2048)
+  %!encoder_inc(enc=1,tbl=1,mot=1,posSf=13000./650000)
+  %!motor_servo(mot=1,ctrl='ServoCtrl',Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000)
+  %!motor(mot=1,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=1,IiGain=5,IpfGain=8,IpbGain=8,JogSpeed=10.,numPhase=3,invDir=True,servo=None,PhasePosSf=1./81250,PhaseFindingDac=100,PhaseFindingTime=50,SlipGain=0,AdvGain=0,PwmSf=10000,FatalFeLimit=200,WarnFeLimit=100,InPosBand=2,homing='enc-index')
+  Ts=2E-4 % discrete sample time (servo period)
+  Kp=25,Kvfb=400,Ki=0.02,Kvff=350,Kaff=5000,MaxInt=1000
+  Kp=25,Kvfb=0,Ki=0,Kvff=0,Kaff=0,MaxInt=0
+
+
+  num=7.32
+  den=[5.995e-04 4.897e-02   1.]
+  open('stage_closed_loop.slx')
+  %sim('stage_closed_loop.slx')
+
+  sys=tf(num,den)
+  bode(sys)
+  G = tf(1.5,[1 14 40.02]);
+  controlSystemDesigner('bode',sys);
+  controlSystemDesigner
+  linearSystemAnalyzer
+  load ltiexamples
+  linearSystemAnalyzer(sys_dc)
+
+  controlSystemDesigner('bode',sys);
+  controlSystemDesigner(1,sys);    % <<<<<<<<< This opens a transferfiûnction that can be edited
+
+  num=[8.32795069e-11, 1.04317228e-08, 6.68431323e-05, 3.31861324e-03, 7.32824533e+00];
+  den=[5.26156641e-18, 1.12897840e-14, 7.67853031e-12, 1.03201301e-08, 2.05154780e-06, 1.34279894e-03, 7.19229912e-02, 1.00000000e+00];
+  mot2=tf(num,den);
+  controlSystemDesigner('bode',mot2);
+  
+  
+
+end