Diff: GPA.cpp

Revision:

23:26a1ccd0a856

Parent:

22:715d351d0be7

Child:

24:33ded7d7bcbd

--- a/GPA.cpp	Mon Apr 09 14:48:55 2018 +0000
+++ b/GPA.cpp	Mon Apr 09 15:09:54 2018 +0000
@@ -1,6 +1,6 @@
 /*
     GPA: frequency point wise gain and phase analyser to measure the frequency
-         respone of dynamical system
+         respone of a dynamical system
 
         hint:       the measurements should only be perfomed in closed loop
         assumption: the system is at the desired steady state of interest when
@@ -22,38 +22,49 @@
         fMax:     maximal desired frequency that should be measured in Hz
         NfexcDes: number of logarithmic equaly spaced frequency points
         NperMin:  minimal number of periods that are used for each frequency point
-        NmeasMin: maximal number of samples that are used for each frequency point
+        NmeasMin: minimal number of samples that are used for each frequency point
         Ts:       sampling time
         Aexc0:    excitation amplitude at fMin
         Aexc1:    excitation amplitude at fMax
 
         hints:    the amplitude drops with 1/fexc, if you're using
-                  Axc1 = Aexc0/fMax the d/dt exc = const., this is recommended
+                  Axc1 = Aexc0/fMax then d/dt exc = const., this is recommended
                   if your controller does not have a rolloff.
                   if a desired frequency point is not measured try to increase Nmeas.
 
-    pseudo code for a closed loop measurement with a proportional controller Kp:
-
-        float inp = "measurement of inputsignal";
-        float out = "mesurement of outputsignal";
-        float exc = myGPA(inp, out);
-        float off = "desired steady state off the system";
+    pseudo code for a closed loop measurement with a controller C:
 
         excitation input at (1):
-        inp = Kp*(exc + off - out);
+       
+        - measuring the plant P and the closed loop tf T = PC/(1 + PC):
+            desTorque = pi_w(omega_desired - omega + excWobble);
+            inpWobble = desTorque;
+            outWobble = omega;
+            excWobble = Wobble(excWobble, outWobble);
+                        
+        - measuring the controller C and the closed loop tf SC = C/(1 + PC)
+            desTorque = pi_w(omega_desired - omega + excWobble);
+            inpWobble = n_soll + excWobble - omega;
+            outWobble = desTorque;
+            excWobble = Wobble(inpWobble, outWobble);
 
         excitation input at (2):
-        inp = Kp*(off - out) + exc;
+        
+        - measuring the plant P and the closed loop tf SP = P/(1 + PC):
+            desTorque = pi_w(omega_desired - omega) + excWobble;
+            inpWobble = desTorque;
+            outWobble = omega;
+            excWobble = Wobble(excWobble, outWobble);    
 
     usage:
-        exc = myGPA(inp, out) does update the internal states of the gpa at the
-        timestep k and returns the excitation signal for the timestep k+1. the
-        results are plotted to a terminal (putty) over serial cennection and look
-        as follows:
+        exc(k+1) = myGPA(inp(k), out(k)) does update the internal states of the 
+        gpa at the timestep k and returns the excitation signal for the timestep
+        k+1. the results are plotted to a terminal (putty) over a serial 
+        connection and look as follows:
  -----------------------------------------------------------------------------------------
    fexc[Hz]    |Gyu|     ang(Gyu)    |Gye|     ang(Gye)     |E|        |U|        |Y|
  -----------------------------------------------------------------------------------------
-   7.01e-01   1.08e+01  -7.45e-02   1.08e+01  -7.38e-02   9.99e-01   9.99e-01   1.08e+01
+   1.000e+00  2.924e+01 -1.572e+00  1.017e+00 -4.983e-02  5.000e+00  1.739e-01  5.084e+00
 
     in matlab you can use:
         dataNucleo = [... insert measurement data here ...];
@@ -190,7 +201,7 @@
             printf("   fexc[Hz]    |Gyu|     ang(Gyu)    |Gye|     ang(Gye)     |E|        |U|        |Y|\r\n");
             printLine();
         }
-         printf("%11.3e %10.3e %10.3e %10.3e %10.3e %10.3e %10.3e %10.3e\r\n", fexc, absGyu, angGyu, absGye, angGye, Aexc, Umag, Ymag);
+        printf("%11.3e %10.3e %10.3e %10.3e %10.3e %10.3e %10.3e %10.3e\r\n", (float)fexc, absGyu, angGyu, absGye, angGye, (float)Aexc, Umag, Ymag);
     } else {
         jj += 1;
     }