Ruprecht Altenburger / Cntrl_Lib

.

Fork of Cntrlol_Lib by Ruprecht Altenburger

GPAf.cpp@8:32445aab4589, 2018-10-26 (annotated)

Committer:
altb
Date:
Fri Oct 26 12:40:51 2018 +0000
Revision:
8:32445aab4589
Parent:
7:15ea5021288d 
corrected bugs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 7:15ea5021288d 1 /*
altb 7:15ea5021288d 2 GPA: frequency point wise gain and phase analyser to measure the frequency
altb 7:15ea5021288d 3 respone of a dynamical system
altb 7:15ea5021288d 4
altb 7:15ea5021288d 5 hint: the measurements should only be perfomed in closed loop
altb 7:15ea5021288d 6 assumption: the system is at the desired steady state of interest when
altb 7:15ea5021288d 7 the measurment starts
altb 7:15ea5021288d 8
altb 7:15ea5021288d 9 exc(2) C: controller
altb 7:15ea5021288d 10 | P: plant
altb 7:15ea5021288d 11 v
altb 7:15ea5021288d 12 exc(1) --> o ->| C |--->o------->| P |----------> out
altb 7:15ea5021288d 13 ^ - | |
altb 7:15ea5021288d 14 | --> inp | exc: excitation signal (E)
altb 7:15ea5021288d 15 | | inp: input plant (U)
altb 7:15ea5021288d 16 -------------------------------- out: output plant (Y)
altb 7:15ea5021288d 17
altb 7:15ea5021288d 18 instantiate option 1: (logarithmic equaly spaced frequency points)
altb 7:15ea5021288d 19
altb 7:15ea5021288d 20 GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 21
altb 7:15ea5021288d 22 fMin: minimal desired frequency that should be measured in Hz
altb 7:15ea5021288d 23 fMax: maximal desired frequency that should be measured in Hz
altb 7:15ea5021288d 24 NfexcDes: number of logarithmic equaly spaced frequency points
altb 7:15ea5021288d 25 NperMin: minimal number of periods that are used for each frequency point
altb 7:15ea5021288d 26 NmeasMin: minimal number of samples that are used for each frequency point
altb 7:15ea5021288d 27 Ts: sampling time
altb 7:15ea5021288d 28 Aexc0: excitation amplitude at fMin
altb 7:15ea5021288d 29 Aexc1: excitation amplitude at fMax
altb 7:15ea5021288d 30
altb 7:15ea5021288d 31 instantiate option 2: (for a second, refined frequency grid measurement)
altb 7:15ea5021288d 32
altb 7:15ea5021288d 33 GPA(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 34
altb 7:15ea5021288d 35 f0: frequency point for the calculation of Aexc0 in Hz (should be chosen like in the first measurement)
altb 7:15ea5021288d 36 f1: frequency point for the calculation of Aexc1 in Hz (should be chosen like in the first measurement)
altb 7:15ea5021288d 37 *fexcDes: sorted frequency point array in Hz
altb 7:15ea5021288d 38 NfexcDes: length of fexcDes
altb 7:15ea5021288d 39
altb 7:15ea5021288d 40 instantiate option 3: (for an arbitary but sorted frequency grid measurement)
altb 7:15ea5021288d 41
altb 7:15ea5021288d 42 GPA(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 43
altb 7:15ea5021288d 44 *fexcDes: sorted frequency point array in Hz
altb 7:15ea5021288d 45 Aexc0: excitation amplitude at fexcDes[0]
altb 7:15ea5021288d 46 Aexc1: excitation amplitude at fexcDes[NfexcDes-1]
altb 7:15ea5021288d 47 NfexcDes: length of fexcDes
altb 7:15ea5021288d 48
altb 7:15ea5021288d 49 hints: the amplitude drops with 1/fexc, if you're using Axc1 = Aexc0/fMax then d/dt exc = const.,
altb 7:15ea5021288d 50 this is recommended if your controller does not have a rolloff. if a desired frequency point
altb 7:15ea5021288d 51 is not measured try to increase Nmeas.
altb 7:15ea5021288d 52
altb 7:15ea5021288d 53 pseudo code for a closed loop measurement with a controller C:
altb 7:15ea5021288d 54
altb 7:15ea5021288d 55 excitation input at (1):
altb 7:15ea5021288d 56
altb 7:15ea5021288d 57 - measuring the plant P and the closed loop tf T = PC/(1 + PC):
altb 7:15ea5021288d 58 desTorque = pi_w(omega_desired - omega + excWobble);
altb 7:15ea5021288d 59 inpWobble = desTorque;
altb 7:15ea5021288d 60 outWobble = omega;
altb 7:15ea5021288d 61 excWobble = Wobble(excWobble, outWobble);
altb 7:15ea5021288d 62
altb 7:15ea5021288d 63 - measuring the controller C and the closed loop tf SC = C/(1 + PC)
altb 7:15ea5021288d 64 desTorque = pi_w(omega_desired - omega + excWobble);
altb 7:15ea5021288d 65 inpWobble = n_soll + excWobble - omega;
altb 7:15ea5021288d 66 outWobble = desTorque;
altb 7:15ea5021288d 67 excWobble = Wobble(inpWobble, outWobble);
altb 7:15ea5021288d 68
altb 7:15ea5021288d 69 excitation input at (2):
altb 7:15ea5021288d 70
altb 7:15ea5021288d 71 - measuring the plant P and the closed loop tf SP = P/(1 + PC):
altb 7:15ea5021288d 72 desTorque = pi_w(omega_desired - omega) + excWobble;
altb 7:15ea5021288d 73 inpWobble = desTorque;
altb 7:15ea5021288d 74 outWobble = omega;
altb 7:15ea5021288d 75 excWobble = Wobble(excWobble, outWobble);
altb 7:15ea5021288d 76
altb 7:15ea5021288d 77 usage:
altb 7:15ea5021288d 78 exc(k+1) = myGPA(inp(k), out(k)) does update the internal states of the
altb 7:15ea5021288d 79 gpa at the timestep k and returns the excitation signal for the timestep
altb 7:15ea5021288d 80 k+1. the results are plotted to a terminal (putty) over a serial
altb 7:15ea5021288d 81 connection and look as follows:
altb 7:15ea5021288d 82 -----------------------------------------------------------------------------------------
altb 7:15ea5021288d 83 fexc[Hz] |Gyu| ang(Gyu) |Gye| ang(Gye) |E| |U| |Y|
altb 7:15ea5021288d 84 -----------------------------------------------------------------------------------------
altb 7:15ea5021288d 85 1.000e+00 2.924e+01 -1.572e+00 1.017e+00 -4.983e-02 5.000e+00 1.739e-01 5.084e+00
altb 7:15ea5021288d 86
altb 7:15ea5021288d 87 in matlab you can use:
altb 7:15ea5021288d 88 dataNucleo = [... insert measurement data here ...];
altb 7:15ea5021288d 89 g = frd(dataNucleo(:,2).*exp(1i*dataNucleo(:,3)), dataNucleo(:,1), Ts, 'Units', 'Hz');
altb 7:15ea5021288d 90 gcl = frd(dataNucleo(:,4).*exp(1i*dataNucleo(:,5)), dataNucleo(:,1), Ts, 'Units', 'Hz');
altb 7:15ea5021288d 91
altb 7:15ea5021288d 92 if you're evaluating more than one measurement which contain equal frequency points try:
altb 7:15ea5021288d 93 dataNucleo = [dataNucleo1; dataNucleo2];
altb 7:15ea5021288d 94 [~, ind] = unique(dataNucleo(:,1),'stable');
altb 7:15ea5021288d 95 dataNucleo = dataNucleo(ind,:);
altb 7:15ea5021288d 96
altb 7:15ea5021288d 97 autor: M.E. Peter
altb 7:15ea5021288d 98 */
altb 7:15ea5021288d 99
altb 8:32445aab4589 100 #include "GPAf.h"
altb 7:15ea5021288d 101 #include "mbed.h"
altb 7:15ea5021288d 102 #include "math.h"
altb 7:15ea5021288d 103 #define pi 3.14159f
altb 7:15ea5021288d 104
altb 7:15ea5021288d 105 using namespace std;
altb 7:15ea5021288d 106
altb 7:15ea5021288d 107 GPAf::GPAf(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 108 {
altb 7:15ea5021288d 109 this->NfexcDes = NfexcDes;
altb 7:15ea5021288d 110 this->NperMin = NperMin;
altb 7:15ea5021288d 111 this->NmeasMin = NmeasMin;
altb 7:15ea5021288d 112 this->Ts = (float)Ts;
altb 7:15ea5021288d 113
altb 7:15ea5021288d 114 // calculate logarithmic spaced frequency points
altb 7:15ea5021288d 115 fexcDes = (float*)malloc(NfexcDes*sizeof(float));
altb 7:15ea5021288d 116 fexcDesLogspace((float)fMin, (float)fMax, NfexcDes);
altb 7:15ea5021288d 117
altb 7:15ea5021288d 118 // calculate coefficients for decreasing amplitude (1/fexc)
altb 7:15ea5021288d 119 this->aAexcDes = ((float)Aexc1 - (float)Aexc0)/(1.0f/fexcDes[NfexcDes-1] - 1.0f/fexcDes[0]);
altb 7:15ea5021288d 120 this->bAexcDes = (float)Aexc0 - aAexcDes/fexcDes[0];
altb 7:15ea5021288d 121
altb 7:15ea5021288d 122 fnyq = 1.0f/2.0f/(float)Ts;
altb 7:15ea5021288d 123 pi2 = 2.0f*pi;
altb 7:15ea5021288d 124 pi2Ts = pi2*(float)Ts;
altb 7:15ea5021288d 125 piDiv2 = pi/2.0f;
altb 7:15ea5021288d 126
altb 7:15ea5021288d 127 sU = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 128 sY = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 129 reset();
altb 7:15ea5021288d 130 }
altb 7:15ea5021288d 131
altb 7:15ea5021288d 132 GPAf::GPAf(float f0, float f1, float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 133 {
altb 7:15ea5021288d 134 // convert fexcDes from float to float, it is assumed that it is sorted
altb 7:15ea5021288d 135 this->NfexcDes = NfexcDes;
altb 7:15ea5021288d 136 this->fexcDes = (float*)malloc(NfexcDes*sizeof(float));
altb 7:15ea5021288d 137 for(int i = 0; i < NfexcDes; i++) {
altb 7:15ea5021288d 138 this->fexcDes[i] = (float)fexcDes[i];
altb 7:15ea5021288d 139 }
altb 7:15ea5021288d 140 this->NperMin = NperMin;
altb 7:15ea5021288d 141 this->NmeasMin = NmeasMin;
altb 7:15ea5021288d 142 this->Ts = (float)Ts;
altb 7:15ea5021288d 143
altb 7:15ea5021288d 144 // calculate coefficients for decreasing amplitude (1/fexc)
altb 7:15ea5021288d 145 this->aAexcDes = ((float)Aexc1 - (float)Aexc0)/(1.0f/(float)f1 - 1.0f/(float)f0);
altb 7:15ea5021288d 146 this->bAexcDes = (float)Aexc0 - aAexcDes/fexcDes[0];
altb 7:15ea5021288d 147
altb 7:15ea5021288d 148 fnyq = 1.0f/2.0f/(float)Ts;
altb 7:15ea5021288d 149 pi2 = 2.0f*pi;
altb 7:15ea5021288d 150 pi2Ts = pi2*(float)Ts;
altb 7:15ea5021288d 151 piDiv2 = pi/2.0f;
altb 7:15ea5021288d 152
altb 7:15ea5021288d 153 sU = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 154 sY = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 155 reset();
altb 7:15ea5021288d 156 }
altb 7:15ea5021288d 157
altb 7:15ea5021288d 158 GPAf::GPAf(float *fexcDes, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 7:15ea5021288d 159 {
altb 7:15ea5021288d 160 // convert fexcDes from float to float, it is assumed that it is sorted
altb 7:15ea5021288d 161 this->NfexcDes = NfexcDes;
altb 7:15ea5021288d 162 this->fexcDes = (float*)malloc(NfexcDes*sizeof(float));
altb 7:15ea5021288d 163 for(int i = 0; i < NfexcDes; i++) {
altb 7:15ea5021288d 164 this->fexcDes[i] = (float)fexcDes[i];
altb 7:15ea5021288d 165 }
altb 7:15ea5021288d 166 this->NperMin = NperMin;
altb 7:15ea5021288d 167 this->NmeasMin = NmeasMin;
altb 7:15ea5021288d 168 this->Ts = (float)Ts;
altb 7:15ea5021288d 169
altb 7:15ea5021288d 170 // calculate coefficients for decreasing amplitude (1/fexc)
altb 7:15ea5021288d 171 this->aAexcDes = ((float)Aexc1 - (float)Aexc0)/(1.0f/this->fexcDes[NfexcDes-1] - 1.0f/this->fexcDes[0]);
altb 7:15ea5021288d 172 this->bAexcDes = (float)Aexc0 - aAexcDes/fexcDes[0];
altb 7:15ea5021288d 173
altb 7:15ea5021288d 174 fnyq = 1.0f/2.0f/(float)Ts;
altb 7:15ea5021288d 175 pi2 = 2.0f*pi;
altb 7:15ea5021288d 176 pi2Ts = pi2*(float)Ts;
altb 7:15ea5021288d 177 piDiv2 = pi/2.0f;
altb 7:15ea5021288d 178
altb 7:15ea5021288d 179 sU = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 180 sY = (float*)malloc(3*sizeof(float));
altb 7:15ea5021288d 181 reset();
altb 7:15ea5021288d 182 }
altb 7:15ea5021288d 183
altb 7:15ea5021288d 184 GPAf::~GPAf() {}
altb 7:15ea5021288d 185
altb 7:15ea5021288d 186 void GPAf::reset()
altb 7:15ea5021288d 187 {
altb 7:15ea5021288d 188 Nmeas = 0;
altb 7:15ea5021288d 189 Nper = 0;
altb 7:15ea5021288d 190 fexc = 0.0;
altb 7:15ea5021288d 191 fexcPast = 0.0;
altb 7:15ea5021288d 192 ii = 1; // iterating through desired frequency points
altb 7:15ea5021288d 193 jj = 1; // iterating through measurement points w.r.t. reachable frequency
altb 7:15ea5021288d 194 scaleG = 0.0;
altb 7:15ea5021288d 195 scaleH = 2.0;
altb 7:15ea5021288d 196 wk = 0.0;
altb 7:15ea5021288d 197 cr = 0.0;
altb 7:15ea5021288d 198 ci = 0.0;
altb 7:15ea5021288d 199 for(int i = 0; i < 3; i++) {
altb 7:15ea5021288d 200 sU[i] = 0.0;
altb 7:15ea5021288d 201 sY[i] = 0.0;
altb 7:15ea5021288d 202 }
altb 7:15ea5021288d 203 sinarg = 0.0;
altb 7:15ea5021288d 204 NmeasTotal = 0;
altb 7:15ea5021288d 205 Aexc = 0.0;
altb 7:15ea5021288d 206 pi2Tsfexc = 0.0;
altb 7:15ea5021288d 207 }
altb 7:15ea5021288d 208
altb 7:15ea5021288d 209 float GPAf::update(float inp, float out)
altb 7:15ea5021288d 210 {
altb 7:15ea5021288d 211 // a new frequency point has been reached
altb 7:15ea5021288d 212 if(jj == 1) {
altb 7:15ea5021288d 213 // get a new unique frequency point
altb 7:15ea5021288d 214 while(fexc == fexcPast) {
altb 7:15ea5021288d 215 // measurement finished
altb 7:15ea5021288d 216 if(ii > NfexcDes) {
altb 7:15ea5021288d 217 return 0.0f;
altb 7:15ea5021288d 218 }
altb 7:15ea5021288d 219 calcGPAmeasPara(fexcDes[ii - 1]);
altb 7:15ea5021288d 220 // secure fexc is not higher or equal to nyquist frequency
altb 7:15ea5021288d 221 if(fexc >= fnyq) {
altb 7:15ea5021288d 222 fexc = fexcPast;
altb 7:15ea5021288d 223 }
altb 7:15ea5021288d 224 // no frequency found
altb 7:15ea5021288d 225 if(fexc == fexcPast) {
altb 7:15ea5021288d 226 ii += 1;
altb 7:15ea5021288d 227 } else {
altb 7:15ea5021288d 228 Aexc = aAexcDes/fexc + bAexcDes;
altb 7:15ea5021288d 229 pi2Tsfexc = pi2Ts*fexc;
altb 7:15ea5021288d 230 }
altb 7:15ea5021288d 231 }
altb 7:15ea5021288d 232 // secure sinarg starts at 0 (numerically maybe not given)
altb 7:15ea5021288d 233 sinarg = 0.0;
altb 7:15ea5021288d 234 // filter scaling
altb 7:15ea5021288d 235 scaleG = 1.0f/sqrt((float)Nmeas);
altb 7:15ea5021288d 236 // filter coefficients
altb 7:15ea5021288d 237 cr = cos(pi2Tsfexc);
altb 7:15ea5021288d 238 ci = sin(pi2Tsfexc);
altb 7:15ea5021288d 239 // filter storage
altb 7:15ea5021288d 240 for(int i = 0; i < 3; i++) {
altb 7:15ea5021288d 241 sU[i] = 0.0;
altb 7:15ea5021288d 242 sY[i] = 0.0;
altb 7:15ea5021288d 243 }
altb 7:15ea5021288d 244 }
altb 7:15ea5021288d 245 // update hann window
altb 7:15ea5021288d 246 calcHann();
altb 7:15ea5021288d 247 // filter step for signal su
altb 7:15ea5021288d 248 sU[0] = wk*scaleG*inp + 2.0f*cr*sU[1] - sU[2];
altb 7:15ea5021288d 249 sU[2] = sU[1];
altb 7:15ea5021288d 250 sU[1] = sU[0];
altb 7:15ea5021288d 251 // filter step for signal sy
altb 7:15ea5021288d 252 sY[0] = wk*scaleG*out + 2.0f*cr*sY[1] - sY[2];
altb 7:15ea5021288d 253 sY[2] = sY[1];
altb 7:15ea5021288d 254 sY[1] = sY[0];
altb 7:15ea5021288d 255 // measurement of frequencypoint is finished
altb 7:15ea5021288d 256 if(jj == Nmeas) {
altb 7:15ea5021288d 257 jj = 1;
altb 7:15ea5021288d 258 ii += 1;
altb 7:15ea5021288d 259 fexcPast = fexc;
altb 7:15ea5021288d 260 // calculate the one point dft
altb 7:15ea5021288d 261 float Ureal = 2.0f*scaleH*scaleG*(cr*sU[1] - sU[2]);
altb 7:15ea5021288d 262 float Uimag = 2.0f*scaleH*scaleG*ci*sU[1];
altb 7:15ea5021288d 263 float Yreal = 2.0f*scaleH*scaleG*(cr*sY[1] - sY[2]);
altb 7:15ea5021288d 264 float Yimag = 2.0f*scaleH*scaleG*ci*sY[1];
altb 7:15ea5021288d 265 // calculate magnitude and angle
altb 7:15ea5021288d 266 float Umag = (float)(sqrt(Ureal*Ureal + Uimag*Uimag));
altb 7:15ea5021288d 267 float Ymag = (float)(sqrt(Yreal*Yreal + Yimag*Yimag));
altb 7:15ea5021288d 268 float absGyu = (float)(Ymag/Umag);
altb 7:15ea5021288d 269 float angGyu = (float)(atan2(Yimag, Yreal) - atan2(Uimag, Ureal));
altb 7:15ea5021288d 270 float absGye = (float)(Ymag/Aexc);
altb 7:15ea5021288d 271 float angGye = (float)(atan2(Yimag, Yreal) + piDiv2);
altb 7:15ea5021288d 272 // user info
altb 7:15ea5021288d 273 if(ii == 2) {
altb 7:15ea5021288d 274 printLine();
altb 7:15ea5021288d 275 printf(" fexc[Hz] |Gyu| ang(Gyu) |Gye| ang(Gye) |E| |U| |Y|\r\n");
altb 7:15ea5021288d 276 printLine();
altb 7:15ea5021288d 277 }
altb 8:32445aab4589 278 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);
altb 7:15ea5021288d 279 } else {
altb 7:15ea5021288d 280 jj += 1;
altb 7:15ea5021288d 281 }
altb 7:15ea5021288d 282 sinarg = fmod(sinarg + pi2Tsfexc, pi2);
altb 7:15ea5021288d 283 NmeasTotal += 1;
altb 7:15ea5021288d 284 return (float)(Aexc*sin(sinarg));
altb 7:15ea5021288d 285 }
altb 7:15ea5021288d 286
altb 7:15ea5021288d 287 void GPAf::fexcDesLogspace(float fMin, float fMax, int NfexcDes)
altb 7:15ea5021288d 288 {
altb 7:15ea5021288d 289 // calculate logarithmic spaced frequency points
altb 7:15ea5021288d 290 float Gain = log10(fMax/fMin)/((float)NfexcDes - 1.0f);
altb 7:15ea5021288d 291 float expon = 0.0;
altb 7:15ea5021288d 292 for(int i = 0; i < NfexcDes; i++) {
altb 7:15ea5021288d 293 fexcDes[i] = fMin*pow(10.0f, expon);
altb 7:15ea5021288d 294 expon += Gain;
altb 7:15ea5021288d 295 }
altb 7:15ea5021288d 296 }
altb 7:15ea5021288d 297
altb 7:15ea5021288d 298 void GPAf::calcGPAmeasPara(float fexcDes_i)
altb 7:15ea5021288d 299 {
altb 7:15ea5021288d 300 // Nmeas has to be an integer
altb 7:15ea5021288d 301 Nper = NperMin;
altb 7:15ea5021288d 302 Nmeas = (int)floor((float)Nper/fexcDes_i/Ts + 0.5f);
altb 7:15ea5021288d 303 // secure that the minimal number of measurements is fullfilled
altb 7:15ea5021288d 304 int Ndelta = NmeasMin - Nmeas;
altb 7:15ea5021288d 305 if(Ndelta > 0) {
altb 7:15ea5021288d 306 Nper = (int)ceil((float)NmeasMin*fexcDes_i*Ts);
altb 7:15ea5021288d 307 Nmeas = (int)floor((float)Nper/fexcDes_i/Ts + 0.5f);
altb 7:15ea5021288d 308 }
altb 7:15ea5021288d 309 // evaluating reachable frequency
altb 7:15ea5021288d 310 fexc = (float)Nper/(float)Nmeas/Ts;
altb 7:15ea5021288d 311 }
altb 7:15ea5021288d 312
altb 7:15ea5021288d 313 void GPAf::calcHann()
altb 7:15ea5021288d 314 {
altb 7:15ea5021288d 315 wk = 0.5f - 0.5f*cos(2.0f*pi*((float)jj-1.0f)/(float)Nmeas);
altb 7:15ea5021288d 316 }
altb 7:15ea5021288d 317
altb 8:32445aab4589 318 void GPAf::printLine()
altb 7:15ea5021288d 319 {
altb 7:15ea5021288d 320 printf("-----------------------------------------------------------------------------------------\r\n");
altb 7:15ea5021288d 321 }
altb 7:15ea5021288d 322
altb 7:15ea5021288d 323 void GPAf::printGPAfexcDes()
altb 7:15ea5021288d 324 {
altb 7:15ea5021288d 325 printLine();
altb 7:15ea5021288d 326 for(int i = 0; i < NfexcDes; i++) {
altb 7:15ea5021288d 327 printf("%9.4f\r\n", (float)fexcDes[i]);
altb 7:15ea5021288d 328 }
altb 7:15ea5021288d 329 }
altb 7:15ea5021288d 330
altb 7:15ea5021288d 331 void GPAf::printGPAmeasPara()
altb 7:15ea5021288d 332 {
altb 7:15ea5021288d 333 printLine();
altb 7:15ea5021288d 334 printf(" fexcDes[Hz] fexc[Hz] Aexc Nmeas Nper\r\n");
altb 7:15ea5021288d 335 printLine();
altb 7:15ea5021288d 336 for(int i = 0; i < NfexcDes; i++) {
altb 7:15ea5021288d 337 calcGPAmeasPara(fexcDes[i]);
altb 7:15ea5021288d 338 if(fexc == fexcPast || fexc >= fnyq) {
altb 7:15ea5021288d 339 fexc = 0.0;
altb 7:15ea5021288d 340 Nmeas = 0;
altb 7:15ea5021288d 341 Nper = 0;
altb 7:15ea5021288d 342 Aexc = 0.0;
altb 7:15ea5021288d 343 } else {
altb 7:15ea5021288d 344 Aexc = aAexcDes/fexc + bAexcDes;
altb 7:15ea5021288d 345 fexcPast = fexc;
altb 7:15ea5021288d 346 }
altb 7:15ea5021288d 347 NmeasTotal += Nmeas;
altb 7:15ea5021288d 348 printf("%12.2e %9.2e %10.2e %7i %6i \r\n", (float)fexcDes[i], (float)fexc, (float)Aexc, Nmeas, Nper);
altb 7:15ea5021288d 349 }
altb 7:15ea5021288d 350 printGPAmeasTime();
altb 7:15ea5021288d 351 reset();
altb 7:15ea5021288d 352 }
altb 7:15ea5021288d 353
altb 7:15ea5021288d 354 void GPAf::printGPAmeasTime()
altb 7:15ea5021288d 355 {
altb 7:15ea5021288d 356 printLine();
altb 7:15ea5021288d 357 printf(" number of data points: %9i\r\n", NmeasTotal);
altb 7:15ea5021288d 358 printf(" measurment time in sec: %9.2f\r\n", (float)((float)NmeasTotal*Ts));
altb 7:15ea5021288d 359 }
altb 7:15ea5021288d 360
altb 7:15ea5021288d 361 void GPAf::printNfexcDes()
altb 7:15ea5021288d 362 {
altb 7:15ea5021288d 363 printLine();
altb 7:15ea5021288d 364 printf(" number of frequancy points: %2i\r\n", NfexcDes);
altb 7:15ea5021288d 365 }