Ruprecht Altenburger / Mbed 2 deprecated RT2_P3_students_G4

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GPA.cpp@10:85840c065e00, 2018-04-27 (annotated)

Committer:
altb
Date:
Fri Apr 27 06:34:29 2018 +0000
Revision:
10:85840c065e00
Parent:
4:2cc56521aa16 
group 4, 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb 0:78ca29b4c49e 1 /*
altb 0:78ca29b4c49e 2 GPA: frequency point wise gain and phase analyser to measure the frequency
altb 2:769ce5f06d3e 3 respone of a dynamical system
altb 2:769ce5f06d3e 4
altb 0:78ca29b4c49e 5 hint: the measurements should only be perfomed in closed loop
altb 0:78ca29b4c49e 6 assumption: the system is at the desired steady state of interest when
altb 0:78ca29b4c49e 7 the measurment starts
altb 2:769ce5f06d3e 8
altb 0:78ca29b4c49e 9 exc(2) C: controller
altb 0:78ca29b4c49e 10 | P: plant
altb 2:769ce5f06d3e 11 v
altb 0:78ca29b4c49e 12 exc(1) --> o ->| C |--->o------->| P |----------> out
altb 4:2cc56521aa16 13 ^ - | |
altb 0:78ca29b4c49e 14 | --> inp | exc: excitation signal (E)
altb 0:78ca29b4c49e 15 | | inp: input plant (U)
altb 0:78ca29b4c49e 16 -------------------------------- out: output plant (Y)
altb 2:769ce5f06d3e 17
altb 4:2cc56521aa16 18 instantiate option 1: (logarithmic equaly spaced frequency points)
altb 4:2cc56521aa16 19
altb 0:78ca29b4c49e 20 GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 4:2cc56521aa16 21
altb 0:78ca29b4c49e 22 fMin: minimal desired frequency that should be measured in Hz
altb 0:78ca29b4c49e 23 fMax: maximal desired frequency that should be measured in Hz
altb 0:78ca29b4c49e 24 NfexcDes: number of logarithmic equaly spaced frequency points
altb 0:78ca29b4c49e 25 NperMin: minimal number of periods that are used for each frequency point
altb 2:769ce5f06d3e 26 NmeasMin: minimal number of samples that are used for each frequency point
altb 0:78ca29b4c49e 27 Ts: sampling time
altb 2:769ce5f06d3e 28 Aexc0: excitation amplitude at fMin
altb 0:78ca29b4c49e 29 Aexc1: excitation amplitude at fMax
altb 4:2cc56521aa16 30
altb 4:2cc56521aa16 31 instantiate option 2: (for a second, refined frequency grid measurement)
altb 4:2cc56521aa16 32
altb 4:2cc56521aa16 33 GPA(float f0, float f1, float *fexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 4:2cc56521aa16 34
altb 4:2cc56521aa16 35 f0: frequency point for the calculation of Aexc0 in Hz (should be chosen like in the first measurement)
altb 4:2cc56521aa16 36 f1: frequency point for the calculation of Aexc1 in Hz (should be chosen like in the first measurement)
altb 4:2cc56521aa16 37 *fexcDes: sorted frequency point array in Hz
altb 4:2cc56521aa16 38
altb 4:2cc56521aa16 39 instantiate option 3: (for an arbitary but sorted frequency grid measurement)
altb 4:2cc56521aa16 40
altb 4:2cc56521aa16 41 GPA(float *fexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 4:2cc56521aa16 42
altb 4:2cc56521aa16 43 *fexcDes: sorted frequency point array in Hz
altb 4:2cc56521aa16 44 Aexc0: excitation amplitude at fexcDes[0]
altb 4:2cc56521aa16 45 Aexc1: excitation amplitude at fexcDes[NfexcDes-1]
altb 2:769ce5f06d3e 46
altb 4:2cc56521aa16 47 hints: the amplitude drops with 1/fexc, if you're using Axc1 = Aexc0/fMax then d/dt exc = const.,
altb 4:2cc56521aa16 48 this is recommended if your controller does not have a rolloff. if a desired frequency point
altb 4:2cc56521aa16 49 is not measured try to increase Nmeas.
altb 2:769ce5f06d3e 50
altb 2:769ce5f06d3e 51 pseudo code for a closed loop measurement with a controller C:
altb 2:769ce5f06d3e 52
altb 0:78ca29b4c49e 53 excitation input at (1):
altb 2:769ce5f06d3e 54
altb 2:769ce5f06d3e 55 - measuring the plant P and the closed loop tf T = PC/(1 + PC):
altb 2:769ce5f06d3e 56 desTorque = pi_w(omega_desired - omega + excWobble);
altb 2:769ce5f06d3e 57 inpWobble = desTorque;
altb 2:769ce5f06d3e 58 outWobble = omega;
altb 2:769ce5f06d3e 59 excWobble = Wobble(excWobble, outWobble);
altb 2:769ce5f06d3e 60
altb 2:769ce5f06d3e 61 - measuring the controller C and the closed loop tf SC = C/(1 + PC)
altb 2:769ce5f06d3e 62 desTorque = pi_w(omega_desired - omega + excWobble);
altb 2:769ce5f06d3e 63 inpWobble = n_soll + excWobble - omega;
altb 2:769ce5f06d3e 64 outWobble = desTorque;
altb 2:769ce5f06d3e 65 excWobble = Wobble(inpWobble, outWobble);
altb 2:769ce5f06d3e 66
altb 0:78ca29b4c49e 67 excitation input at (2):
altb 0:78ca29b4c49e 68
altb 2:769ce5f06d3e 69 - measuring the plant P and the closed loop tf SP = P/(1 + PC):
altb 2:769ce5f06d3e 70 desTorque = pi_w(omega_desired - omega) + excWobble;
altb 2:769ce5f06d3e 71 inpWobble = desTorque;
altb 2:769ce5f06d3e 72 outWobble = omega;
altb 2:769ce5f06d3e 73 excWobble = Wobble(excWobble, outWobble);
altb 2:769ce5f06d3e 74
altb 0:78ca29b4c49e 75 usage:
altb 2:769ce5f06d3e 76 exc(k+1) = myGPA(inp(k), out(k)) does update the internal states of the
altb 2:769ce5f06d3e 77 gpa at the timestep k and returns the excitation signal for the timestep
altb 2:769ce5f06d3e 78 k+1. the results are plotted to a terminal (putty) over a serial
altb 2:769ce5f06d3e 79 connection and look as follows:
altb 0:78ca29b4c49e 80 -----------------------------------------------------------------------------------------
altb 0:78ca29b4c49e 81 fexc[Hz] |Gyu| ang(Gyu) |Gye| ang(Gye) |E| |U| |Y|
altb 0:78ca29b4c49e 82 -----------------------------------------------------------------------------------------
altb 2:769ce5f06d3e 83 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 2:769ce5f06d3e 84
altb 0:78ca29b4c49e 85 in matlab you can use:
altb 0:78ca29b4c49e 86 dataNucleo = [... insert measurement data here ...];
altb 0:78ca29b4c49e 87 g = frd(dataNucleo(:,2).*exp(1i*dataNucleo(:,3)), dataNucleo(:,1), Ts, 'Units', 'Hz');
altb 0:78ca29b4c49e 88 gcl = frd(dataNucleo(:,4).*exp(1i*dataNucleo(:,5)), dataNucleo(:,1), Ts, 'Units', 'Hz');
altb 2:769ce5f06d3e 89
altb 0:78ca29b4c49e 90 if you're evaluating more than one measurement which contain equal frequency points try:
altb 0:78ca29b4c49e 91 dataNucleo = [dataNucleo1; dataNucleo2];
altb 0:78ca29b4c49e 92 [~, ind] = unique(dataNucleo(:,1),'stable');
altb 0:78ca29b4c49e 93 dataNucleo = dataNucleo(ind,:);
altb 2:769ce5f06d3e 94
altb 0:78ca29b4c49e 95 autor: M.E. Peter
altb 2:769ce5f06d3e 96 */
altb 0:78ca29b4c49e 97
altb 0:78ca29b4c49e 98 #include "GPA.h"
altb 0:78ca29b4c49e 99 #include "mbed.h"
altb 0:78ca29b4c49e 100 #include "math.h"
altb 4:2cc56521aa16 101 #define pi 3.141592653589793
altb 0:78ca29b4c49e 102
altb 0:78ca29b4c49e 103 using namespace std;
altb 0:78ca29b4c49e 104
altb 0:78ca29b4c49e 105 GPA::GPA(float fMin, float fMax, int NfexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 0:78ca29b4c49e 106 {
altb 0:78ca29b4c49e 107 this->NfexcDes = NfexcDes;
altb 0:78ca29b4c49e 108 this->NperMin = NperMin;
altb 0:78ca29b4c49e 109 this->NmeasMin = NmeasMin;
altb 4:2cc56521aa16 110 this->Ts = (double)Ts;
altb 0:78ca29b4c49e 111
altb 0:78ca29b4c49e 112 // calculate logarithmic spaced frequency points
altb 4:2cc56521aa16 113 fexcDes = (double*)malloc(NfexcDes*sizeof(double));
altb 4:2cc56521aa16 114 fexcDesLogspace((double)fMin, (double)fMax, NfexcDes);
altb 4:2cc56521aa16 115
altb 4:2cc56521aa16 116 // calculate coefficients for decreasing amplitude (1/fexc)
altb 4:2cc56521aa16 117 this->aAexcDes = ((double)Aexc1 - (double)Aexc0)/(1.0/fexcDes[NfexcDes-1] - 1.0/fexcDes[0]);
altb 4:2cc56521aa16 118 this->bAexcDes = (double)Aexc0 - aAexcDes/fexcDes[0];
altb 4:2cc56521aa16 119
altb 4:2cc56521aa16 120 fnyq = 1.0/2.0/(double)Ts;
altb 4:2cc56521aa16 121 pi2 = 2.0*pi;
altb 4:2cc56521aa16 122 pi2Ts = pi2*(double)Ts;
altb 4:2cc56521aa16 123 piDiv2 = pi/2.0;
altb 4:2cc56521aa16 124
altb 4:2cc56521aa16 125 sU = (double*)malloc(3*sizeof(double));
altb 4:2cc56521aa16 126 sY = (double*)malloc(3*sizeof(double));
altb 4:2cc56521aa16 127 reset();
altb 4:2cc56521aa16 128 }
altb 4:2cc56521aa16 129
altb 4:2cc56521aa16 130 GPA::GPA(float f0, float f1, float *fexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 4:2cc56521aa16 131 {
altb 4:2cc56521aa16 132 // convert fexcDes from float to double, it is assumed that it is sorted
altb 4:2cc56521aa16 133 NfexcDes = sizeof(fexcDes)/sizeof(fexcDes[0]);
altb 4:2cc56521aa16 134 this->fexcDes = (double*)malloc(NfexcDes*sizeof(double));
altb 4:2cc56521aa16 135 for(int i = 0; i < NfexcDes; i++) {
altb 4:2cc56521aa16 136 this->fexcDes[i] = (double)fexcDes[i];
altb 4:2cc56521aa16 137 }
altb 4:2cc56521aa16 138 this->NperMin = NperMin;
altb 4:2cc56521aa16 139 this->NmeasMin = NmeasMin;
altb 4:2cc56521aa16 140 this->Ts = (double)Ts;
altb 0:78ca29b4c49e 141
altb 0:78ca29b4c49e 142 // calculate coefficients for decreasing amplitude (1/fexc)
altb 4:2cc56521aa16 143 this->aAexcDes = ((double)Aexc1 - (double)Aexc0)/(1.0/(double)f1 - 1.0/(double)f0);
altb 4:2cc56521aa16 144 this->bAexcDes = (double)Aexc0 - aAexcDes/fexcDes[0];
altb 4:2cc56521aa16 145
altb 4:2cc56521aa16 146 fnyq = 1.0/2.0/(double)Ts;
altb 4:2cc56521aa16 147 pi2 = 2.0*pi;
altb 4:2cc56521aa16 148 pi2Ts = pi2*(double)Ts;
altb 4:2cc56521aa16 149 piDiv2 = pi/2.0;
altb 4:2cc56521aa16 150
altb 4:2cc56521aa16 151 sU = (double*)malloc(3*sizeof(double));
altb 4:2cc56521aa16 152 sY = (double*)malloc(3*sizeof(double));
altb 4:2cc56521aa16 153 reset();
altb 4:2cc56521aa16 154 }
altb 0:78ca29b4c49e 155
altb 4:2cc56521aa16 156 GPA::GPA(float *fexcDes, int NperMin, int NmeasMin, float Ts, float Aexc0, float Aexc1)
altb 4:2cc56521aa16 157 {
altb 4:2cc56521aa16 158 // convert fexcDes from float to double, it is assumed that it is sorted
altb 4:2cc56521aa16 159 NfexcDes = sizeof(fexcDes)/sizeof(fexcDes[0]);
altb 4:2cc56521aa16 160 this->fexcDes = (double*)malloc(NfexcDes*sizeof(double));
altb 4:2cc56521aa16 161 for(int i = 0; i < NfexcDes; i++) {
altb 4:2cc56521aa16 162 this->fexcDes[i] = (double)fexcDes[i];
altb 4:2cc56521aa16 163 }
altb 4:2cc56521aa16 164 this->NperMin = NperMin;
altb 4:2cc56521aa16 165 this->NmeasMin = NmeasMin;
altb 4:2cc56521aa16 166 this->Ts = (double)Ts;
altb 0:78ca29b4c49e 167
altb 4:2cc56521aa16 168 // calculate coefficients for decreasing amplitude (1/fexc)
altb 4:2cc56521aa16 169 this->aAexcDes = ((double)Aexc1 - (double)Aexc0)/(1.0/this->fexcDes[NfexcDes-1] - 1.0/this->fexcDes[0]);
altb 4:2cc56521aa16 170 this->bAexcDes = (double)Aexc0 - aAexcDes/fexcDes[0];
altb 4:2cc56521aa16 171
altb 4:2cc56521aa16 172 fnyq = 1.0/2.0/(double)Ts;
altb 4:2cc56521aa16 173 pi2 = 2.0*pi;
altb 4:2cc56521aa16 174 pi2Ts = pi2*(double)Ts;
altb 4:2cc56521aa16 175 piDiv2 = pi/2.0;
altb 4:2cc56521aa16 176
altb 4:2cc56521aa16 177 sU = (double*)malloc(3*sizeof(double));
altb 4:2cc56521aa16 178 sY = (double*)malloc(3*sizeof(double));
altb 0:78ca29b4c49e 179 reset();
altb 0:78ca29b4c49e 180 }
altb 0:78ca29b4c49e 181
altb 0:78ca29b4c49e 182 GPA::~GPA() {}
altb 0:78ca29b4c49e 183
altb 0:78ca29b4c49e 184 void GPA::reset()
altb 0:78ca29b4c49e 185 {
altb 0:78ca29b4c49e 186 Nmeas = 0;
altb 0:78ca29b4c49e 187 Nper = 0;
altb 4:2cc56521aa16 188 fexc = 0.0;
altb 4:2cc56521aa16 189 fexcPast = 0.0;
altb 0:78ca29b4c49e 190 ii = 1; // iterating through desired frequency points
altb 0:78ca29b4c49e 191 jj = 1; // iterating through measurement points w.r.t. reachable frequency
altb 4:2cc56521aa16 192 scaleG = 0.0;
altb 4:2cc56521aa16 193 cr = 0.0;
altb 4:2cc56521aa16 194 ci = 0.0;
altb 0:78ca29b4c49e 195 for(int i = 0; i < 3; i++) {
altb 4:2cc56521aa16 196 sU[i] = 0.0;
altb 4:2cc56521aa16 197 sY[i] = 0.0;
altb 0:78ca29b4c49e 198 }
altb 4:2cc56521aa16 199 sinarg = 0.0;
altb 0:78ca29b4c49e 200 NmeasTotal = 0;
altb 4:2cc56521aa16 201 Aexc = 0.0;
altb 4:2cc56521aa16 202 pi2Tsfexc = 0.0;
altb 0:78ca29b4c49e 203 }
altb 0:78ca29b4c49e 204
altb 4:2cc56521aa16 205 float GPA::update(double inp, double out)
altb 0:78ca29b4c49e 206 {
altb 0:78ca29b4c49e 207 // a new frequency point has been reached
altb 0:78ca29b4c49e 208 if(jj == 1) {
altb 0:78ca29b4c49e 209 // get a new unique frequency point
altb 0:78ca29b4c49e 210 while(fexc == fexcPast) {
altb 0:78ca29b4c49e 211 // measurement finished
altb 0:78ca29b4c49e 212 if(ii > NfexcDes) {
altb 0:78ca29b4c49e 213 return 0.0f;
altb 0:78ca29b4c49e 214 }
altb 0:78ca29b4c49e 215 calcGPAmeasPara(fexcDes[ii - 1]);
altb 0:78ca29b4c49e 216 // secure fexc is not higher or equal to nyquist frequency
altb 0:78ca29b4c49e 217 if(fexc >= fnyq) {
altb 0:78ca29b4c49e 218 fexc = fexcPast;
altb 0:78ca29b4c49e 219 }
altb 0:78ca29b4c49e 220 // no frequency found
altb 0:78ca29b4c49e 221 if(fexc == fexcPast) {
altb 0:78ca29b4c49e 222 ii += 1;
altb 0:78ca29b4c49e 223 } else {
altb 0:78ca29b4c49e 224 Aexc = aAexcDes/fexc + bAexcDes;
altb 0:78ca29b4c49e 225 pi2Tsfexc = pi2Ts*fexc;
altb 0:78ca29b4c49e 226 }
altb 0:78ca29b4c49e 227 }
altb 2:769ce5f06d3e 228 // secure sinarg starts at 0 (numerically maybe not given)
altb 4:2cc56521aa16 229 sinarg = 0.0;
altb 0:78ca29b4c49e 230 // filter scaling
altb 4:2cc56521aa16 231 scaleG = 1.0/sqrt((double)Nmeas);
altb 0:78ca29b4c49e 232 // filter coefficients
altb 0:78ca29b4c49e 233 cr = cos(pi2Tsfexc);
altb 0:78ca29b4c49e 234 ci = sin(pi2Tsfexc);
altb 0:78ca29b4c49e 235 // filter storage
altb 0:78ca29b4c49e 236 for(int i = 0; i < 3; i++) {
altb 4:2cc56521aa16 237 sU[i] = 0.0;
altb 4:2cc56521aa16 238 sY[i] = 0.0;
altb 0:78ca29b4c49e 239 }
altb 0:78ca29b4c49e 240 }
altb 0:78ca29b4c49e 241 // filter step for signal su
altb 4:2cc56521aa16 242 sU[0] = scaleG*inp + 2.0*cr*sU[1] - sU[2];
altb 0:78ca29b4c49e 243 sU[2] = sU[1];
altb 0:78ca29b4c49e 244 sU[1] = sU[0];
altb 0:78ca29b4c49e 245 // filter step for signal sy
altb 4:2cc56521aa16 246 sY[0] = scaleG*out + 2.0*cr*sY[1] - sY[2];
altb 0:78ca29b4c49e 247 sY[2] = sY[1];
altb 0:78ca29b4c49e 248 sY[1] = sY[0];
altb 0:78ca29b4c49e 249 // measurement of frequencypoint is finished
altb 0:78ca29b4c49e 250 if(jj == Nmeas) {
altb 0:78ca29b4c49e 251 jj = 1;
altb 0:78ca29b4c49e 252 ii += 1;
altb 2:769ce5f06d3e 253 fexcPast = fexc;
altb 0:78ca29b4c49e 254 // calculate the one point dft
altb 4:2cc56521aa16 255 double Ureal = 2.0*scaleG*(cr*sU[1] - sU[2]);
altb 4:2cc56521aa16 256 double Uimag = 2.0*scaleG*ci*sU[1];
altb 4:2cc56521aa16 257 double Yreal = 2.0*scaleG*(cr*sY[1] - sY[2]);
altb 4:2cc56521aa16 258 double Yimag = 2.0*scaleG*ci*sY[1];
altb 0:78ca29b4c49e 259 // calculate magnitude and angle
altb 4:2cc56521aa16 260 float Umag = (float)(sqrt(Ureal*Ureal + Uimag*Uimag));
altb 4:2cc56521aa16 261 float Ymag = (float)(sqrt(Yreal*Yreal + Yimag*Yimag));
altb 4:2cc56521aa16 262 float absGyu = (float)(Ymag/Umag);
altb 4:2cc56521aa16 263 float angGyu = (float)(atan2(Yimag, Yreal) - atan2(Uimag, Ureal));
altb 4:2cc56521aa16 264 float absGye = (float)(Ymag/Aexc);
altb 4:2cc56521aa16 265 float angGye = (float)(atan2(Yimag, Yreal) + piDiv2);
altb 0:78ca29b4c49e 266 // user info
altb 2:769ce5f06d3e 267 if(ii == 2) {
altb 0:78ca29b4c49e 268 printLine();
altb 0:78ca29b4c49e 269 printf(" fexc[Hz] |Gyu| ang(Gyu) |Gye| ang(Gye) |E| |U| |Y|\r\n");
altb 0:78ca29b4c49e 270 printLine();
altb 0:78ca29b4c49e 271 }
altb 4:2cc56521aa16 272 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 0:78ca29b4c49e 273 } else {
altb 0:78ca29b4c49e 274 jj += 1;
altb 0:78ca29b4c49e 275 }
altb 0:78ca29b4c49e 276 sinarg = fmod(sinarg + pi2Tsfexc, pi2);
altb 0:78ca29b4c49e 277 NmeasTotal += 1;
altb 4:2cc56521aa16 278 return (float)(Aexc*sin(sinarg));
altb 0:78ca29b4c49e 279 }
altb 0:78ca29b4c49e 280
altb 4:2cc56521aa16 281 void GPA::fexcDesLogspace(double fMin, double fMax, int NfexcDes)
altb 0:78ca29b4c49e 282 {
altb 0:78ca29b4c49e 283 // calculate logarithmic spaced frequency points
altb 4:2cc56521aa16 284 double Gain = log10(fMax/fMin)/((double)NfexcDes - 1.0);
altb 4:2cc56521aa16 285 double expon = 0.0;
altb 0:78ca29b4c49e 286 for(int i = 0; i < NfexcDes; i++) {
altb 4:2cc56521aa16 287 fexcDes[i] = fMin*pow(10.0, expon);
altb 0:78ca29b4c49e 288 expon += Gain;
altb 0:78ca29b4c49e 289 }
altb 0:78ca29b4c49e 290 }
altb 0:78ca29b4c49e 291
altb 4:2cc56521aa16 292 void GPA::calcGPAmeasPara(double fexcDes_i)
altb 0:78ca29b4c49e 293 {
altb 0:78ca29b4c49e 294 // Nmeas has to be an integer
altb 0:78ca29b4c49e 295 Nper = NperMin;
altb 4:2cc56521aa16 296 Nmeas = (int)floor((double)Nper/fexcDes_i/Ts + 0.5);
altb 0:78ca29b4c49e 297 // secure that the minimal number of measurements is fullfilled
altb 0:78ca29b4c49e 298 int Ndelta = NmeasMin - Nmeas;
altb 0:78ca29b4c49e 299 if(Ndelta > 0) {
altb 4:2cc56521aa16 300 Nper = (int)ceil((double)NmeasMin*fexcDes_i*Ts);
altb 4:2cc56521aa16 301 Nmeas = (int)floor((double)Nper/fexcDes_i/Ts + 0.5);
altb 0:78ca29b4c49e 302 }
altb 0:78ca29b4c49e 303 // evaluating reachable frequency
altb 4:2cc56521aa16 304 fexc = (double)Nper/(double)Nmeas/Ts;
altb 0:78ca29b4c49e 305 }
altb 0:78ca29b4c49e 306
altb 0:78ca29b4c49e 307 void GPA::printLine()
altb 0:78ca29b4c49e 308 {
altb 0:78ca29b4c49e 309 printf("-----------------------------------------------------------------------------------------\r\n");
altb 0:78ca29b4c49e 310 }
altb 0:78ca29b4c49e 311
altb 0:78ca29b4c49e 312 void GPA::printGPAfexcDes()
altb 0:78ca29b4c49e 313 {
altb 0:78ca29b4c49e 314 printLine();
altb 0:78ca29b4c49e 315 for(int i = 0; i < NfexcDes; i++) {
altb 4:2cc56521aa16 316 printf("%9.4f\r\n", (float)fexcDes[i]);
altb 0:78ca29b4c49e 317 }
altb 0:78ca29b4c49e 318 }
altb 0:78ca29b4c49e 319
altb 0:78ca29b4c49e 320 void GPA::printGPAmeasPara()
altb 0:78ca29b4c49e 321 {
altb 0:78ca29b4c49e 322 printLine();
altb 0:78ca29b4c49e 323 printf(" fexcDes[Hz] fexc[Hz] Aexc Nmeas Nper\r\n");
altb 0:78ca29b4c49e 324 printLine();
altb 0:78ca29b4c49e 325 for(int i = 0; i < NfexcDes; i++) {
altb 0:78ca29b4c49e 326 calcGPAmeasPara(fexcDes[i]);
altb 0:78ca29b4c49e 327 if(fexc == fexcPast || fexc >= fnyq) {
altb 4:2cc56521aa16 328 fexc = 0.0;
altb 0:78ca29b4c49e 329 Nmeas = 0;
altb 0:78ca29b4c49e 330 Nper = 0;
altb 4:2cc56521aa16 331 Aexc = 0.0;
altb 0:78ca29b4c49e 332 } else {
altb 0:78ca29b4c49e 333 Aexc = aAexcDes/fexc + bAexcDes;
altb 0:78ca29b4c49e 334 fexcPast = fexc;
altb 0:78ca29b4c49e 335 }
altb 0:78ca29b4c49e 336 NmeasTotal += Nmeas;
altb 4:2cc56521aa16 337 printf("%12.2e %9.2e %10.2e %7i %6i \r\n", (float)fexcDes[i], (float)fexc, (float)Aexc, Nmeas, Nper);
altb 0:78ca29b4c49e 338 }
altb 0:78ca29b4c49e 339 printGPAmeasTime();
altb 0:78ca29b4c49e 340 reset();
altb 0:78ca29b4c49e 341 }
altb 0:78ca29b4c49e 342
altb 0:78ca29b4c49e 343 void GPA::printGPAmeasTime()
altb 0:78ca29b4c49e 344 {
altb 0:78ca29b4c49e 345 printLine();
altb 0:78ca29b4c49e 346 printf(" number of data points: %9i\r\n", NmeasTotal);
altb 4:2cc56521aa16 347 printf(" measurment time in sec: %9.2f\r\n", (float)((double)NmeasTotal*Ts));
altb 0:78ca29b4c49e 348 }