Merge branch 'master' of gitlab.control.lth.se:processes/BallAndBeam.jl

src/BallAndBeam.jl

@@ -26,7 +26,7 @@ using LabProcesses, Plots, Polynomials, ControlSystems, ProgressMeter
 	run_experiment(P::BallAndBeamType, ω, duration, settling_time, amplitude, bias)
 Perform fra-experiemnt For a single frequency `ω`. Called from inside `fra`
 """
-function run_experiment(P::BallAndBeamType, ω, duration, settling_time, amplitude, bias)
+function run_experiment(P::BeamType, ω, duration, settling_time, amplitude, bias)
 	h = sampletime(P)
 	data = zeros(0:h:duration)
 	LabProcesses.initialize(P)
@@ -63,7 +63,7 @@ integrate(fun,data,ω,h) = h*sum(fun(ω*(i-1)*h).*data[i] for i = 1:length(data)
 - `nbr_of_periods = 10`:
 - `amplitude 	   = 1`: Very low freqs might require smaller amplitude
 """
-function fra(P::BallAndBeamType, Ω::AbstractVector;
+function fra(P::BeamType, Ω::AbstractVector;
 			bias           = 0,
 			settling_time  = 2,
 			nbr_of_periods = 10,

src/FRTN35_lab1.jl

 using BallAndBeam, LabProcesses, ControlSystems, JLD
 # @load "workspace.jld" # Run this command to restore a saved workspace
 
-bias = 0 # Change this if your process drifts over time
-P    = LabProcesses.BallAndBeam(0.01, bias)
+bias = 0.01 # Change this if your process drifts over time
+P    = LabProcesses.Beam(0.01, bias)
 h    = sampletime(P)
 
 settling_time  = 1
@@ -27,25 +27,25 @@ G3     = fra(P, w1_300, amplitude=2, bias=bias, nbr_of_periods=nbr_of_periods, s
 # Concatenate (overlapping) estimates to be used and sort based on freq
 G123 = sortfqs([G1; G2; G3])
 
-bopl(G123)
+bopl(G123, m=:star)
 nypl(G123)
 
 ## Control ==================================================================================
-# polevect = [-10]
-# zerovect = []
-# gain     = 1
-# sysFBc,L,T,C = fbdesign(G, polevect, zerovect, gain)
-
-# polevect = [-10]
-# zerovect = []
-# gain     = 1
-# sysFFc,YR,FF = ffdesign(T, polevect, zerovect, gain)
-
-# bopl(C, lab="Controller")
-# bopl!(L, lab="Closed-loop system e->y")
-# bopl!(FF, lab="Feedforward compensator")
-# bopl!(YR, lab="Closed-loop system r->y")
-
-# sysFB,sysFF  = c2d(sysFBc,h)[1],c2d(sysFFc,h)[1]
-# y,u,r        = run_control_2DOF(P, sysFB, sysFF, duration=5, reference = t->2sign(sin(2π/3*t)))
-# plot([y u r], lab = ["y" "u" "r"])
+polevect = [-10]
+zerovect = []
+gain     = 1
+sysFBc,L,T,C = fbdesign(G, polevect, zerovect, gain)
+
+polevect = [-10]
+zerovect = []
+gain     = 1
+sysFFc,YR,FF = ffdesign(T, polevect, zerovect, gain)
+
+bopl(C, lab="Controller")
+bopl!(L, lab="Closed-loop system e->y")
+bopl!(FF, lab="Feedforward compensator")
+bopl!(YR, lab="Closed-loop system r->y")
+
+sysFB,sysFF  = c2d(sysFBc,h)[1],c2d(sysFFc,h)[1]
+y,u,r        = run_control_2DOF(P, sysFB, sysFF, duration=5, reference = t->2sign(sin(2π/3*t)))
+plot([y u r], lab = ["y" "u" "r"])