Verified to work on BeamSimulator

src/BallAndBeam.jl

@@ -26,21 +26,21 @@ using LabProcesses, Plots, Polynomials, ControlSystems, ProgressMeter
 	run_experiment(P::AbstractBeam, ω, duration, settling_time, amplitude, bias)
 Perform fra-experiemnt For a single frequency `ω`. Called from inside `fra`
 """
-function run_experiment(P::AbstractBeam, ω, duration, settling_time, amplitude, bias)
+function run_experiment(P::AbstractBeam, ω, duration, settling_time, amplitude)
 	h = sampletime(P)
 	data = zeros(0:h:duration)
 	LabProcesses.initialize(P)
 	for t = 0:h:settling_time
 		@periodically h begin
 			u              = amplitude*sin(ω*t)
-			control(P, u+bias)
+			control(P, u + bias(P))
 		end
 	end
 	for (i,t) = enumerate(0:h:duration)
 		@periodically h begin
 			data[i]        = measure(P)
 			u              = amplitude*sin(ω*t)
-			control(P, u)
+			control(P, u + bias(P))
 		end
 	end
 	LabProcesses.finalize(P)
@@ -58,13 +58,11 @@ integrate(fun,data,ω,h) = h*sum(fun(ω*(i-1)*h).*data[i] for i = 1:length(data)
 	fra(Ω::AbstractVector; kwargs...)
 
 # Arguments
-- `bias           = 0`: Change the bias if the beam angle is drifting over time
 - `settling_time  = 2`: In seconds, rounded up to closest integer periods
 - `nbr_of_periods = 10`:
 - `amplitude 	   = 1`: Very low freqs might require smaller amplitude
 """
 function fra(P::AbstractBeam, Ω::AbstractVector;
-			bias           = 0,
 			settling_time  = 2,
 			nbr_of_periods = 10,
 			amplitude 	   = 1)
@@ -75,7 +73,7 @@ function fra(P::AbstractBeam, Ω::AbstractVector;
 		T               = 2π/ω 			      # Period time
 		settling_time_i = ceil(settling_time/T)*T # Settling time even number of periods
 		duration        = nbr_of_periods*T
-		data            = run_experiment(P,ω,duration,settling_time_i, amplitude,bias)
+		data            = run_experiment(P,ω,duration,settling_time_i, amplitude)
 		sin_channel     = integrate(sin, data, ω, h)
 		cos_channel     = integrate(cos, data, ω, h)
 		G[i]            = 2/(amplitude*duration)*Complex(sin_channel, cos_channel)

src/FRTN35_lab1.jl

-using BallAndBeam, LabProcesses, ControlSystems, JLD
+using BallAndBeam, ControlSystems, JLD, LabProcesses
 # @load "workspace.jld" # Run this command to restore a saved workspace
 
 bias = 0.01                     # Change this if your process drifts over time
-P    = LabProcesses.Beam(0.01, bias)
+P    = LabProcesses.Beam(0.01)  # Replace for BeamSimulator to run simulations
 h    = sampletime(P)
 
 settling_time  = 1
-nbr_of_periods = 5
+nbr_of_periods = 3
 
 # Below we define some frequency vectors (using logarithmic spacing)
 # and run three experiments. You may modify the freqency vectors
 # any way you want and add/remove experiments as needed.
 
 w1_100 = logspace(log10(1),log10(300),8)
-G1     = fra(P, w1_100, amplitude=1, bias=bias, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
+G1     = fra(P, w1_100, amplitude=1, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
 @save "workspace.jld"
 
 w1_200 = logspace(log10(5),log10(50),20)
-G2     = fra(P, w1_200, amplitude=2, bias=bias, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
+G2     = fra(P, w1_200, amplitude=2, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
 @save "workspace.jld"
 
 w1_300 = logspace(log10(10),log10(30),20)
-G3     = fra(P, w1_300, amplitude=2, bias=bias, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
+G3     = fra(P, w1_300, amplitude=2, nbr_of_periods=nbr_of_periods, settling_time=settling_time)
 @save "workspace.jld"
 
 # Concatenate (overlapping) estimates to be used and sort based on freq
 G123 = sortfqs([G1; G2; G3])
 
 bopl(G123, m=:star)
-nypl(G123)
+nypl(G123, m=:star)
 
 ## Control ==================================================================================
 polevect = [-10]