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comparison m-toolbox/m/mdcs/mdc1/models/ltpda_mdc1_C.m @ 0:f0afece42f48

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author Daniele Nicolodi <nicolodi@science.unitn.it>
date Wed, 23 Nov 2011 19:22:13 +0100
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1 % LTPDA_MDC1_C returns a frequency-domain model of the controllers for MDC1.
2 %
3 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 %
5 % DESCRIPTION: LTPDA_MDC1_C returns a frequency-domain model of the controllers
6 % for MDC1.
7 %
8 % CALL: b = ltpda_mdc1_C(pl)
9 %
10 % PARAMETERS:
11 %
12 % 'Controller' - Choose controller [default: 'DF']
13 % 'DF' - Drag-free controller (including delay)
14 % 'SUS' - Suspension controller (including delay)
15 % 'f' - a vector of frequencies [default: 1]
16 % or
17 % 'f1' - start frequency [default: 1e-6]
18 % 'f2' - stop frequency [default: 5]
19 % 'nf' - number of frequency points [default: 1000]
20 % 'scale' - frequency spacing, 'lin' or 'log' [default: 'log']
21 %
22 % VERSION: $Id: ltpda_mdc1_C.m,v 1.3 2008/08/08 13:35:23 anneke Exp $
23 %
24 % The following call returns a parameter list object that contains the
25 % default parameter values:
26 %
27 % >> pl = ltpda_mdc1_C(ao, 'Params')
28 %
29 % The following call returns a string that contains the routine CVS version:
30 %
31 % >> version = ltpda_mdc1_C(ao,'Version')
32 %
33 % The following call returns a string that contains the routine category:
34 %
35 % >> category = ltpda_mdc1_C(ao,'Category')
36 %
37 % HISTORY: 11-04-08 M Hewitson
38 % Creation
39 %
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 function varargout = ltpda_mdc1_C(varargin)
42 %%% Check if this is a call for parameters
43 if utils.helper.isinfocall(varargin{:})
44 varargout{1} = getInfo(varargin{3});
45 return
46 end
47
48 %%% Collect input variable names
49 in_names = cell(size(varargin));
50 for ii = 1:nargin,in_names{ii} = inputname(ii);end
51
52 pli = utils.helper.collect_objects(varargin(:), 'plist', in_names);
53
54 %%% Decide on a deep copy or a modify
55 %%% REMARK: If you create a new AO (call the constructor) then
56 %%% it is not necessay to copy the input-AOs !!!!!!!!!!!!!!!!!!!!!!!!!
57
58
59 %%% Combine plists
60 pl = combine(pli, getDefaultPlist('Range'));
61
62
63 %% Extract parameters from plist
64
65 f = find(pl, 'f');
66 if isempty(f)
67 f1 = find(pl, 'f1');
68 f2 = find(pl, 'f2');
69 nf = find(pl, 'nf');
70 scale = find(pl, 'scale');
71
72 switch scale
73 case 'lin'
74 f = linspace(f1, f2, nf);
75 case 'log'
76 f = logspace(log10(f1), log10(f2), nf);
77 end
78 end
79
80 cont = find(pl, 'Controller');
81
82 %% Compute response for frequencies f
83
84 switch upper(cont)
85 case 'DF'
86 a = getDFcontroller(f);
87 case 'SUS'
88 a = getSUScontroller(f);
89 otherwise
90 error('### Unknown controller requested.');
91 end
92
93 varargout{1} = a;
94 end
95 %--------------------------------------------------------------------------
96 % Get DF controller for each frequency
97 function o = getSUScontroller(f)
98
99 % Compute desired response
100 T = 0.1;
101 z = exp(1i*2*pi*f*T);
102 zi = 1./z;
103
104 f1 = -2.4365e-4./(1-exp(-1.0772e-2).*zi);
105 f2 = complex(1.2115e-4, 3.0511e-5)./(1-exp(complex(-5.5589e-3,-6.4448e-3)).*zi);
106 f3 = complex(1.2115e-4, -3.0511e-5)./(1-exp(complex(-5.5589e-3, 6.4448e-3)).*zi);
107 f4 = 1.0741e-6./(1 - 1.*zi);
108
109 % Controller delay
110 s = 1i*2*pi*f;
111 dt = 305/1000;
112 D = (exp(-s.*(T+dt)) .* (-1+exp(s.*T)) )./(s.*T);
113
114 H = 0.1.*( f1 + f2 + f3 + f4).*D;
115
116 % Create fsdata object
117 fsd = fsdata(f, H);
118
119 % Create an AO
120 o = ao(fsd);
121 o.setXunits('Hz');
122 o.setYunits('N/V');
123 o.setName('C_{sus}');
124 end
125 %--------------------------------------------------------------------------
126 % Get DF controller for each frequency
127 function o = getDFcontroller(f)
128
129 % Transform from f to z
130 T = 0.1;
131 z = exp(1i*2*pi*f*T);
132 zi = 1./z;
133
134 % Compute individual terms in the frequency series
135 f1 = -1.61./(1-exp(-0.30943).*zi);
136 f2 = complex(0.86807, 0.12606)./(1-exp(complex(-9.753e-2,-1.6175e-1)).*zi);
137 f3 = complex(0.86807, -0.12606)./(1-exp(complex(-9.753e-2,1.6175e-1)).*zi);
138 f4 = -complex(6.4699,70.435)./(1-exp(complex(-5.5289e-5,-4.8946e-6)).*zi);
139 f5 = -complex(6.4699,-70.435)./(1-exp(complex(-5.5289e-5,4.8946e-6)).*zi);
140 f6 = 12.946./(1 - 1.*zi);
141
142 % Controller delay
143 s = 1i*2*pi*f;
144 dt = 315/1000;
145 D = (exp(-s.*(T+dt)) .* (-1+exp(s.*T)) )./(s.*T);
146
147 % Combine all terms into a single response
148 H = 0.1.*( f1 + f2 + f3 + f4 + f5 + f6 ) .* D;
149
150 % Build a frequency-series data object
151 fsd = fsdata(f, H);
152
153 % build the AO and set its name
154 o = ao(fsd);
155 % Set X-units, Y-units and name to something meaningful
156 o.setXunits('Hz');
157 o.setYunits('N/V');
158 o.setName('C_{df}');
159 end
160
161 %--------------------------------------------------------------------------
162 function plo = getDefaultPlist(varargin)
163 % List of available parameter sets
164 sets = {'List', 'Range'};
165
166 if nargin == 0
167 plo = sets;
168 return
169 end
170
171 set = varargin{1};
172
173 switch set
174 case 'List'
175 plo = plist('Controller', 'DF', 'f', [1]);
176 case 'Range'
177 plo = plist('Controller', 'DF', ...
178 'f1', 1e-6,...
179 'f2', 5,...
180 'nf', 1000,...
181 'scale', 'log');
182 otherwise
183 plo = plist();
184 end
185 end
186 %--------------------------------------------------------------------------
187 function ii = getInfo(varargin)
188 if nargin == 1 && strcmpi(varargin{1}, 'None')
189 sets = {};
190 pl = [];
191 else
192 sets = {'Default'};
193 pl = getDefaultPlist;
194 end
195 % Build info object
196 ii = minfo(mfilename, 'CLASS', '', 'CATEGORY', '$Id: ltpda_mdc1_C.m,v 1.3 2008/08/08 13:35:23 anneke Exp $', sets, pl);
197 end
198
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