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comparison m-toolbox/test/test_ssm_parametersDiff.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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 % Test ssm/parameterDiff
3 %
4 % Test with an harmonic hoscillator
5 %
6 % L Ferraioli 11-10-2010
7 %
8 % $Id: test_ssm_parametersDiff.m,v 1.4 2010/12/02 17:55:01 adrien Exp $
9 %
10 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
11 close all
12 clc
13 clear
14 %% set parameters
15
16 m = 2; % kg
17 k = 0.1; % kg s^-2
18 damp = 0.05; % kg s^-1
19 fs = 1;
20 freq = logspace(-2.5,log10(fs/2-0.0001),300);
21
22 %% get the system ssm and smodel
23
24 sys = ssm(plist('built-in', 'HARMONIC_OSC_1D', 'SYMBOLIC PARAMS',{'M', 'K', 'VBETA'}));
25 sys.setParameters('names', {'M', 'K', 'VBETA'}, 'values', [m,k,damp] );
26
27 smod = smodel('1 ./ (M.*((2.*i.*pi.*f).^2) + VBETA.*(2.*i.*pi.*f) + K)');
28 % smod = smodel('1 ./ (M.*((i.*f).^2) + VBETA.*(i.*f) + K)');
29 smod.setParams({'M', 'K', 'VBETA'},{m,k,damp});
30 smod.setXvar('f');
31 smod.setXvals(freq);
32 smod.setYunits('kg^-1 s^-2');
33
34
35 %% get derivatives
36
37 lsys = parameterDiff(sys,plist('names',{'M', 'K', 'VBETA'},'values',1e-8*[m,k,damp]));
38 lsys.modifyTimeStep(plist('newtimestep',1/fs));
39
40 dsmod_M = diff(smod,plist('var','M'));
41 dsmod_K = diff(smod,plist('var','K'));
42 dsmod_VBETA = diff(smod,plist('var','VBETA'));
43
44 %% compare frequency response
45 pl = plist('inputs',{'COMMAND.force'},...
46 'outputs',{'HARMONIC_OSC_1D.position'},...
47 'f',freq);
48 sys_none = bode(keepParameters(sys),pl);
49 smod_none = eval(smod);
50 iplot(sys_none,smod_none)
51
52 pl = plist('inputs',{'COMMAND.force'},...
53 'outputs',{'HARMONIC_OSC_1D_DIFF_M.position'},...
54 'f',freq);
55 sys_M = bode(lsys,pl);
56 smod_M = eval(dsmod_M);
57 iplot(sys_M,smod_M)
58
59
60 pl = plist('inputs',{'COMMAND.force'},...
61 'outputs',{'HARMONIC_OSC_1D_DIFF_K.position'},...
62 'f',freq);
63 sys_K = bode(lsys,pl);
64 smod_K = eval(dsmod_K);
65 iplot(sys_K,smod_K)
66
67 pl = plist('inputs',{'COMMAND.force'},...
68 'outputs',{'HARMONIC_OSC_1D_DIFF_VBETA.position'},...
69 'f',freq);
70 sys_VBETA = bode(lsys,pl);
71 smod_VBETA = eval(dsmod_VBETA);
72 iplot(sys_VBETA,smod_VBETA)