tmp = [A2_spk1_g.resp(k), A2_spk2_g.resp(k); B1_spk1_g.resp(k), B1_spk2_g.resp(k)] / [A1_spk1_g.resp(k), A1_spk2_g.resp(k); B2_spk1_g.resp(k), B2_spk2_g.resp(k)];
A1_jw = ( exp(-i*k*dl).*ps1_jw - exp(-i*k*(ls+dl)).*pc1_jw)./( 2*i*sin(k*ls)); B1_jw = (-exp( i*k*dl).*ps1_jw + exp( i*k*(ls+dl)).*pc1_jw)./( 2*i*sin(k*ls)); A2_jw = (-exp( i*k*dl).*ps2_jw + exp( i*k*(ls+dl)).*pc2_jw)./( 2*i*sin(k*ls)); B2_jw = ( exp(-i*k*dl).*ps2_jw - exp(-i*k*(ls+dl)).*pc2_jw)./( 2*i*sin(k*ls));
function [tmp_g] = calibrate_fixed(tmp_g, G1_g, G2_g, G1m_g, G2m_g); tmp_g(1,1) = tmp_g(1,1) * G1m_g(1,1) / G1_g(1,1); tmp_g(2,2) = tmp_g(2,2) * G1m_g(2,2) / G1_g(2,2); tmp_g(1,2) = tmp_g(1,2) * G2m_g(1,2) / G2_g(1,2); tmp_g(2,1) = tmp_g(2,1) * G2m_g(2,1) / G2_g(2,1);
Gcore1_g = G_g; % コア1段分 for m = 2:5 G_g = lft(G_g, Gcore1_g, 1, 1); % m stage Ltube = Ltube - Lcore1; % リニアモータ間距離 - コア1段分の長さ end
tmp = [Ain_spk1_g.resp(k), Ain_spk2_g.resp(k); Bout_spk1_g.resp(k), Bout_spk2_g.resp(k)] /[vs_spk1_g.resp(k), vs_spk2_g.resp(k); i_spk1_g.resp(k), i_spk2_g.resp(k)];
ps_jw = frdata(:,4).*exp(i*pi/180.0*frdata(:,5))*nagano_keiki_coeff; pc_jw = frdata(:,2).*exp(i*pi/180.0*frdata(:,3))*nagano_keiki_coeff; vi_jw = frdata(:,6).*exp(i*pi/180.0*frdata(:,7)); vs_jw = frdata(:,8).*exp(i*pi/180.0*frdata(:,9)); i_jw = (vs_jw - vi_jw)/R; (略) Ain_jw = ( exp(-i*k*dl).*ps_jw - exp(-i*k*(ls+dl)).*pc_jw)./( 2*i*sin(k*ls)); Bout_jw = (-exp( i*k*dl).*ps_jw + exp( i*k*(ls+dl)).*pc_jw)./( 2*i*sin(k*ls));
F_g = G2m_g(2,1) / G2_g(2,1); % 補正係数(2015.1.24 3頁参照) H_g = mdiag(1, F_g)*H_g; % 補正。 H_g = H_g * [0, 1; 1, 0]; % スター積利用のため列を入れ替え(これでH_gの右から [i; v]がかかるようになる)
H1_g = H_g; % 入力入れ替え済 H2p_g = [0, 1; 1, 0]*H1_g*[1, 0; 0, -1]; % 梅本論文(20)式の下の式。
tmp = frd(exp(-1i*k*Ltube), w); % (20)式 Gtube_g = [0, tmp; tmp, 0];
Z1 = Rinf; Z2 = Rinf; Z3 = R; Tcirc = [1 + Z3/Z2, -(Z1 + Z2 + Z3)/(Z1*Z2); -Z3, 1 + Z3/Z1]; % (19)式 Gcirc = chain_inv(Tcirc); % その下の式
tmp = frd(exp(-1i*k*Ltube), w); % (20)式 Gtube_g = [0, tmp; tmp, 0];
Z1 = Rinf; Z2 = Rinf; Z3 = R; Tcirc = [1 + Z3/Z2, -(Z1 + Z2 + Z3)/(Z1*Z2); -Z3, 1 + Z3/Z1]; % (19)式 Gcirc = chain_inv(Tcirc); % その下の式
Gother_g = lft(lft(chain_inv(H2p_g), Gcirc, 1, 1), lft(chain_inv(inv(H1_g)), Gtube_g, 1, 1), 1, 1); % (22)式
result{num} = nyquist_analysis_spline_frange_fixed(G_g*[0, 1; 1, 0]*Gother_g*[0, 1; 1, 0], 20, fmin(num), fmax(num))
function [s] = nyquist_analysis_spline_frange_fixed(L_g, m, fmin, fmax); phi0_g = (1 - L_g(1,1))*(1 - L_g(2,2)) - L_g(1,2)*L_g(2,1);
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!以下は過去の情報です!!!!!!!!!!!!!!!!!!!!!!!!!!
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pc2_jw = frdata(:,4).*exp(i*pi/180.0*frdata(:,5))/pcb_coeff_12638; % ps1_jw = frdata(:,8).*exp(i*pi/180.0*frdata(:,9))/pcb_coeff_12992; % dummy ps2_jw = frdata(:,2).*exp(i*pi/180.0*frdata(:,3))/pcb_coeff_12637; % pc1_jw = frdata(:,6).*exp(i*pi/180.0*frdata(:,7))/pcb_coeff_12991; % dummy A1_jw = ( exp(-i*k*dl).*ps1_jw - exp(-i*k*(ls+dl)).*pc1_jw)./( 2*i*sin(k*ls)); B1_jw = (-exp( i*k*dl).*ps1_jw + exp( i*k*(ls+dl)).*pc1_jw)./( 2*i*sin(k*ls)); A2_jw = (-exp( i*k*dl).*ps2_jw + exp( i*k*(ls+dl)).*pc2_jw)./( 2*i*sin(k*ls)); B2_jw = ( exp(-i*k*dl).*ps2_jw - exp(-i*k*(ls+dl)).*pc2_jw)./( 2*i*sin(k*ls));
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#ifdef PCB As1 = sqrt(msg->as1*msg->as1 + msg->bs1*msg->bs1) / PCB_COEFF_12638; Ac1 = sqrt(msg->ac1*msg->ac1 + msg->bc1*msg->bc1) / PCB_COEFF_12637; As2 = sqrt(msg->as2*msg->as2 + msg->bs2*msg->bs2) / PCB_COEFF_12992; Ac2 = sqrt(msg->ac2*msg->ac2 + msg->bc2*msg->bc2) / PCB_COEFF_12991; #else // NAGANO_KEIKI As1 = sqrt(msg->as1*msg->as1 + msg->bs1*msg->bs1) * NAGANO_KEIKI_COEFF; Ac1 = sqrt(msg->ac1*msg->ac1 + msg->bc1*msg->bc1) * NAGANO_KEIKI_COEFF; As2 = sqrt(msg->as2*msg->as2 + msg->bs2*msg->bs2) * NAGANO_KEIKI_COEFF; Ac2 = sqrt(msg->ac2*msg->ac2 + msg->bc2*msg->bc2) * NAGANO_KEIKI_COEFF; #endif // Phase Ps1 = atan(msg->bs1/msg->as1) + M_PI * (msg->as1 < 0); Pc1 = atan(msg->bc1/msg->ac1) + M_PI * (msg->ac1 < 0); Ps2 = atan(msg->bs2/msg->as2) + M_PI * (msg->as2 < 0); Pc2 = atan(msg->bc2/msg->ac2) + M_PI * (msg->ac2 < 0); A1 = sqrt(As1*As1 - 2*As1*Ac1*cos(k*L + Ps1 - Pc1) + Ac1*Ac1) / (2*fabs(sin(k*L))); B1 = sqrt(As1*As1 - 2*As1*Ac1*cos(k*L + Pc1 - Ps1) + Ac1*Ac1) / (2*fabs(sin(k*L))); A2 = sqrt(Ac2*Ac2 - 2*Ac2*As2*cos(k*L + Pc2 - Ps2) + As2*As2) / (2*fabs(sin(k*L))); B2 = sqrt(Ac2*Ac2 - 2*Ac2*As2*cos(k*L + Ps2 - Pc2) + As2*As2) / (2*fabs(sin(k*L)));
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if(theta > 2*PERIODS*M_PI){ theta -= 2*PERIODS*M_PI; msg->as1 = 2.* as1 / count; msg->bs1 = 2.* bs1 / count; msg->ac1 = 2.* ac1 / count; msg->bc1 = 2.* bc1 / count; msg->as2 = 2.* as2 / count; msg->bs2 = 2.* bs2 / count; msg->ac2 = 2.* ac2 / count; msg->bc2 = 2.* bc2 / count; as1 = 0; bs1 = 0; ac1 = 0; bc1 = 0; as2 = 0; bs2 = 0; ac2 = 0; bc2 = 0; msg->count = count; count = 0; } (略) ad_conv(&y); ps1 = y[1]; // / PCB_COEFF_12638; pc1 = y[2]; // / PCB_COEFF_12637; // pc1 = y[0]; // / PCB_COEFF_12637; pc2 = y[2]; // / PCB_COEFF_12991; ps2 = y[3]; // / PCB_COEFF_12992; as1 += ps1 * cos(theta); bs1 -= ps1 * sin(theta); ac1 += pc1 * cos(theta); bc1 -= pc1 * sin(theta); as2 += ps2 * cos(theta); bs2 -= ps2 * sin(theta); ac2 += pc2 * cos(theta); bc2 -= pc2 * sin(theta);
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!以下は過去の情報です!!!!!!!!!!!!!!!!!!!!!!!!!!
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第5回(2015.8.27)
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