|
Matlab Utilities
M-Files | Analysis Files
M-Files
C:\MEI\MechaWare\matlab14\Utilities\Lowpass.m
C:\MEI\MechaWare\matlab14\Utilities\MultiStageBIQ.m
C:\MEI\MechaWare\matlab14\Utilities\MWOBS.m
C:\MEI\MechaWare\matlab14\Utilities\Notch.m
C:\MEI\MechaWare\matlab14\Utilities\PID2BIQ.m
C:\MEI\MechaWare\matlab14\Utilities\Resonator.m
C:\MEI\MechaWare\matlab14\Utilities\UnityGain.m
C:\MEI\MechaWare\matlab14\Utilities\ZP2BIQ.m
LowPass
The LowPass Matlab utility program is used to make the MechaWare structure required by Simulink. It generates the text file that is downloaded to the XMP/ZMP for a low pass filter specified in the LowPass utility arguments by using the standard second order Biquad block. The low pass filter type is a second order Butterworth Design.
Matlab Command Line |
BIQ=Lowpass
(Hertz, Ts, name) |
| Input Argument |
Description |
| Hertz |
Filter Break Point in Hertz |
| Ts |
Controller Sample Rate |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
BIQ=Lowpass (250, Ts, 'BIQ') |
MultiStageBIQ
The Matlab utility program is used to make the MechaWare structure required by Simulink. It also generates the text file that is downloaded to the ZMP-SynqNet motion controller for a multistage-cascaded biquad filter.
Matlab Command Line |
[BIQ]=MultiStageBIQ
(b, a. Ts, blockname) |
| Input Argument |
Description |
| b |
Numerator of Z-domain transfer function. |
| a |
Denominator of Z-domain transfer function. |
| Ts |
Controller Sample Rate |
| blockName |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
MWOBS
The Matlab utility program is used to make the MechaWare structure required by Simulink. It also generates the text file that is downloaded to the ZMP-SynqNet motion controller for the Observer block.
Matlab Command Line |
[OBS]=MakeEcaOBS
(Obs, blockname) |
| Input Argument |
Description |
| Obs |
The state space description of the observer block in discrete time. MechaWare Observers are 2 input, 1 output, Nth order systems. Obs is a Matlab LTI (Linear Time Invariant) Structure. |
| blockName |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| OBS |
Name of MechaWare structure used by Simulink. |
Notch
The Matlab utility program is used to make a second order notch filter structure required by Simulink. It also generates the text file
that is downloaded to the ZMP-SynqNet motion controller. The low pass filter type is a second order Butterworth design transformed to a notch filter.
Matlab Command Line |
BIQ=Notch
(Hertz,BW,Ts,name) |
| Input Argument |
Description |
| Hertz |
Notch Center Frequency in Hertz |
| BW |
Notch Width in Hertz |
| Ts |
Controller Sample Rate |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
BIQ=Notch(100,100,Ts,'BIQ') |
PID2BIQ
The Matlab utility program is used to make the MechaWare structure required by Simulink. It also generates the text parameter file that is downloaded to the ZMP-SynqNet motion controller. PID2BIQ implements a PID algorithm using the standard second order Biquad block: pid2biq=PID2BIQ(Ypid,name)
Matlab Command Line |
BIQ=Notch
(Hertz,BW,Ts,name) |
| Input Argument |
Description |
| Ypid |
A matlab structure that defines pid gains and sample rate. The structure has the following elements:
Ypid.Kp
Ypid.Ki
Ypid.Kd
Ypid.Ts |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
ypid =
Kp: 1
Ki: 0.5000
Kd: 50
Ts: 1.2500e-004
BIQ=PID2BIQ(ypid,'BIQ') |
Resonator
The Matlab utility program is used to make the mechaware structure required by Simulink. It also generates the text parameter file that is downloaded to the ZMP-SynqNet motion controller for a Resonator Filter using the standard second order Biquad block.
Matlab Command Line |
BIQ=Resonator
(
fn,bw,depth,Ts,name
) |
| Input Argument |
Description |
| fn |
Center Frequency in Hertz |
| bw |
Width in Hertz |
| depth |
Depth or Height of filter Magnitude in dB. |
| Ts |
Controller Sample Rate |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
BIQ=Resonator(100,100,20,Ts,'BIQ') |
BIQ=Resonator(100,100,-20,Ts,'BIQ')
UnityGain
The Matlab utility program is used to make the MechaWare structure required by Simulink. It also generates the text parameter file that is downloaded to the ZMP-SynqNet motion controller for a UnityGain Filter. It uses the standard second order Biquad block.
Matlab Command Line |
BIQ=UnityGain
(Ts, name) |
| Input Argument |
Description |
| Ts |
Controller Sample Rate |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
BIQ=UnityGain(Ts,’BIQ’) |
ZP2BIQ
The Matlab utility program is used to make the MechaWare structure required by Simulink. It also generates the text parameter file that is downloaded to the ZMP-SynqNet motion controller for a second order filter specified with 2 poles, 2 zeros, and DC gain using standard the 2nd order Biquad block.
Matlab Command Line |
BIQ=UnityGain
(Ts, name) |
| Input Argument |
Description |
| z |
Transfer Function zeros in Hertz;
z is a matlab array
z=[z1;z2] |
| p |
Transfer Function poles in Hertz;
p is a matlab array
p=[p1;p2] |
| k |
DC gain of Transfer Function |
| Ts |
Controller Sample Rate |
| name |
Name of Parameter text file. This should be the same name as the output variable. |
| Output Variable |
Output Variable |
| BIQ |
Name of MechaWare structure used by Simulink. |
| Example |
BIQ=ZP2BIQ([-80; -100],
[-20 ;-1000],
10,
Ts,
'BIQ') |
MATLAB Analysis Files
Calculates and plots the Frequency Response transer funtion of Y(s)/U(s) of two input vectors: u and y.
fftcalc uses Welch's Method to calculate the frequency response.
Matlab Command Line |
[P,F]=fftcalc(u, y, Fs, Measpar); |
| Input Argument |
Description |
| u |
Input data vector |
| y |
Output vector |
| Fs |
Corresponding Sample Rate for input and output data |
| Measpar |
Matlab structure that defines FFT and plotting parameters. |
| Measpar,NFFT |
Number of points in FFT. |
| Measpar. WINDOW |
Window vector used for analysis has the same number of points as NFFT. |
| Measpar,OVERLAP |
Overlap specified as number of points. |
| Measpar,Fs |
Sample Rate of Data Collection |
| Measpar.MagRange |
Vector [min max], containing minimum and maximum values plotted on the magnitude plot. |
| Measpar.PhasRange |
Vector [min max], containing minimum and maximum values plotted on the phase plot. |
| Measpar.FreqRange |
Vector [min max], containing minimum and maximum values that Frequency is plotted. |
| Output Variable |
Output Variable |
| P |
Complex Frequency Response |
| Fs |
Corresponding Frequency in Hertz for P |
| Example |
[P,F]=fftcalc(u,y,Fs,measpar); |
| |
measpar =
NFFT: 8192
WINDOW: [8192x1 double]
OVERLAP: 4096
Fs: 8000
MagRange: [0.0100 100]
PhasRange: [-180 180]
FreqRange: [1 1000] |
|
