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4.2. A SIMPLE FLEXIBLE STRUCTURE EXAMPLE 157
F = 100
Wactp = makepoly([1/(2*pi*F),1],"s")/...
makepoly([1/(200*pi*F),1],"s")
Wactp = Wactp*4
The lower frequency response of the voice-coil system means that the W
actv
weight
should begin rolling up at around 10 Hz.
F=10
Wactv = makepoly([1/(2*pi*F),1],"s")/...
makepoly([1/(200*pi*F),1],"s")
Wactv = Wactv*0.02
Both of these weights can be adjusted to trade between the relative responses from the
voice-coil and the piezo. This should be done after examining simulations, or
experimental closed loop data.
The weights are concatenated together for easier display.
weights = [Wperf;Wavoice;Wmvoice;Wmpiezo;Wdist;Wnoise;Wactp;Wactv]
We now construct the weighted design interconnection structure using sysic.
ssnames = ["vcmodel"; "Wavoice"; "Wmvoice"; "Wmpiezo";...
"Wdist"; "Wnoise"; "Wperf"; "Wactp"; "Wactv"; "piezo"]
inps = ["d1i"; "d2i"; "dist"; "noise"; "vact"; "pact"]
ops = ["Wavoice";"Wmvoice";"Wmpiezo";"Wperf";"Wactv";"Wactp";...
"d1i + vcmodel + d2i + piezo + Wnoise"]
cnx = ["Wdist + vact"; "Wdist + vact"; "vcmodel"; "piezo";...
"dist"; "noise"; "d1i + vcmodel + d2i + piezo + Wnoise";...
"pact"; "vact"; "pact"]
P = sysic(ssnames,inps,ops,cnx,vcmodel,Wavoice,Wmvoice,Wmpiezo,...