*** empty log message ***

sw/in_progress/motor_bench/ident_dyn.sce

@@ -0,0 +1,56 @@
+clear();
+getf('mb_utils.sci');
+
+filename = "data/steps_stout_aero_geared.txt";
+
+[time, throttle, rpm, amp, thrust, torque] = read_mb_log(filename);
+
+
+// design an iir low pass with cutoff freq at 125Hz
+hz=iir(3,'lp','ellip',[0.5 0.5],[.01 .01]);
+
+//[hzm,fr]=frmag(hz,256);
+//plot2d(fr',hzm',3)
+
+[rpm_lp] = rtitr(hz(2), hz(3), rpm);
+
+
+//if 0
+  xbasc();
+  subplot(2,1,1)
+  xtitle('Throttle');
+  plot(time(30:length(time)), throttle(30:length(throttle)), 'b-');
+  subplot(2,1,2)
+  plot(time(30:length(time)), rpm(30:length(rpm)), 'r-');
+  plot(time(30:length(time)), rpm_lp(30:length(rpm_lp)), 'g-');
+//end
+
+s_avg = 30;
+e_avg = 118;
+rpm0 = mean(rpm(s_avg:e_avg));
+
+plot(time(s_avg:e_avg), rpm0*ones(1,e_avg - s_avg + 1), 'b-');
+
+my_kv = 100000;
+my_taukq = - 0.0003313;     // plain wrong it seems :(
+my_tau = 0.3;              //
+my_kq = my_taukq / my_tau;  //
+
+
+time_ode = time(s_avg:length(time));
+u_ode = throttle(s_avg:length(throttle));
+
+
+function rpm_dot = my_mot_ode(t, rpm)
+    if ((t >= 389.7960)& (t < 390.7960))
+      thr = 0.7;
+    else
+      thr = 0.6;
+    end
+    rpm_dot = mot_ode(my_tau, my_kq, my_kv, thr);
+ endfunction
+ 
+
+rpm_sim = ode([rpm0], time(1), time_ode, my_mot_ode);
+ 
+plot(time_ode, rpm_sim, 'r-');

sw/in_progress/motor_bench/ident_prbs.sce

@@ -0,0 +1,108 @@
+clear();
+getf('mb_utils.sci');
+
+rank=[];
+time_s=[];
+time_r=[];
+throttle_raw=[];
+tacho_raw=[];
+
+u=mopen('data/xxx_prbs.txt','r');
+while meof(u) == 0,
+  line = mgetl(u, 1);
+  if strindex(line, '#') ~= 1 & length(line) ~= 0,  
+    [nb_scan, _rank, _time_s, _time_r, _throttle_raw, _tacho_raw] = msscanf(1, line, '%x %x %x %x %x');
+    if nb_scan == 5,
+      rank = [rank _rank];
+      time_s = [time_s _time_s];
+      time_r = [time_r _time_r];
+      throttle_raw = [throttle_raw _throttle_raw];
+      tacho_raw = [tacho_raw _tacho_raw];
+    end
+  end
+end
+
+mclose(u);
+
+
+// extract experiment
+//EXPE_LEN = 4096;
+EXPE_LEN = 100;
+EXPE_START = 41;
+rank = rank(EXPE_START:EXPE_START+EXPE_LEN);
+time_s = time_s(EXPE_START:EXPE_START+EXPE_LEN);
+time_r = time_r(EXPE_START:EXPE_START+EXPE_LEN);
+throttle_raw = throttle_raw(EXPE_START:EXPE_START+EXPE_LEN);
+tacho_raw = tacho_raw(EXPE_START:EXPE_START+EXPE_LEN);
+
+// compute time
+TICK_PER_S = 15625;
+time = time_s + time_r / TICK_PER_S;
+DT = (time(length(time)) - time(1)) / (length(time) - 1)
+F_EC = 1 / DT
+
+// normalise throttle
+MAX_PPRZ = 9600;
+throttle = throttle_raw / MAX_PPRZ;
+
+// compute rpms
+TICK_PER_ROTATION = 36;
+rpm = tacho_raw / DT / TICK_PER_ROTATION * 60;
+
+// integrate ODE
+//kv0 = 100000;
+kv0 = 22000;
+//taukq =  0.0003313;     //
+taukq =  0.00001;         //
+//tau0 = 0.3;               //
+tau0 = 0.1;               //
+kq0 = taukq / tau0;       //
+
+rpm0 = rpm(1);
+
+//idx = 1;
+function rpm_dot = prbs_mot_ode(t, rpm)
+  idx=1;
+  while (time(idx) < t & idx < length(throttle)), idx=idx+1, end
+//  printf('%f %d %f\n', t, idx, time(idx));
+  rpm_dot = mot_ode(my_tau, my_kq, my_kv, throttle(idx), rpm);
+endfunction
+
+p0 = [tau0; kv0; kq0];
+
+
+function e = err_prbs(p,z)
+  my_tau = p(1);
+  my_kv  = p(2);
+  my_kq  = p(3);
+  rpm_sim = ode([rpm0], time(1), time, prbs_mot_ode);
+  _diff = rpm_sim - rpm;
+  sq_diff = _diff^2;
+  e = sum(sq_diff);
+endfunction
+
+
+if 0
+  my_tau = tau0;
+  my_kv = kv0;
+  my_kq = kq0;
+  rpm_sim = ode([rpm0], time(1), time, prbs_mot_ode);
+else
+  Z = [ 1; 1]; //unused...
+  [p, err] = datafit(err_prbs, Z, p0) 
+  my_tau = p(1);
+  my_kv = p(2);
+  my_kq = p(3); 
+  rpm_sim = ode([rpm0], time(1), time, prbs_mot_ode);  
+end
+
+
+
+xbasc();
+subplot(2,1,1);
+xtitle('Throttle');
+plot(time, throttle, 'b-');
+
+subplot(2,1,2);
+plot(time, rpm, 'r-');
+plot(time, rpm_sim, 'b-');

sw/in_progress/motor_bench/ident_stat.sce

@@ -0,0 +1,35 @@
+clear();
+getf('mb_utils.sci');
+
+load('averaged_ramp_geared.dat','av_throttle','av_rpm')   
+
+// extract only data around operating point
+//i_s = 20;
+//i_e = 90;
+i_s = 5;
+i_e = 90;
+t_part = av_throttle(i_s:i_e);
+r_part = av_rpm(i_s:i_e);
+
+// tau_kq kv dv
+p0=[0.00001; 20000];
+Z = [r_part; t_part];
+//[p, err] = datafit(err_mot_lin, Z, p0); 
+
+[p, err] = datafit(err_mot_ric, Z, p0) 
+//p = p0;
+
+xbasc();
+//subplot(3,1,1);
+xtitle('Rpms vs Throttle');
+plot2d(av_throttle,av_rpm);
+plot2d(t_part,r_part, 4);
+
+
+r_fit = [];
+for i=1:length(av_throttle)
+  //  r_fit = [r_fit mot_lin(av_throttle(i), p)];
+  r_fit = [r_fit mot_ric_stat(av_throttle(i), p)];
+end
+
+plot2d(av_throttle,r_fit, 3);

sw/in_progress/motor_bench/mb_utils.sci

@@ -111,3 +111,34 @@ function [] = param_fit(av_rpm, av_throttle)
   plot2d(X,FF(X,p),12) //the solution
   param_fitted=FF(X,p);
 endfunction
+
+
+function r = mot_lin(t, p)
+   r = p(1) * t + p(2);
+ endfunction
+ 
+function e = err_mot_lin(p, z)
+   r=z(1), t=z(2); 
+   e = r - mot_lin(t, p);
+ endfunction
+ 
+ 
+function rpm = mot_ric_stat(throttle,param)
+ // maybe 1 +
+ tau_kq = param(1);
+ kv = param(2);
+ dv = 0.0;
+ rpm = (-1 + sqrt(1 + 4 * tau_kq * kv * (throttle + dv))) / (2 * tau_kq);
+endfunction
+
+function e = err_mot_ric(p, z)
+  r_meas = z(1);
+  throttle = z(2);
+  e = r_meas - mot_ric_stat(throttle, p);
+endfunction
+
+
+
+function rpm_dot = mot_ode(tau, kq, kv, V, rpm)
+  rpm_dot = -1/tau*rpm - kq * rpm^2 + kv/tau*(V);
+endfunction

sw/in_progress/motor_bench/static_parameter.sce

@@ -2,22 +2,28 @@ clear();
 getf('mb_utils.sci');
 
 load('averaged_ramp_geared.dat','av_throttle','av_rpm')   
-//separating the values to 20% to 90%
-start=(length(av_throttle)-1)/5
-end=(length(av_throttle)-1)-(length(av_throttle)-1)/10
-for i=start:end, sep_av_throttle(i-start+1)=av_throttle(i);end
-for i=start:end, sep_av_rpm(i-start+1)=av_rpm(i);end
-fitted_courve = param_fit(sep_av_rpm, sep_av_throttle);
-	
-//xbasc();
+
+t_part = av_throttle(20:90);
+r_part = av_rpm(20:90);
+
+p0=[0.00001; 20000];
+Z = [r_part; t_part];
+//[p, err] = datafit(err_mot_lin, Z, p0); 
+
+[p, err] = datafit(err_mot_ric, Z, p0) 
+//p = p0;
+
+xbasc();
 //subplot(3,1,1);
-//xtitle('Relative Throttle by RPM');
-//plot2d(av_throttle,av_rpm);
+xtitle('Rpms vs Throttle');
+plot2d(av_throttle,av_rpm);
+plot2d(t_part,r_part, 4);
 
-//subplot(3,1,2);
-//xtitle('Fittet Relative Throttle by RPM');
-//plot2d(sep_av_throttle,[sep_av_rpm],style=[5,4]);
 
-//subplot(3,1,3);
-//xtitle('Fittet Relative Throttle by RPM');
-//plot2d(sep_av_throttle,[fitted_courve],style=[4]);
+r_fit = [];
+for i=1:length(av_throttle)
+  //  r_fit = [r_fit mot_lin(av_throttle(i), p)];
+  r_fit = [r_fit mot_ric(av_throttle(i), p)];
+end
+
+plot2d(av_throttle,r_fit, 3);

sw/in_progress/motor_bench/test.sce

@@ -5,7 +5,7 @@ getf('mb_utils.sci');
 args = sciargs();
 [nb_args, foo] = size(args)
 filename = args(nb_args);
-
+filename = "data/steps2_stout_aero_geared.txt"
 
 [time, throttle, rpm, amp, thrust, torque] = read_mb_log(filename);