def SigmaTemporal(THist):
numSec, numOut, numIn, numFreq = THist.shape
sHist = np.zeros((numSec, numOut, numFreq))
for iSec in range(numSec):
sHist[iSec, ...] = FreqTrans.Sigma(THist[iSec, ...])
return sHist
plt.figure()
plt.title(str(W_theshold_dB) + 'dB Bandwidth')
#overSamp = numSampList / numSampMin
plt.loglog(numSampList, np.asarray(binList), '-*')
plt.xlabel('Number of Samples')
plt.ylabel('Number of bins')
plt.grid('on')
plt.show
#%% Signal length - Window only
numSampList = np.arange(100, 1001, 100)
numSampMax = int(np.max(numSampList))
numSampMin = int(np.min(numSampList))
overSamp = numSampList / numSampMin
optSpec = FreqTrans.OptSpect(dftType = 'czt', freqRate = 1 * hz2rps, smooth = ('box', 1))
#optSpec.scaleType = 'density'
optSpec.winType = ('tukey', 0.0)
optSpec.freq = np.linspace(0, 0.05*np.pi, numSampMin-1)
sig = np.ones(numSampMax)
noiseSamples = np.random.randn(numSampMax)
noiseLev = 0.0
sig += noiseLev * noiseSamples
P_theshold_dB = -12
plt.figure()
binList = []
for numSamp in numSampList:
numSamp = int(numSamp)
for iSig, sigOut in enumerate(sigOutList):
outSig[iSig] = seg[sigOut]
# outSig[iSig] = seg['Surf'][sigOut]
# plt.plot(oDataSegs[iSeg]['time_s'], outSig[iSig])
outList.append(outSig)
#%% Estimate the frequency response function
# Define the excitation frequencies
freqRate_hz = 50
freqRate_rps = freqRate_hz * hz2rps
optSpec = FreqTrans.OptSpect(dftType='czt',
freqRate=freqRate_rps,
smooth=('box', 3),
winType=('tukey', 0.2),
detrendType='Linear')
# Excited Frequencies per input channel
optSpec.freq = np.asarray(freqExc_rps)
optSpec.freqInterp = np.sort(optSpec.freq.flatten())
# Null Frequencies
freqGap_rps = optSpec.freq.flatten()[0:-1] + 0.5 * np.diff(
optSpec.freq.flatten())
optSpec.freqNull = freqGap_rps
optSpec.freqNullInterp = True
# FRF Estimate
freq_rps = []
pi = np.pi hz2rps = 2 * pi rps2hz = 1 / hz2rps rad2deg = 180 / pi deg2rad = 1 / rad2deg mag2db = control.mag2db db2mag = control.db2mag #%% W_dB = -20.0 W = db2mag(W_dB) fBinSel = FreqTrans.LeakageGoal(W, winType='Dirichlet')[0] #%% freqRate_hz = 50 freqRate_rps = freqRate_hz * hz2rps dt = 1 / freqRate_hz freqMinDes_hz = 0.1 numCyclesDes = 3 # Plan for 3 freqStepDes_hz = 0.1 #%% Excitation numCycles = 6 # Need 6! numChan = 2 ampInit = 1
iSide1 = np.argwhere(bins > binPeak[0])[0][0] - 20
iStart = np.argwhere(Mfit_dB[:iSide1] < M_dB[:iSide1])[-1][0]
ax2.plot(bins[iStart:],
Mfit_dB[iStart:],
color=color,
linestyle=':',
label=str(winLabel) + ' Approx')
print(
str(winLabel) + 'binMin: ' + str(bins[iStart]) + ' a: ' +
str(popt[0]) + ' s: ' + str(popt[1]))
# ax1.set_ylabel("Amplitude")
# ax1.set_xlabel("Sample")
# ax1.grid(True)
# ax1.set_ylim([0, 1.1])
# ax1.legend()
ax2.set_xlim([0, 10])
ax2.set_ylim([-80, 10])
ax2.grid(True)
ax2.set_ylabel("Normalized Power Magnitude [dB]")
ax2.set_xlabel("Normalized Bin")
ax2.legend(loc='upper right', framealpha=1)
fig2.set_size_inches([6.4, 3.6])
fig2.tight_layout()
if False:
FreqTrans.PrintPrettyFig(fig2, 'WindowFunc.pgf')
v = max(v, np.abs(objServo.v))
a = max(a, np.abs(objServo.a))
av = max(av, a*v)
print(amp, p, v, a, av)
pCmdList.append(pCmd)
pOutList.append(pOut)
if True:
plt.figure(1)
plt.plot(time_s, pCmd, time_s, pOut)
#%% Plot the Excitation Spectrum
optSpec = FreqTrans.OptSpect(dftType = 'czt', freqRate = freqRate_hz * hz2rps, freq = freqExc_rps, smooth = ('box', 3), winType = 'rect')
plt.figure(2)
TxyList = []
CxyList = []
PxxList = []
PyyList = []
PxyList = []
for i, pOut in enumerate(pOutList):
pCmd = pCmdList[i]
freq_rps, Txy, Cxy, Pxx, Pyy, Pxy = FreqTrans.FreqRespFuncEst(pCmd, pOut, optSpec)
gain_dB, phase_deg = FreqTrans.GainPhase(Txy)
freq_hz = freq_rps * rps2hz
freq_hz = np.squeeze(freq_hz)
gain_dB = np.squeeze(gain_dB)
inKeep = sysCtrl.InputName + sysPlantDist.InputName[2:] outKeep = sysCtrl.OutputName + sysPlantDist.OutputName sysLoopOut = ConnectName([sysCtrl, sysPlantDist], connectNames, inKeep, outKeep) # Lo = GK # Closed-Loop connectNames = sysLoopOut.OutputName[2:] inKeep = sysLoopOut.InputName[:2] + sysLoopOut.InputName[4:] outKeep = sysLoopOut.OutputName sysCL = ConnectName([sysLoopOut], connectNames, inKeep, outKeep) # Loop Lo - (e -> z) sysLo = sysLoopOut[2:4, 0:2] sysLo.InputName = sysLoopOut.InputName[0:2] sysLo.OutputName = sysLoopOut.OutputName[2:4] LoLinNom = FreqTrans.FreqResp(sysLo, freqLin_rps) # Loop To - (r -> z) sysTo = sysCL[2:4, 0:2] sysTo.InputName = sysCL.InputName[0:2] sysTo.OutputName = sysCL.OutputName[2:4] ToLinNom = FreqTrans.FreqResp(sysTo, freqLin_rps) # Loop So sysSo = np.eye(2) - sysTo pSigma = [0.0, 0.0] mSigma = [1.0, 1.0] pIn = 0.5 * control.ss([],[],[],np.diag(pSigma))
freqLin_hz = np.linspace(1e-1, 1e1, 400)
freqLin_rps = freqLin_hz * hz2rps
plantK11 = 1.0 ; plantWn11 = 3 * hz2rps; plantD11 = 0.2;
plantK12 = 0.5 ; plantWn12 = 5 * hz2rps; plantD12 = 0.3;
plantK21 = 0.25; plantWn21 = 4 * hz2rps; plantD21 = 0.1;
plantK22 = 1.0 ; plantWn22 = 6 * hz2rps; plantD22 = 0.4;
sysPlant = control.tf([[[0, 0, plantK11 * plantWn11**2], [0, 0, plantK21 * plantWn21**2]],
[[0, 0, plantK12 * plantWn12**2], [0, 0, plantK22 * plantWn22**2]]],
[[[1, 2.0*plantD11*plantWn11, plantWn11**2], [1, 2.0*plantD21*plantWn21, plantWn21**2]],
[[1, 2.0*plantD12*plantWn12, plantWn12**2], [1, 2.0*plantD22*plantWn22, plantWn22**2]]])
# Plant Response
TLinNom = FreqTrans.FreqResp(sysPlant, freqLin_rps)
#%% Excitation
numExc = 2
numCycles = 3
ampInit = 1
ampFinal = 1
freqMinDes_rps = 0.1 * hz2rps * np.ones(numExc)
freqMaxDes_rps = 10.1 * hz2rps * np.ones(numExc)
freqStepDes_rps = (10/freqRate_hz) * hz2rps
methodSW = 'zip' # "zippered" component distribution
# Generate MultiSine Frequencies
freqExc_rps, sigIndx, time_s = GenExcite.MultiSineComponents(freqMinDes_rps, freqMaxDes_rps, freqRate_hz, numCycles, freqStepDes_rps, methodSW)
freqGap_rps = freqExc_rps[0:-1] + 0.5 * np.diff(freqExc_rps)
plt.plot(oDataSegs[iSeg]['time_s'], oDataSegs[iSeg]['vIas_mps'])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][0])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][1])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][2])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][0])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][1])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][2])
#%% Estimate the frequency response function
# Define the excitation frequencies
freqRate_hz = 50
freqRate_rps = freqRate_hz * hz2rps
optSpec = FreqTrans.OptSpect(dftType = 'czt', freqRate = freqRate_rps, smooth = ('box', 3), winType = ('tukey', 0.2), detrendType = 'Linear')
# Excited Frequencies per input channel
optSpec.freq = np.asarray(freqExc_rps)
# FRF Estimate
T = []
C = []
for iSeg, seg in enumerate(oDataSegs):
freq_rps, Teb, Ceb, Pee, Pbb, Peb = FreqTrans.FreqRespFuncEst(vExcList[iSeg], vFbList[iSeg], optSpec)
_ , Tev, Cev, _ , Pvv, Pev = FreqTrans.FreqRespFuncEst(vExcList[iSeg], vCmdList[iSeg], optSpec)
freq_hz = freq_rps * rps2hz
# Form the Frequency Response
sysLoopIn = ConnectName([sysPlantDist, sysCtrl], connectNames, inKeep, outKeep)
# Closed-Loop (connect [uCntrl])
connectNames = sysLoopIn.OutputName[0:2]
inKeep = sysLoopIn.InputName[:2] + sysLoopIn.InputName[4:]
outKeep = sysLoopIn.OutputName
sysCL = ConnectName([sysLoopIn], connectNames, inKeep, outKeep)
# Loop Li - (uExc -> uCtrl)
sysLi = -sysLoopIn[
0:2, 4:
6] # Li = KG, u_e to u # FIXIT - YES Negative : sysLi.dcgain() = array([[0.5, 0.25], [0.125, 0.5]])
sysLi.InputName = sysLoopIn.InputName[4:6]
sysLi.OutputName = sysLoopIn.OutputName[0:2]
LiLinNom = FreqTrans.FreqResp(sysLi, freqLin_rps)
# Loop Ti - (uExc -> uCtrl)
sysTi = -sysCL[
0:2, 2:
4] # FIXIT - YES Negative : sysTi.dcgain() = array([[0.32394366, 0.11267606], [0.05633803, 0.32394366]])
sysTi.InputName = sysCL.InputName[2:4]
sysTi.OutputName = sysCL.OutputName[0:2]
TiLinNom = FreqTrans.FreqResp(sysTi, freqLin_rps)
sysSi = (np.eye(2) - sysTi)
pStd = [0.0, 0.0]
mStd = [1.0, 1.0]
plt.plot(oDataSegs[iSeg]['time_s'], oDataSegs[iSeg]['vIas_mps'])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][0])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][1])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][2])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][0])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][1])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][2])
#%% Estimate the frequency response function
# Define the excitation frequencies
freqRate_hz = 50
freqRate_rps = freqRate_hz * hz2rps
optSpec = FreqTrans.OptSpect(dftType='czt',
freqRate=freqRate_rps,
smooth=('box', 3),
winType=('tukey', 0.0),
detrendType='Linear')
# Excited Frequencies per input channel
optSpec.freq = np.asarray(freqExc_rps)
optSpec.freqInterp = np.sort(optSpec.freq.flatten())
# Null Frequencies
freqNull_rps = optSpec.freqInterp[0:-1] + 0.5 * np.diff(optSpec.freqInterp)
optSpec.freqNull = freqNull_rps
optSpec.freqNullInterp = True
# FRF Estimate
TaEstNomList = []
TaEstUncList = []
x, ampChirpX, freqChirp_rps = GenExcite.Chirp(freqInit_rps,
freqFinal_rps,
time_s,
ampInit,
ampFinal,
freqType='linear',
ampType='linear',
initZero=1)
# Simulate the excitation through the system
time_s, y, _ = signal.lsim(sys, x, time_s)
y = np.atleast_2d(y)
# Estimate the transfer function
optSpec = FreqTrans.OptSpect(freqRate=freqRate_rps,
smooth=('box', 1),
winType=('tukey', 0.0))
freq_rps, Txy, Cxy, Pxx, Pyy, Pxy = FreqTrans.FreqRespFuncEst(x, y, optSpec)
gain_dB, phase_deg = FreqTrans.GainPhase(Txy)
freq_hz = freq_rps * rps2hz
freq_hz = np.squeeze(freq_hz)
gain_dB = np.squeeze(gain_dB)
phase_deg = np.unwrap(np.squeeze(phase_deg) * deg2rad) * rad2deg
Cxy = np.squeeze(Cxy)
#%% Multisine signal with CZT
numChan = 1
numCycles = 1
freqMinDes_rps = freqInit_rps * np.ones(numChan)
ax[iChan].grid(True)
ax[iChan].set_xlabel('Time (s)')
if True:
fig, ax = plt.subplots(ncols=1, nrows=numChan, sharex=True)
for iChan in range(0, numChan):
for iElem in sigIndx[iChan]:
ax[iChan].plot(time_s, sigElem[iElem])
ax[iChan].set_ylabel('Amplitude (nd)')
ax[iChan].grid(True)
ax[iChan].set_xlabel('Time (s)')
#%% Plot the Excitation Spectrum
## Compute Spectrum of each channel
optFFT = FreqTrans.OptSpect(freqRate=freqRate_hz * hz2rps)
optMAT = FreqTrans.OptSpect(dftType='dftmat', freqRate=freqRate_hz * hz2rps)
optCZT = FreqTrans.OptSpect(dftType='czt', freqRate=freqRate_hz * hz2rps)
freq_fft = []
P_dB_fft = []
freq_mat = []
P_dB_mat = []
freq_czt = []
P_dB_czt = []
for iChan, sig in enumerate(sigList):
freq_rps_fft, _, P_fft = FreqTrans.Spectrum(sig, optFFT)
freq_fft.append(freq_rps_fft * rps2hz)
P_dB_fft.append(20 * np.log10(P_fft))
rps2hz = 1/hz2rps rad2deg = 180/pi deg2rad = 1/rad2deg mag2db = control.mag2db db2mag = control.db2mag #%% Define the frequency selection and distribution of the frequencies into the signals # W_dB = -20.0 # W = db2mag(W_dB) # binSel = FreqTrans.LeakageGoal(W, winType = 'rect')[0] binSel = 1 W = FreqTrans.DirichletApprox(np.asarray([binSel])) numChan = 1 freqRate_hz = 50 numCycles = 1 freqMaxDes_rps = 15 * hz2rps * np.ones(numChan) freqStepDes_rps = (20 / 50) * hz2rps tBinWidth = FreqTrans.FreqStep2TimeBin(freqStepDes_rps) timeDur_s = binSel * tBinWidth freqMinDes_rps = (1/timeDur_s) * hz2rps * np.ones(numChan) methodSW = 'zip' # "zippered" component distribution ## Generate MultiSine Frequencies freqExc_rps, sigIndx, time_s = GenExcite.MultiSineComponents(freqMinDes_rps, freqMaxDes_rps, freqRate_hz, numCycles, freqStepDes_rps, methodSW)
inList = [sysOL.InputName.index(s) for s in ['cmdP', 'cmdQ', 'cmdR']]
outList = [sysOL.OutputName.index(s) for s in ['fbP', 'fbQ', 'fbR']]
sysSimOL = sysOL[outList, :]
sysSimOL = sysOL[:, inList]
# Linear System Response
gainLin_mag, phaseLin_rad, _ = control.freqresp(sysSimOL, omega=freqLin_rps)
TxyLin = gainLin_mag * np.exp(1j * phaseLin_rad)
gainLin_dB = 20 * np.log10(gainLin_mag)
phaseLin_deg = np.unwrap(phaseLin_rad) * rad2deg
rCritLin_mag = np.abs(TxyLin - (-1 + 0j))
sigmaLin_mag, _ = FreqTrans.Sigma(TxyLin)
#%% Excitation
numExc = 3
numCycles = 1
ampInit = 4.0 * deg2rad
ampFinal = ampInit
freqMinDes_rps = 0.1 * hz2rps * np.ones(numExc)
freqMaxDes_rps = 10 * hz2rps * np.ones(numExc)
freqStepDes_rps = (10 / freqRate_hz) * hz2rps
methodSW = 'zip' # "zippered" component distribution
# Generate MultiSine Frequencies
freqExc_rps, sigIndx, time_s = GenExcite.MultiSineComponents(
freqMinDes_rps, freqMaxDes_rps, freqRate_hz, numCycles, freqStepDes_rps,
methodSW)
ax[iChan].set_xlabel('Time (s)')
if True:
fig, ax = plt.subplots(ncols=1, nrows=numChan, sharex=True)
for iChan in range(0, numChan):
for iElem in sigIndx[iChan]:
ax[iChan].plot(time_s, sigElem[iElem])
ax[iChan].set_ylabel('Amplitude (nd)')
ax[iChan].grid(True)
ax[iChan].set_xlabel('Time (s)')
#%% Plot the Excitation Spectrum
## Compute Spectrum of each channel
optFFT = FreqTrans.OptSpect(freqRate = freqRate_hz * hz2rps, winType = ('tukey', 0.0), smooth = ('box', 1))
optCZT = FreqTrans.OptSpect(dftType = 'czt', freqRate = freqRate_hz * hz2rps, winType = ('tukey', 0.0), smooth = ('box', 1))
freq_fft = []
P_dB_fft = []
freq_czt = []
P_dB_czt = []
for iChan, sig in enumerate(sigList):
freq_rps_fft, _, P_fft = FreqTrans.Spectrum(sig, optFFT)
freq_fft.append(freq_rps_fft * rps2hz)
P_dB_fft.append(20*np.log10(P_fft))
optCZT.freq = freqElem_rps[sigIndx[iChan]]
freq_rps_czt, _, P_czt = FreqTrans.Spectrum(sig, optCZT)
freq_czt.append(freq_rps_czt * rps2hz)
plt.plot(oDataSegs[iSeg]['time_s'], oDataSegs[iSeg]['vIas_mps'])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][0])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][1])
# plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][2])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][0])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][1])
# plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][2])
#%% Estimate the frequency response function
# Define the excitation frequencies
freqRate_hz = 50
freqRate_rps = freqRate_hz * hz2rps
optSpec = FreqTrans.OptSpect(dftType='czt',
freqRate=freqRate_rps,
smooth=('box', 3),
winType=('tukey', 0.2),
detrendType='Linear')
# Excited Frequencies per input channel
optSpec.freq = np.asarray(freqExc_rps)
optSpec.freqInterp = np.sort(optSpec.freq.flatten())
# Null Frequencies
freqGap_rps = optSpec.freq.flatten()[0:-1] + 0.5 * np.diff(
optSpec.freq.flatten())
optSpec.freqNull = freqGap_rps
optSpec.freqNullInterp = True
# FRF Estimate
T = []
plt.figure()
plt.subplot(3,1,1)
plt.plot(time_s, sig); plt.grid()
plt.ylabel('Signal (nd)');
plt.subplot(3,1,2)
plt.plot(time_s, ampChirp); plt.grid()
plt.ylabel('ampitude (nd)');
plt.subplot(3,1,3)
plt.plot(time_s, freqChirp_rps * rps2hz); plt.grid()
plt.xlabel('Time (s)'); plt.ylabel('Frequency (Hz)')
plt.show()
#%% Plot the Excitation Spectrum
## Compute Spectrum of each channel
optSpect = FreqTrans.OptSpect(freqRate = freqRate_hz)
freq_hz, sigDft, Psd_mag = FreqTrans.Spectrum(sig, optSpect)
Psd_dB = 20*np.log10(Psd_mag)
## Plot Spectrum
plt.figure()
plt.plot(freq_hz[0], Psd_dB[0])
plt.xlabel('frequency (Hz)');
plt.ylabel('Spectrum (dB)');
plt.grid()
plt.show()
#%% Create the output for JSON config
timeFinal_s = time_s[-1]
phaseTiLinNom_deg = np.unwrap(phaseTiLinNom_rad) * rad2deg
sysSi = (np.eye(2) - sysTi)
pSigma = [0.0, 0.0]
mSigma = [1.0, 1.0]
pIn = 0.5 * control.ss([], [], [], np.diag(pSigma))
mIn = 0.5 * control.ss([], [], [], np.diag(mSigma))
sysTiUnc = sysSi * sysK * (sysR * pIn - sysN * mIn)
gainTiLinUnc_mag, phaseTiLinUnc_rad, _ = control.freqresp(sysTiUnc,
omega=freqLin_rps)
TiLinUnc = gainTiLinUnc_mag * np.exp(1j * phaseTiLinUnc_rad * deg2rad)
# Ti to Si, Si to Li
SiLinNom, SiLinUnc, _ = FreqTrans.TtoS(TiLinNom, TiLinUnc)
LiLinNom, LiLinUnc, _ = FreqTrans.StoL(SiLinNom, SiLinUnc)
#%% Excitation
numExc = 2
numCycles = 3
ampInit = 1
ampFinal = 1
freqMinDes_rps = 0.1 * hz2rps * np.ones(numExc)
freqMaxDes_rps = 10.1 * hz2rps * np.ones(numExc)
freqStepDes_rps = (10 / freqRate_hz) * hz2rps
methodSW = 'zip' # "zippered" component distribution
# Generate MultiSine Frequencies
freqExc_rps, sigIndx, time_s = GenExcite.MultiSineComponents(
freqMinDes_rps, freqMaxDes_rps, freqRate_hz, numCycles, freqStepDes_rps,
X0=0.0,
transpose=False)
vCmdName = sysCL.OutputName[:3]
vCmd = out[:3]
zName = sysCL.OutputName[-7:]
z = out[-7:]
#v = -(vCmd - vExc)
v = vCmd # FIXIT
#%% Estimate the frequency response function
optSpec = FreqTrans.OptSpect(dftType='czt',
freqRate=freqRate_rps,
smooth=('box', 3),
winType=('tukey', 0.0),
detrendType='Linear',
interpType='linear')
# Excited Frequencies per input channel
optSpec.freq = freqChan_rps
optSpec.freqInterp = freqExc_rps
# Null Frequencies
optSpec.freqNull = freqGap_rps
optSpec.freqNullInterp = True
# FRF Estimate
freq_rps, Txy, Cxy, Pxx, Pyy, Pxy, TxyUnc, PxxNull, Pnn = FreqTrans.FreqRespFuncEstNoise(
vExc, v, optSpec)
# _ , Txy, Cxy, _ , Pvv, Pev = FreqTrans.FreqRespFuncEst(vExc, v, optSpec)
plt.plot(oDataSegs[iSeg]['time_s'], oDataSegs[iSeg]['vIas_mps'])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][0])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][1])
plt.plot(oDataSegs[iSeg]['time_s'], vExcList[iSeg][2])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][0])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][1])
plt.plot(oDataSegs[iSeg]['time_s'], vFbList[iSeg][2])
#%% Estimate the frequency response function
# Define the excitation frequencies
freqRate_hz = 50
freqRate_rps = freqRate_hz * hz2rps
optSpec = FreqTrans.OptSpect(dftType='czt',
freqRate=freqRate_rps,
smooth=('box', 3),
winType=('tukey', 0.2),
detrendType='Linear')
# Excited Frequencies per input channel
optSpec.freq = np.asarray(freqExc_rps)
# FRF Estimate
LiEstNomList = []
LiEstCohList = []
svLiEstNomList = []
for iSeg, seg in enumerate(oDataSegs):
freq_rps, Teb, Ceb, Pee, Pbb, Peb = FreqTrans.FreqRespFuncEst(
vExcList[iSeg], vExcList[iSeg] + vFbList[iSeg], optSpec)
# _ , Tev, Cev, _ , Pvv, Pev = FreqTrans.FreqRespFuncEst(vExcList[iSeg], vCmdList[iSeg], optSpec)
