H = FreqTrans.Hann(fBin, N)
Hmag = np.abs(H)
Hmax = np.nanmax(Hmag)
Hnorm_mag = Hmag / Hmax
Hnorm_dH = mag2db(Hnorm_mag)
Happrox_mag = FreqTrans.HannApprox(fBin)
Happrox_dH = mag2db(Happrox_mag)
fig = 1
fig = FreqTrans.PlotGainType(fBin,
Dnorm_mag,
None,
None,
None,
fig=fig,
dB=True,
linestyle='-',
color='b',
label='Dirichlet Function')
fig = FreqTrans.PlotGainType(fBin,
Dapprox_mag,
None,
None,
None,
fig=fig,
dB=True,
linestyle=':',
color='b',
label='Dirichlet Approximation')
fig = FreqTrans.PlotGainType(fBin,
fig.suptitle(inName + ' to ' + outName, size=20)
# ax[0].set_ylim(-2, 2)
#%% Bode Mag - Noise Estimation Validation
if False:
for iPlot, io in enumerate(ioArray):
iOut, iIn = io
outName = outPlot[iOut]
inName = inPlot[iIn]
fig = 100 + iPlot
fig = FreqTrans.PlotGainType(freqLin_hz,
gainLaLinNom_mag[iOut, iIn],
coher_nd=np.ones_like(freqLin_hz),
fig=fig,
color='k',
label='Linear')
fig = FreqTrans.PlotGainType(freq_hz[0],
gainLaEstNom_mag[iOut, iIn],
LaEstCoh[iOut, iIn],
fig=fig,
color='b',
label='Estimation (MIMO)')
fig = FreqTrans.PlotGainType(freq_hz[0, sigIndx[iIn]],
gainLaEstNom_mag[iOut, iIn, sigIndx[iIn]],
SaEstCoh[iOut, iIn, sigIndx[iIn]],
fig=fig,
color='g',
label='Estimation (SIMO)')
nBack_temp = np.copy(nBack)
# nBack_temp[np.isnan(nBack_temp)] = 0.0
nRL_temp = np.copy(nRL)
nRL_temp[np.isnan(nRL_temp)] = 1.0
nDF = nSat_temp * nDelay * nBack_temp * nRL_temp
# Linear System
sysLin = control.tf([objServo.freqNat_rps**2], [1, 2*objServo.damp*objServo.freqNat_rps, objServo.freqNat_rps**2])
nLin = FreqTrans.FreqResp(sysLin, freqExc_rps)
#% Plot
fig = None
fig = FreqTrans.PlotGainType(cmd, np.abs(nSat), np.angle(nSat, deg=True), fig=fig, dB = False, label = 'Saturation Limit')
fig = FreqTrans.PlotGainType(cmd, np.abs(nDelay), np.angle(nDelay, deg=True), fig=fig, dB = False, label = 'Time Delay')
# fig = FreqTrans.PlotGainType(cmd, np.abs(nLim), np.angle(nLim, deg=True), fig=fig, dB = False, label = 'Hard Limit with Freeplay')
# fig = FreqTrans.PlotGainType(cmd, np.abs(nCmdLim), np.angle(nCmdLim, deg=True), fig=fig, dB = False, label = 'Command Limit')
fig = FreqTrans.PlotGainType(cmd, np.abs(nBack), np.angle(nBack, deg=True), fig=fig, dB = False, label = 'Backlash Limit')
fig = FreqTrans.PlotGainType(cmd, np.abs(nRL), np.angle(nRL, deg=True), fig=fig, dB = False, label = 'Rate Limit')
fig = FreqTrans.PlotGainType(cmd, np.abs(nDF), np.angle(nDF, deg=True), fig=fig, dB = False, label = 'Describing Function')
ax = fig.get_axes()
ax[0].set_xscale("linear")
# ax[0].set_ylabel("|NL/L|")
ax[1].set_xscale("linear")
ax[1].set_xlim(left = 0, right = 20)
ax[1].set_ylim(bottom = -90, top = 0)
ax[0].set_ylabel('Normalized Gain [-]')
ax[1].set_xlabel('Normalized Input Amplitude')
