% TOGAC24_MSD_TrueAydinetalStability.m % The following file takes the transfer function from the Aydin et al % Collaborative drilling paper and analyzes stability of G(s) over the same % range of ma and ba values identified in the paper's figure 6 % Note that the output response differs than that recorded in that paper. % The maps appear to behave like ramps rather than the shoe horn curves % observed in figures 6 and 7 of the paper. Further analysis was done to % check if the individual transfer functions that make up G(s), that being % T2, T4, and T6, were used to make the map assuming one of those 3 % transfer functions is simply a worst case. The maps still did not match % that of figures 6 and 6, and the results did not return % with a conlusive answer as to why the stability may be off. The results % seem either wrongly reported in the Aydin et al paper, or our methods are % incorrect. However the following method has been reviewed and validated % with the galen AMBF model for stability analysis of that identified % system. % Created by Brevin Banks % Modified 3/16/2023 % Create the space of ma and ba values to test the admittance controller on ma_space = linspace(0.1,200,20); ba_space = linspace(0.1,1000,20); % select from a list of end case impedance values outlined in the Aydin et % al paper. Then analyze the stability of the TF from Aydin et al with the % given ma space, ba space, and impedance Zeq = Impedance_select(1); [stable_map1, line_of_stability1] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(2); [stable_map2, line_of_stability2] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(3); [stable_map3, line_of_stability3] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(4); [stable_map4, line_of_stability4] = AydinStabMap(ma_space,ba_space,Zeq) % extract the cost map for the Aydin controller using the Aydin et al % method in section 5 Transparency. This should mirror figure 8 Cost_MapAydin = CostTransMapAydin(ma_space,ba_space); % Stab mapper takes in Lines in the form of a cell array Lines={line_of_stability1,line_of_stability2,line_of_stability3,line_of_stability4}; % Plot the stability plots and cost map in one figure StabMapper(ma_space,ba_space,Lines,Cost_MapAydin) %%% Lower bound impedances % Create the space of ma and ba values to test the admittance controller on ma_space = linspace(0.1,25,20); ba_space = linspace(0.1,50,20); % select from a list of end case impedance values outlined in the Aydin et % al paper. Then analyze the stability of the TF from Aydin et al with the % given ma space, ba space, and impedance Zeq = Impedance_select(5); [stable_map1, line_of_stability1] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(6); [stable_map2, line_of_stability2] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(7); [stable_map3, line_of_stability3] = AydinStabMap(ma_space,ba_space,Zeq) Zeq = Impedance_select(8); [stable_map4, line_of_stability4] = AydinStabMap(ma_space,ba_space,Zeq) % extract the cost map for the Aydin controller using the Aydin et al % method in section 5 Transparency. This should mirror figure 9 Cost_MapAydin = CostTransMapAydin(ma_space,ba_space); % Stab mapper takes in Lines in the form of a cell array Lines={line_of_stability1,line_of_stability2,line_of_stability3,line_of_stability4}; % Plot the stability plots and cost map in one figure StabMapper(ma_space,ba_space,Lines,Cost_MapAydin)