final cleanup

Author: jtgrasb

Controls/Declutching/optimalTimeCalc.m

@@ -61,7 +61,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','southwest')
+legend('','Resonant Frequency','Wave Frequency','Location','southwest')
 
 subplot(2,1,2)
 semilogx((hydro.simulation_parameters.w_extended)/(2*pi),Phase)
@@ -70,7 +70,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','northwest')
+legend('','Resonant Frequency','Wave Frequency','Location','northwest')
 
 % Determine optimal latching time
 optDeclutchTime = 0.5*(resonantPeriod - T)

Controls/Latching/optimalTimeCalc.m

@@ -62,7 +62,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','southwest')
+legend('','Resonant Frequency','Wave Frequency','Location','southwest')
 
 subplot(2,1,2)
 semilogx((hydro.simulation_parameters.w_extended)/(2*pi),Phase)
@@ -71,7 +71,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','northwest')
+legend('','Resonant Frequency','Wave Frequency','Location','northwest')
 
 % Determine optimal latching time
 optLatchTime = 0.5*(T - resonantPeriod)

Controls/Passive (P)/optimalGainCalc.m

@@ -36,6 +36,7 @@
 mass = simu.rho * hydro.properties.volume;
 addedMass = squeeze(hydro.hydro_coeffs.added_mass.all(dof, dof, :)) * simu.rho;
 addedMass = interp1(hydro.simulation_parameters.w, addedMass, hydro.simulation_parameters.w_extended, 'spline', 'extrap')';
+addedMass = squeeze(hydro.hydro_coeffs.added_mass.inf_freq(dof, dof, :)) * simu.rho;
 
 radiationDamping = squeeze(hydro.hydro_coeffs.radiation_damping.all(dof,dof,:)).*squeeze(hydro.simulation_parameters.w')*simu.rho;
 radiationDamping = interp1(hydro.simulation_parameters.w, radiationDamping, hydro.simulation_parameters.w_extended, 'spline', 'extrap')';
@@ -77,7 +78,7 @@
 fprintf('Maximum potential power P_max = %f\n', P_max);
 
 % Optimal proportional gain for passive control:
-KpOpt = sqrt(radiationDamping(omegaIndex)^2 + ((hydrostaticStiffness/omega) - omega*(mass + addedMass(omegaIndex)))^2);
+KpOpt = sqrt(radiationDamping(omegaIndex)^2 + ((hydrostaticStiffness/omega) - omega*(mass + addedMass))^2);
 Ki = 0;
 fprintf('Optimal proportional gain for passive control KpOpt = %f\n', KpOpt);
 

Controls/Passive (P)/userDefinedFunctionsMCR.m

@@ -17,7 +17,7 @@
 mcr.maxPower(imcr) = max(controllersOutput.power(startInd:endInd,3));
 mcr.maxForce(imcr) = max(controllersOutput.force(startInd:endInd,3));
 
-if imcr == 9
+if imcr == length(mcr.cases)
     figure()
     plot(mcr.cases,mcr.meanPower)
     title('Mean Power vs. Proportional Gain')

Controls/Reactive (PI)/optimalGainCalc.m

@@ -61,7 +61,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','southwest','interpreter','latex')
+legend('','Resonant Frequency','Wave Frequency','Location','southwest','interpreter','latex')
 
 subplot(2,1,2)
 semilogx((hydro.simulation_parameters.w_extended)/(2*pi),Phase)
@@ -70,7 +70,7 @@
 grid on
 xline(resonantFreq/(2*pi))
 xline(1/T,'--')
-legend('','resonant Frequency','Wave Frequency','Location','northwest','interpreter','latex')
+legend('','Resonant Frequency','Wave Frequency','Location','northwest','interpreter','latex')
 
 % Calculate the maximum potential power
 P_max = -sum(abs(Fexc).^2./(8*real(Zi)));

Controls/Reactive (PI)/userDefinedFunctionsMCR.m

@@ -17,7 +17,7 @@
 mcr.maxPower(imcr) = max(controllersOutput.power(startInd:endInd,3));
 mcr.maxForce(imcr) = max(controllersOutput.force(startInd:endInd,3));
 
-if imcr == 81
+if imcr == length(mcr.cases)
 
     % Kp and Ki gains
     kps = unique(mcr.cases(:,1));