from squared signal to sine form
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Sabine Havermans
on 6 Jun 2019
Commented: Sabine Havermans
on 9 Jun 2019
I am working on a project with a robot arm. We made a pathplot with an array in matlab and then integrated this in the simulink model with a "from workspace" block. The problem is that the robot will see squared signals as needing to have a infinit high speed. Therefore, the signal should be rounded off a bit. So it has to get to the value that we gave in in the array but i has to go in a normal speed. Is there a simple way to get this done? Or at least another way than adding a lot of little steps in between?
Thanks!
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Adam Danz
on 6 Jun 2019
What are the parameters of the square wave? Are the max and min +/- 1? Is it at a fixed interval? A picture would instantly answer these and other questions.
Accepted Answer
Adam Danz
on 6 Jun 2019
Edited: Adam Danz
on 6 Jun 2019
If the parameters of your square wave are known (amp, phase, frequency, shift), you can probably generate the sine wave directly which would be your best bet.
Another approach is to smooth the sine wave with a Gaussian weighted moving average. That can be done with smoothdata() (r2017a or later).
% Produce & plot an arbitrary square wave
x = -4*pi : .01 : 4*pi;
sq = ((sin(2*x+4) >=0) - 0.5) * 4;
plot(x,sq)
ylim([-4,4])
% Smooth it with Gaus moving avg
B = smoothdata(sq,'gaussian');
% Show smoothed curve
hold on
plot(x,B,'r-')
6 Comments
Adam Danz
on 7 Jun 2019
Based on the data shared in arrays.m, your arrays are [m-by-2] where the first column are the x values and the second column are the y values. You can apply smoothdata() to the y values like this
sd = smoothdata(arrayq1(:,2),'gaussian');
figure
plot(arrayq1(:,1),arrayq1(:,2),'b-','LineWidth',2)
hold on
plot(arrayq1(:,1), sd, 'r-')
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