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Thomas Dehaeze
2025-04-14 18:38:19 +02:00
parent 3cc2105324
commit 37cd117a8f
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A1-nass-uniaxial-model/uniaxial_1_micro_station_model.m Normal file
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%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
%% Colors for the figures
colors = colororder;
%% Uniaxial Simscape model name
mdl = 'nass_uniaxial_model';
%% Frequency Vector [Hz]
freqs = logspace(0, 3, 1000);
%% Load measured FRF
load('meas_microstation_frf.mat');
%% Parameters - Mass
mh = 15; % Micro Hexapod [kg]
mt = 1200; % Ty + Ry + Rz [kg]
mg = 2500; % Granite [kg]
%% Parameters - Stiffnesses
kh = 6.11e+07; % [N/m]
kt = 5.19e+08; % [N/m]
kg = 9.50e+08; % [N/m]
%% Parameters - damping
ch = 2*0.05*sqrt(kh*mh); % [N/(m/s)]
ct = 2*0.05*sqrt(kt*mt); % [N/(m/s)]
cg = 2*0.08*sqrt(kg*mg); % [N/(m/s)]
%% Save model parameters
save('./mat/uniaxial_micro_station_parameters.mat', 'mh', 'mt', 'mg', 'ch', 'ct', 'cg', 'kh', 'kt', 'kg')
%% Disable the Nano-Hexpod for now
model_config = struct();
model_config.nhexa = "none";
model_config.controller = "open_loop";
%% Identify the transfer function from u to taum
clear io; io_i = 1;
io(io_i) = linio([mdl, '/micro_station/Fg'], 1, 'openinput'); io_i = io_i + 1; % Hammer on Granite
io(io_i) = linio([mdl, '/micro_station/Fh'], 1, 'openinput'); io_i = io_i + 1; % Hammer on Hexapod
io(io_i) = linio([mdl, '/micro_station/xg'], 1, 'openoutput'); io_i = io_i + 1; % Absolute motion of Granite
io(io_i) = linio([mdl, '/micro_station/xh'], 1, 'openoutput'); io_i = io_i + 1; % Absolute motion of Hexapod
%% Perform the model extraction
G_id = linearize(mdl, io, 0.0);
G_id.InputName = {'Fg', 'Fh'};
G_id.OutputName = {'Dg', 'Dh'};
%% Comparison of the measured FRF and identified ones from the uniaxial model
figure;
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
ax1 = nexttile([2,1]);
hold on;
plot(f(f>20), abs(frf_Fhz_to_Dhz(f>20)), '-', 'color', colors(1,:), 'DisplayName', '$x_{h,z}/F_{h,z}$');
plot(f(f>20), abs(frf_Fgz_to_Dhz(f>20)), '-', 'color', colors(2,:), 'DisplayName', '$x_{h,z}/F_{g,z}$');
plot(f(f>20), abs(frf_Fgz_to_Dgz(f>20)), '-', 'color', colors(3,:), 'DisplayName', '$x_{g,z}/F_{g,z}$');
plot(freqs, abs(squeeze(freqresp(G_id('Dh', 'Fh'), freqs, 'Hz'))), '--', 'color', colors(1,:), 'DisplayName', '$x_{h,z}/F_{h,z}$ (model)');
plot(freqs, abs(squeeze(freqresp(G_id('Dh', 'Fg'), freqs, 'Hz'))), '--', 'color', colors(2,:), 'DisplayName', '$x_{h,z}/F_{g,z}$ (model)');
plot(freqs, abs(squeeze(freqresp(G_id('Dg', 'Fg'), freqs, 'Hz'))), '--', 'color', colors(3,:), 'DisplayName', '$x_{g,z}/F_{g,z}$ (model)');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
ylim([1e-10, 2e-7]);
legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 2);
ax2 = nexttile;
hold on;
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_id('Dh', 'Fh'), freqs, 'Hz')))), '--', 'color', colors(1,:));
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_id('Dh', 'Fg'), freqs, 'Hz')))), '--', 'color', colors(2,:));
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_id('Dg', 'Fg'), freqs, 'Hz')))), '--', 'color', colors(3,:));
plot(f(f>20), 180/pi*unwrap(angle(frf_Fhx_to_Dhx(f>20))), '-', 'color', colors(1,:));
plot(f(f>30), 180/pi*unwrap(angle(frf_Fgx_to_Dhx(f>30))), '-', 'color', colors(2,:));
plot(f(f>20), 180/pi*unwrap(angle(frf_Fgx_to_Dgx(f>20))), '-', 'color', colors(3,:));
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
yticks(-360:90:360);
ylim([-360, 90]);
linkaxes([ax1,ax2],'x');
xlim([1, 500]);