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846
A6-simscape-nass/nass_2_hac.m
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846
A6-simscape-nass/nass_2_hac.m
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for Data
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addpath('./src/'); % Path for functions
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addpath('./STEPS/'); % Path for STEPS
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addpath('./subsystems/'); % Path for Subsystems Simulink files
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%% Data directory
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data_dir = './mat/';
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% Simulink Model name
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mdl = 'nass_model';
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%% Colors for the figures
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colors = colororder;
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%% Frequency Vector [Hz]
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freqs = logspace(0, 3, 1000);
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%% Identify the IFF plant dynamics using the Simscape model
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% Initialize each Simscape model elements
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeSimplifiedNanoHexapod();
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initializeSample('type', 'cylindrical', 'm', 1);
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% Initial Simscape Configuration
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initializeSimscapeConfiguration('gravity', false);
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initializeDisturbances('enable', false);
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initializeLoggingConfiguration('log', 'none');
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initializeController('type', 'open-loop');
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initializeReferences();
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% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N]
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m]
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% Identify HAC Plant without using IFF
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initializeSample('type', 'cylindrical', 'm', 1);
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G_m1 = linearize(mdl, io);
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G_m1.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_m1.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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initializeSample('type', 'cylindrical', 'm', 25);
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G_m25 = linearize(mdl, io);
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G_m25.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_m25.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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initializeSample('type', 'cylindrical', 'm', 50);
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G_m50 = linearize(mdl, io);
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G_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_m50.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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% Effect of Rotation
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initializeSample('type', 'cylindrical', 'm', 1);
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initializeReferences(...
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'Rz_type', 'rotating', ...
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'Rz_period', 1); % 360 deg/s
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G_m1_Rz = linearize(mdl, io, 0.1);
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G_m1_Rz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_m1_Rz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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%% Effect of rotation on the HAC plant
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_m1(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 0$')
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plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 360$ deg/s')
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plot(freqs, abs(squeeze(freqresp(G_m1(1,2), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
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plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,2), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
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for i = 1:5
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for j = i+1:6
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plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
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'HandleVisibility', 'off');
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end
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end
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for i = 2:6
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plot(freqs, abs(squeeze(freqresp(G_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
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'HandleVisibility', 'off');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ylim([1e-11, 2e-5]);
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leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 2);
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leg.ItemTokenSize(1) = 15;
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ax2 = nexttile;
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), freqs, 'Hz')))), 'color', colors(1,:));
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz')))), 'color', colors(2,:));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-200, 20]);
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yticks([-180:45:180]);
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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%% Effect of payload's mass on the HAC plant
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, 1 kg')
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plot(freqs, abs(squeeze(freqresp(G_m25(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, 25 kg')
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plot(freqs, abs(squeeze(freqresp(G_m50(1,1), freqs, 'Hz'))), 'color', colors(3,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, 50 kg')
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for i = 1:5
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for j = i+1:6
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plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m25(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m50(i,j), freqs, 'Hz'))), 'color', [colors(3,:), 0.2], ...
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'HandleVisibility', 'off');
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end
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end
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for i = 2:6
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plot(freqs, abs(squeeze(freqresp(G_m1( i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m25(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m50(i,i), freqs, 'Hz'))), 'color', colors(3,:), ...
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'HandleVisibility', 'off');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ylim([1e-11, 2e-5]);
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leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
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leg.ItemTokenSize(1) = 15;
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ax2 = nexttile;
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), freqs, 'Hz')))), 'color', colors(1,:));
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m25(i,i), freqs, 'Hz')))), 'color', colors(2,:));
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m50(i,i), freqs, 'Hz')))), 'color', colors(3,:));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-200, 20]);
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yticks([-180:45:180]);
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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%% Identify HAC Plant with IFF
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initializeReferences(); % No Spindle Rotation
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initializeController('type', 'iff'); % Implemented IFF controller
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load('nass_K_iff.mat', 'Kiff'); % Load designed IFF controller
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% 1kg payload
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initializeSample('type', 'cylindrical', 'm', 1);
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G_hac_m1 = linearize(mdl, io);
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G_hac_m1.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_hac_m1.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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% 25kg payload
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initializeSample('type', 'cylindrical', 'm', 25);
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G_hac_m25 = linearize(mdl, io);
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G_hac_m25.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_hac_m25.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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% 50kg payload
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initializeSample('type', 'cylindrical', 'm', 50);
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G_hac_m50 = linearize(mdl, io);
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G_hac_m50.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_hac_m50.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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% Check stability
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if not(isstable(G_hac_m1) && isstable(G_hac_m25) && isstable(G_hac_m50))
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warning('One of HAC plant is not stable')
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end
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%% Comparison of the OL plant and the plant with IFF - 1kg payload
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - OL')
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plot(freqs, abs(squeeze(freqresp(G_hac_m1(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - IFF')
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for i = 1:5
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for j = i+1:6
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plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_hac_m1(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
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'HandleVisibility', 'off');
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end
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end
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for i = 2:6
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plot(freqs, abs(squeeze(freqresp(G_m1( i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
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'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_hac_m1(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
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'HandleVisibility', 'off');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ylim([1e-10, 5e-5]);
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leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
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leg.ItemTokenSize(1) = 15;
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ax2 = nexttile;
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), freqs, 'Hz')))), 'color', colors(1,:));
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_hac_m1(i,i), freqs, 'Hz')))), 'color', colors(2,:));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-200, 20]);
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yticks([-180:45:180]);
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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%% Comparison of all the undamped FRF and all the damped FRF
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_m1( 1,1), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'DisplayName', '$\epsilon\mathcal{L}_i/f_i$ - OL');
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plot(freqs, abs(squeeze(freqresp(G_hac_m1(1,1), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'DisplayName', '$\epsilon\mathcal{L}_i/f_i^\prime$ - IFF');
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G_m1( i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m25(i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_m50(i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off');
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end
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G_hac_m1( i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_hac_m25(i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_hac_m50(i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5], 'HandleVisibility', 'off');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
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leg.ItemTokenSize(1) = 15;
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ylim([1e-10, 5e-5]);
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ax2 = nexttile;
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hold on;
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for i =1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_m1( i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5]);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_m25(i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5]);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_m50(i,i), freqs, 'Hz'))), 'color', [colors(1,:), 0.5]);
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end
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_hac_m1( i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5]);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_hac_m25(i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5]);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_hac_m50(i,i), freqs, 'Hz'))), 'color', [colors(2,:), 0.5]);
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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hold off;
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ylim([-200, 20]);
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yticks([-180:45:180]);
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linkaxes([ax1,ax2],'x');
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% xlim([1, 5e2]);
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%% Identify plant with "rigid" micro-station
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initializeGround('type', 'rigid');
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initializeGranite('type', 'rigid');
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initializeTy('type', 'rigid');
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initializeRy('type', 'rigid');
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initializeRz('type', 'rigid');
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initializeMicroHexapod('type', 'rigid');
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initializeSimplifiedNanoHexapod();
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initializeSample('type', 'cylindrical', 'm', 25);
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initializeReferences();
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initializeController('type', 'open-loop'); % Implemented IFF controller
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load('nass_K_iff.mat', 'Kiff'); % Load designed IFF controller
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% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N]
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m]
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G_m25_rigid = linearize(mdl, io);
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G_m25_rigid.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
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G_m25_rigid.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
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%% Effect of the micro-station limited compliance on the plant dynamics
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figure;
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tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
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ax1 = nexttile([2,1]);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_m25_rigid( 1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - Rigid support')
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plot(freqs, abs(squeeze(freqresp(G_m25(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
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'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\mu$-station support')
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for i = 1:5
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for j = i+1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_rigid(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
for i = 2:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_rigid( i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylim([1e-10, 5e-5]);
|
||||
leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m25_rigid(i,i), freqs, 'Hz')))), 'color', colors(1,:));
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m25(i,i), freqs, 'Hz')))), 'color', colors(2,:));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-200, 20]);
|
||||
yticks([-180:45:180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
%% Identify Dynamics with a Stiff nano-hexapod (100N/um)
|
||||
|
||||
% Initialize each Simscape model elements
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeSimplifiedNanoHexapod('actuator_k', 1e8, 'actuator_kp', 0, 'actuator_c', 1e3);
|
||||
initializeSample('type', 'cylindrical', 'm', 25);
|
||||
|
||||
% Initial Simscape Configuration
|
||||
initializeSimscapeConfiguration('gravity', false);
|
||||
initializeDisturbances('enable', false);
|
||||
initializeLoggingConfiguration('log', 'none');
|
||||
initializeController('type', 'open-loop');
|
||||
initializeReferences();
|
||||
|
||||
% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N]
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m]
|
||||
|
||||
% Identify Plant
|
||||
G_m25_pz = linearize(mdl, io);
|
||||
G_m25_pz.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
|
||||
G_m25_pz.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
|
||||
|
||||
% Compare with Nano-Hexapod alone (rigid micro-station)
|
||||
initializeGround('type', 'rigid');
|
||||
initializeGranite('type', 'rigid');
|
||||
initializeTy('type', 'rigid');
|
||||
initializeRy('type', 'rigid');
|
||||
initializeRz('type', 'rigid');
|
||||
initializeMicroHexapod('type', 'rigid');
|
||||
|
||||
% Identify Plant
|
||||
G_m25_pz_rigid = linearize(mdl, io);
|
||||
G_m25_pz_rigid.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
|
||||
G_m25_pz_rigid.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
|
||||
|
||||
%% Stiff nano-hexapod - Coupling with the micro-station
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz_rigid(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
|
||||
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - Rigid')
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
|
||||
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$ - $\mu$-station')
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz_rigid(1,2), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
|
||||
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$ - Rigid')
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz(1,2), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
|
||||
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$ - $\mu$-station')
|
||||
for i = 1:5
|
||||
for j = i+1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz_rigid(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
for i = 2:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz_rigid(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_m25_pz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylim([1e-12, 3e-7]);
|
||||
leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m25_pz_rigid(i,i), freqs, 'Hz')))), 'color', colors(1,:));
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m25_pz(i,i), freqs, 'Hz')))), 'color', colors(2,:));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-200, 20]);
|
||||
yticks([-180:45:180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
|
||||
%% Identify Dynamics with a Soft nano-hexapod (0.01N/um)
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeSimplifiedNanoHexapod('actuator_k', 1e4, 'actuator_kp', 0, 'actuator_c', 1);
|
||||
|
||||
% Initialize each Simscape model elements
|
||||
initializeSample('type', 'cylindrical', 'm', 25); % 25kg payload
|
||||
initializeController('type', 'open-loop');
|
||||
|
||||
% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs [N]
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'EdL'); io_i = io_i + 1; % Strut errors [m]
|
||||
|
||||
% Identify the dynamics without rotation
|
||||
initializeReferences();
|
||||
G_m1_vc = linearize(mdl, io);
|
||||
G_m1_vc.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
|
||||
G_m1_vc.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
|
||||
|
||||
% Identify the dynamics with 36 deg/s rotation
|
||||
initializeReferences(...
|
||||
'Rz_type', 'rotating', ...
|
||||
'Rz_period', 10); % 36 deg/s
|
||||
|
||||
G_m1_vc_Rz_slow = linearize(mdl, io, 0.1);
|
||||
G_m1_vc_Rz_slow.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
|
||||
G_m1_vc_Rz_slow.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
|
||||
|
||||
% Identify the dynamics with 360 deg/s rotation
|
||||
initializeReferences(...
|
||||
'Rz_type', 'rotating', ...
|
||||
'Rz_period', 1); % 360 deg/s
|
||||
|
||||
G_m1_vc_Rz_fast = linearize(mdl, io, 0.1);
|
||||
G_m1_vc_Rz_fast.InputName = {'f1', 'f2', 'f3', 'f4', 'f5', 'f6'};
|
||||
G_m1_vc_Rz_fast.OutputName = {'l1', 'l2', 'l3', 'l4', 'l5', 'l6'};
|
||||
|
||||
%% Soft Nano-Hexapod - effect of rotational velocity on the dynamics
|
||||
f = logspace(-1,2,200);
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc(1,1), f, 'Hz'))), 'color', colors(1,:), ...
|
||||
'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 0$')
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_slow(1,1), f, 'Hz'))), 'color', colors(2,:), ...
|
||||
'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 36$ deg/s')
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_fast(1,1), f, 'Hz'))), 'color', colors(3,:), ...
|
||||
'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 360$ deg/s')
|
||||
for i = 1:5
|
||||
for j = i+1:6
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc(i,j), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_slow(i,j), f, 'Hz'))), 'color', [colors(2,:), 0.2], ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_fast(i,j), f, 'Hz'))), 'color', [colors(3,:), 0.2], ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
for i = 2:6
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc(i,i), f, 'Hz'))), 'color', colors(1,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
for i = 2:6
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_slow(i,i), f, 'Hz'))), 'color', colors(2,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
for i = 2:6
|
||||
plot(f, abs(squeeze(freqresp(G_m1_vc_Rz_fast(i,i), f, 'Hz'))), 'color', colors(3,:), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylim([1e-9, 1e-2]);
|
||||
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_m1_vc(i,i), f, 'Hz'))), 'color', colors(1,:));
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_m1_vc_Rz_slow(i,i), f, 'Hz'))), 'color', colors(2,:));
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(G_m1_vc_Rz_fast(i,i), f, 'Hz'))), 'color', colors(3,:));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180:90:180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([f(1), f(end)]);
|
||||
|
||||
%% HAC Design
|
||||
% Wanted crossover
|
||||
wc = 2*pi*10; % [rad/s]
|
||||
|
||||
% Integrator
|
||||
H_int = wc/s;
|
||||
|
||||
% Lead to increase phase margin
|
||||
a = 2; % Amount of phase lead / width of the phase lead / high frequency gain
|
||||
H_lead = 1/sqrt(a)*(1 + s/(wc/sqrt(a)))/(1 + s/(wc*sqrt(a)));
|
||||
|
||||
% Low Pass filter to increase robustness
|
||||
H_lpf = 1/(1 + s/2/pi/80);
|
||||
|
||||
% Gain to have unitary crossover at wc
|
||||
H_gain = 1./abs(evalfr(G_hac_m50(1,1), 1j*wc));
|
||||
|
||||
% Decentralized HAC
|
||||
Khac = -H_gain * ... % Gain
|
||||
H_int * ... % Integrator
|
||||
H_lead * ... % Low Pass filter
|
||||
H_lpf * ... % Low Pass filter
|
||||
eye(6); % 6x6 Diagonal
|
||||
|
||||
% The designed HAC controller is saved
|
||||
save('./mat/nass_K_hac.mat', 'Khac');
|
||||
|
||||
%% "Diagonal" loop gain for the High Authority Controller
|
||||
f = logspace(-1, 2, 1000);
|
||||
figure;
|
||||
tiledlayout(3, 1, 'TileSpacing', 'compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile([2,1]);
|
||||
hold on;
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m1( i,i), f, 'Hz'))), ...
|
||||
'color', [colors(1,:), 0.5], 'DisplayName', '1kg');
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m25(i,i), f, 'Hz'))), ...
|
||||
'color', [colors(2,:), 0.5], 'DisplayName', '25kg');
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m50(i,i), f, 'Hz'))), ...
|
||||
'color', [colors(3,:), 0.5], 'DisplayName', '50kg');
|
||||
for i = 2:6
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m1( i,i), f, 'Hz'))), 'color', [colors(1,:), 0.5], 'HandleVisibility', 'off');
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m25(i,i), f, 'Hz'))), 'color', [colors(2,:), 0.5], 'HandleVisibility', 'off');
|
||||
plot(f, abs(squeeze(freqresp(Khac(i,i)*G_hac_m50(i,i), f, 'Hz'))), 'color', [colors(3,:), 0.5], 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
|
||||
ylim([1e-2, 1e2]);
|
||||
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
ax2 = nexttile;
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(-Khac(i,i)*G_hac_m1( i,i), f, 'Hz'))), 'color', [colors(1,:), 0.5]);
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(-Khac(i,i)*G_hac_m25(i,i), f, 'Hz'))), 'color', [colors(2,:), 0.5]);
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(-Khac(i,i)*G_hac_m50(i,i), f, 'Hz'))), 'color', [colors(3,:), 0.5]);
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
|
||||
hold off;
|
||||
yticks(-360:90:360);
|
||||
ylim([-180, 180])
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([0.1, 100]);
|
||||
|
||||
%% Characteristic Loci for the High Authority Controller
|
||||
Ldet_m1 = zeros(6, length(freqs));
|
||||
Lmimo_m1 = squeeze(freqresp(-G_hac_m1*Khac, freqs, 'Hz'));
|
||||
for i_f = 2:length(freqs)
|
||||
Ldet_m1(:, i_f) = eig(squeeze(Lmimo_m1(:,:,i_f)));
|
||||
end
|
||||
Ldet_m25 = zeros(6, length(freqs));
|
||||
Lmimo_m25 = squeeze(freqresp(-G_hac_m25*Khac, freqs, 'Hz'));
|
||||
for i_f = 2:length(freqs)
|
||||
Ldet_m25(:, i_f) = eig(squeeze(Lmimo_m25(:,:,i_f)));
|
||||
end
|
||||
Ldet_m50 = zeros(6, length(freqs));
|
||||
Lmimo_m50 = squeeze(freqresp(-G_hac_m50*Khac, freqs, 'Hz'));
|
||||
for i_f = 2:length(freqs)
|
||||
Ldet_m50(:, i_f) = eig(squeeze(Lmimo_m50(:,:,i_f)));
|
||||
end
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(real(squeeze(Ldet_m1(1,:))), imag(squeeze(Ldet_m1(1,:))), ...
|
||||
'.', 'color', colors(1, :), ...
|
||||
'DisplayName', '1kg');
|
||||
plot(real(squeeze(Ldet_m1(1,:))),-imag(squeeze(Ldet_m1(1,:))), ...
|
||||
'.', 'color', colors(1, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(real(squeeze(Ldet_m25(1,:))), imag(squeeze(Ldet_m25(1,:))), ...
|
||||
'.', 'color', colors(2, :), ...
|
||||
'DisplayName', '25kg');
|
||||
plot(real(squeeze(Ldet_m25(1,:))),-imag(squeeze(Ldet_m25(1,:))), ...
|
||||
'.', 'color', colors(2, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(real(squeeze(Ldet_m50(1,:))), imag(squeeze(Ldet_m50(1,:))), ...
|
||||
'.', 'color', colors(3, :), ...
|
||||
'DisplayName', '50kg');
|
||||
plot(real(squeeze(Ldet_m50(1,:))),-imag(squeeze(Ldet_m50(1,:))), ...
|
||||
'.', 'color', colors(3, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
for i = 2:6
|
||||
plot(real(squeeze(Ldet_m1(i,:))), imag(squeeze(Ldet_m1(i,:))), ...
|
||||
'.', 'color', colors(1, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(real(squeeze(Ldet_m1(i,:))), -imag(squeeze(Ldet_m1(i,:))), ...
|
||||
'.', 'color', colors(1, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
|
||||
plot(real(squeeze(Ldet_m25(i,:))), imag(squeeze(Ldet_m25(i,:))), ...
|
||||
'.', 'color', colors(2, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(real(squeeze(Ldet_m25(i,:))), -imag(squeeze(Ldet_m25(i,:))), ...
|
||||
'.', 'color', colors(2, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
|
||||
plot(real(squeeze(Ldet_m50(i,:))), imag(squeeze(Ldet_m50(i,:))), ...
|
||||
'.', 'color', colors(3, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
plot(real(squeeze(Ldet_m50(i,:))), -imag(squeeze(Ldet_m50(i,:))), ...
|
||||
'.', 'color', colors(3, :), ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
plot(-1, 0, 'kx', 'HandleVisibility', 'off');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
|
||||
xlabel('Real Part'); ylabel('Imaginary Part');
|
||||
axis square
|
||||
xlim([-1.8, 0.2]); ylim([-1, 1]);
|
||||
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
%% Simulation of tomography experiments
|
||||
% Sample is not centered with the rotation axis
|
||||
% This is done by offsetfing the micro-hexapod by 0.9um
|
||||
P_micro_hexapod = [0.9e-6; 0; 0]; % [m]
|
||||
|
||||
open(mdl);
|
||||
set_param(mdl, 'StopTime', '2');
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod('AP', P_micro_hexapod);
|
||||
initializeSample('type', 'cylindrical', 'm', 1);
|
||||
|
||||
initializeSimscapeConfiguration('gravity', false);
|
||||
initializeLoggingConfiguration('log', 'all', 'Ts', 1e-3);
|
||||
|
||||
initializeDisturbances(...
|
||||
'Dw_x', true, ... % Ground Motion - X direction
|
||||
'Dw_y', true, ... % Ground Motion - Y direction
|
||||
'Dw_z', true, ... % Ground Motion - Z direction
|
||||
'Fdy_x', false, ... % Translation Stage - X direction
|
||||
'Fdy_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_x', true, ... % Spindle - X direction
|
||||
'Frz_y', true, ... % Spindle - Y direction
|
||||
'Frz_z', true); % Spindle - Z direction
|
||||
|
||||
initializeReferences(...
|
||||
'Rz_type', 'rotating', ...
|
||||
'Rz_period', 1, ...
|
||||
'Dh_pos', [P_micro_hexapod; 0; 0; 0]);
|
||||
|
||||
% Open-Loop Simulation without Nano-Hexapod - 1kg payload
|
||||
initializeSimplifiedNanoHexapod('type', 'none');
|
||||
initializeController('type', 'open-loop');
|
||||
sim(mdl);
|
||||
exp_tomo_ol_m1 = simout;
|
||||
|
||||
% Closed-Loop Simulation with NASS
|
||||
initializeSimplifiedNanoHexapod();
|
||||
initializeController('type', 'hac-iff');
|
||||
load('nass_K_iff.mat', 'Kiff');
|
||||
load('nass_K_hac.mat', 'Khac');
|
||||
|
||||
% 1kg payload
|
||||
initializeSample('type', 'cylindrical', 'm', 1);
|
||||
sim(mdl);
|
||||
exp_tomo_cl_m1 = simout;
|
||||
|
||||
% 25kg payload
|
||||
initializeSample('type', 'cylindrical', 'm', 25);
|
||||
sim(mdl);
|
||||
exp_tomo_cl_m25 = simout;
|
||||
|
||||
% 50kg payload
|
||||
initializeSample('type', 'cylindrical', 'm', 50);
|
||||
sim(mdl);
|
||||
exp_tomo_cl_m50 = simout;
|
||||
|
||||
%% Simulation of tomography experiment - 1kg payload - 360deg/s - XY errors
|
||||
figure;
|
||||
hold on;
|
||||
plot(1e6*exp_tomo_ol_m1.y.x.Data, 1e6*exp_tomo_ol_m1.y.y.Data, 'DisplayName', 'OL')
|
||||
plot(1e6*exp_tomo_cl_m1.y.x.Data(1e3:end), 1e6*exp_tomo_cl_m1.y.y.Data(1e3:end), 'color', colors(2,:), 'DisplayName', 'CL')
|
||||
hold off;
|
||||
xlabel('$D_x$ [$\mu$m]'); ylabel('$D_y$ [$\mu$m]');
|
||||
axis equal
|
||||
xlim([-2, 2]); ylim([-2, 2]);
|
||||
xticks([-2:1:2]);
|
||||
yticks([-2:1:2]);
|
||||
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors
|
||||
figure;
|
||||
tiledlayout(2, 1, 'TileSpacing', 'compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile();
|
||||
hold on;
|
||||
plot(1e6*exp_tomo_ol_m1.y.y.Data, 1e6*exp_tomo_ol_m1.y.z.Data, 'DisplayName', 'OL')
|
||||
plot(1e6*exp_tomo_cl_m1.y.y.Data(1e3:end), 1e6*exp_tomo_cl_m1.y.z.Data(1e3:end), 'color', colors(2,:), 'DisplayName', 'CL')
|
||||
hold off;
|
||||
xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
|
||||
axis equal
|
||||
xlim([-2, 2]); ylim([-0.4, 0.4]);
|
||||
xticks([-2:1:2]);
|
||||
yticks([-2:0.2:2]);
|
||||
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
ax2 = nexttile();
|
||||
hold on;
|
||||
plot(1e9*exp_tomo_cl_m1.y.y.Data(1e3:end), 1e9*exp_tomo_cl_m1.y.z.Data(1e3:end), 'color', colors(2,:), 'DisplayName', 'CL')
|
||||
theta = linspace(0, 2*pi, 500); % Angle to plot the circle [rad]
|
||||
plot(100*cos(theta), 50*sin(theta), 'k--', 'DisplayName', 'Beam size')
|
||||
hold off;
|
||||
xlabel('$D_y$ [nm]'); ylabel('$D_z$ [nm]');
|
||||
axis equal
|
||||
xlim([-500, 500]); ylim([-100, 100]);
|
||||
xticks([-500:100:500]);
|
||||
yticks([-100:50:100]);
|
||||
leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
|
||||
leg.ItemTokenSize(1) = 15;
|
||||
|
||||
%% Simulation of tomography experiment - 1kg payload - 360deg/s - YZ errors
|
||||
figure;
|
||||
tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile();
|
||||
hold on;
|
||||
plot(1e9*exp_tomo_cl_m1.y.y.Data(1e3:end), 1e9*exp_tomo_cl_m1.y.z.Data(1e3:end), 'color', colors(1,:), 'DisplayName', '$m = 1$ kg')
|
||||
theta = linspace(0, 2*pi, 500); % Angle to plot the circle [rad]
|
||||
plot(100*cos(theta), 50*sin(theta), 'k--', 'DisplayName', 'Beam size')
|
||||
hold off;
|
||||
xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
|
||||
axis equal
|
||||
xlim([-200, 200]); ylim([-100, 100]);
|
||||
xticks([-200:50:200]); yticks([-100:50:100]);
|
||||
|
||||
%% Simulation of tomography experiment - 25kg payload - 360deg/s - YZ errors
|
||||
figure;
|
||||
tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile();
|
||||
hold on;
|
||||
plot(1e9*exp_tomo_cl_m25.y.y.Data(1e3:end), 1e9*exp_tomo_cl_m25.y.z.Data(1e3:end), 'color', colors(2,:), 'DisplayName', '$m = 25$ kg')
|
||||
theta = linspace(0, 2*pi, 500); % Angle to plot the circle [rad]
|
||||
plot(100*cos(theta), 50*sin(theta), 'k--', 'DisplayName', 'Beam size')
|
||||
hold off;
|
||||
xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
|
||||
axis equal
|
||||
xlim([-200, 200]); ylim([-100, 100]);
|
||||
xticks([-200:50:200]); yticks([-100:50:100]);
|
||||
|
||||
%% Simulation of tomography experiment - 50kg payload - 360deg/s - YZ errors
|
||||
figure;
|
||||
tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None');
|
||||
|
||||
ax1 = nexttile();
|
||||
hold on;
|
||||
plot(1e9*exp_tomo_cl_m50.y.y.Data(1e3:end), 1e9*exp_tomo_cl_m50.y.z.Data(1e3:end), 'color', colors(3,:), 'DisplayName', '$m = 50$ kg')
|
||||
theta = linspace(0, 2*pi, 500); % Angle to plot the circle [rad]
|
||||
plot(100*cos(theta), 50*sin(theta), 'k--', 'DisplayName', 'Beam size')
|
||||
hold off;
|
||||
xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
|
||||
axis equal
|
||||
xlim([-200, 200]); ylim([-100, 100]);
|
||||
xticks([-200:50:200]); yticks([-100:50:100]);
|
||||
Reference in New Issue
Block a user