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B2-nass-fem/src/initializeInertialSensor.m

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+  function [stewart] = initializeInertialSensor(stewart, args)
+  % initializeInertialSensor - Initialize the inertial sensor in each strut
+  %
+  % Syntax: [stewart] = initializeInertialSensor(args)
+  %
+  % Inputs:
+  %    - args - Structure with the following fields:
+  %        - type       - 'geophone', 'accelerometer', 'none'
+  %        - mass [1x1] - Weight of the inertial mass [kg]
+  %        - freq [1x1] - Cutoff frequency [Hz]
+  %
+  % Outputs:
+  %    - stewart - updated Stewart structure with the added fields:
+  %      - stewart.sensors.inertial
+  %        - type    - 1 (geophone), 2 (accelerometer), 3 (none)
+  %        - K [1x1] - Stiffness [N/m]
+  %        - C [1x1] - Damping [N/(m/s)]
+  %        - M [1x1] - Inertial Mass [kg]
+  %        - G [1x1] - Gain
+
+  arguments
+      stewart
+      args.type       char   {mustBeMember(args.type,{'geophone', 'accelerometer', 'none'})} = 'none'
+      args.mass (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2
+      args.freq (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e3
+  end
+
+  sensor = struct();
+
+  switch args.type
+    case 'geophone'
+      sensor.type = 1;
+
+      sensor.M = args.mass;
+      sensor.K = sensor.M * (2*pi*args.freq)^2;
+      sensor.C = 2*sqrt(sensor.M * sensor.K);
+    case 'accelerometer'
+      sensor.type = 2;
+
+      sensor.M = args.mass;
+      sensor.K = sensor.M * (2*pi*args.freq)^2;
+      sensor.C = 2*sqrt(sensor.M * sensor.K);
+      sensor.G = -sensor.K/sensor.M;
+    case 'none'
+      sensor.type = 3;
+  end
+
+  stewart.sensors.inertial = sensor;