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C4-test-bench-nano-hexapod/test_nhexa_1_suspended_table.m

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+%% test_nhexa_1_suspended_table.m
+
+%% 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
+addpath('./src/'); % Path for functions
+addpath('./STEPS/'); % Path for STEPS
+addpath('./subsystems/'); % Path for Subsystems Simulink files
+
+%% Initialize Parameters for Simscape model
+table_type = 'Rigid'; % On top of vibration table
+device_type = 'None'; % On top of vibration table
+payload_num = 0; % No Payload
+
+% Simulink Model name
+mdl = 'test_nhexa_simscape';
+
+%% Colors for the figures
+colors = colororder;
+
+%% Frequency Vector
+freqs = logspace(log10(10), log10(2e3), 1000);
+
+%% Configure Simscape Model
+table_type = 'Suspended'; % On top of vibration table
+device_type = 'None'; % No device on the vibration table
+payload_num = 0; % No Payload
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/F'],      1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F_v'],  1, 'openoutput'); io_i = io_i + 1;
+
+%% Run the linearization
+G = linearize(mdl, io);
+G.InputName  = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
+G.OutputName  = {'Vdx', 'Vdy', 'Vdz', 'Vrx', 'Vry', 'Vrz'};
+
+%% Compute the resonance frequencies
+ws = eig(G.A);
+ws = ws(imag(ws) > 0);