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Minor Matlab script corrections

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This commit is contained in:
Thomas Dehaeze 2025-04-15 14:15:26 +02:00
parent d64c51e4b1
commit ae2385a49e
4 changed files with 15 additions and 17 deletions
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10
A2-nass-rotating-3dof-model/rotating_7_nano_hexapod.m
View File

@ -405,6 +405,11 @@ for kp_i = 1:length(kps_pz)
opt_iff_kp_gain_pz(kp_i) = g_opt;
end
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'};
@ -418,11 +423,6 @@ Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
Kiff_kp_pz.InputName = {'fu', 'fv'};
Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Identify plants with choosen Parallel stiffnesses
model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage

2
A2-nass-rotating-3dof-model/rotating_8_nass.m
View File

@ -465,6 +465,4 @@ xticks([1e-1, 1e0, 1e1, 1e2, 1e3]);
xtickangle(0)
ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
ldg.ItemTokenSize = [20, 1];
linkaxes([ax1,ax2,ax3], 'y')
ylim([1e-8, 1e-2])

4
A6-simscape-nass/nass_1_active_damping.m
View File

@ -269,11 +269,11 @@ xlim([freqs(1), freqs(end)]);
%% Verify that parallel stiffness permits to have a stable plant
Kiff_pure_int = -200/s*eye(6);
if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1)))
if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
disp("Decentralized IFF is not stable with rotation")
end
if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
if not(isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1)))
disp("Parallel stiffness makes the decentralized IFF stable")
else
warning("Decentralized IFF is not stable even with the parallel stiffness")

16
C5-test-bench-id31/test_id31_4_hac.m
View File

@ -230,10 +230,10 @@ tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
ax1 = nexttile([2,1]);
hold on;
plot(f(2:end), abs(G_hac_m0_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(1,:), 'DisplayName', '$0$ kg');
plot(f(2:end), abs(G_hac_m1_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(2,:), 'DisplayName', '$13$ kg');
plot(f(2:end), abs(G_hac_m2_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(3,:), 'DisplayName', '$26$ kg');
plot(f(2:end), abs(G_hac_m3_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(4,:), 'DisplayName', '$39$ kg');
plot(f, abs(G_hac_m0_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(1,:), 'DisplayName', '$0$ kg');
plot(f, abs(G_hac_m1_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(2,:), 'DisplayName', '$13$ kg');
plot(f, abs(G_hac_m2_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(3,:), 'DisplayName', '$26$ kg');
plot(f, abs(G_hac_m3_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(4,:), 'DisplayName', '$39$ kg');
xline(5, '--', 'linewidth', 1, 'color', [0,0,0,0.2], 'HandleVisibility', 'off')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
@ -244,10 +244,10 @@ leg.ItemTokenSize(1) = 15;
ax2 = nexttile;
hold on;
plot(f(2:end), 180/pi*angle(G_hac_m0_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(1,:));
plot(f(2:end), 180/pi*angle(G_hac_m1_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(2,:));
plot(f(2:end), 180/pi*angle(G_hac_m2_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(3,:));
plot(f(2:end), 180/pi*angle(G_hac_m3_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f(2:end), 'Hz'))), 'color', colors(4,:));
plot(f, 180/pi*angle(G_hac_m0_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(1,:));
plot(f, 180/pi*angle(G_hac_m1_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(2,:));
plot(f, 180/pi*angle(G_hac_m2_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(3,:));
plot(f, 180/pi*angle(G_hac_m3_Wz0(:,1, 1).*squeeze(freqresp(Khac(1,1), f, 'Hz'))), 'color', colors(4,:));
xline(5, '--', 'linewidth', 1, 'color', [0,0,0,0.2])
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');