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correct scripts

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This commit is contained in:
Thomas Dehaeze 2025-04-15 10:22:59 +02:00
parent 4572eee193
commit d64c51e4b1
26 changed files with 255 additions and 161 deletions
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BIN
A1-nass-uniaxial-model/mat/uniaxial_disturbance_psd.mat (Stored with Git LFS)
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9
A1-nass-uniaxial-model/uniaxial_3_disturbances.m
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@ -65,11 +65,12 @@ load('meas_spindle_on.mat', 't', 'vg', 'vh');
spindle_off = load('meas_spindle_off.mat', 't', 'vg', 'vh'); % No Rotation
% Compute Power Spectral Density of the relative velocity between granite and hexapod during spindle rotation
Fs = 1/(t(2)-t(1)); % Sampling Frequency [Hz]
win = hanning(ceil(2*Fs)); % Hanning window
Ts = t(2)-t(1); % Sampling Time [s]
Nfft = floor(2/Ts);
win = hanning(Nfft);
[psd_vft, f] = pwelch(vh-vg, win, [], [], Fs); % [(m/s)^2/Hz]
[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, [], [], Fs); % [(m/s)^2/Hz]
[psd_vft, f] = pwelch(vh-vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
[psd_off, ~] = pwelch(spindle_off.vh-spindle_off.vg, win, Noverlap, Nfft, 1/Ts); % [(m/s)^2/Hz]
% Disable the Nano-Hexpod for now
model_config = struct();

6
A1-nass-uniaxial-model/uniaxial_4_dynamic_noise_budget.m
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@ -56,7 +56,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude $d/x_{f}$ [m/m]'); xlabel('Frequency [Hz]');
xticks([1e0, 1e1, 1e2]);
leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([1, 500]);
%% Cumulative Amplitude Spectrum of the relative motion d, due to both the floor motion and the stage vibrations
@ -72,7 +72,7 @@ hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('CAS [m]'); xlabel('Frequency [Hz]');
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([1, 500]);
ylim([1e-12, 3e-6])
@ -104,7 +104,7 @@ hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('CAS [m]'); xlabel('Frequency [Hz]');
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([1, 500]);
ylim([1e-12, 3e-6])

24
A1-nass-uniaxial-model/uniaxial_5_active_damping.m
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@ -221,19 +221,25 @@ G_dvf_pz_heavy = feedback(G_pz_heavy, K_dvf_pz, 'name', +1);
%% Verify Stability
% IFF
isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy)
if not(isstable(G_iff_vc_light) && isstable(G_iff_vc_mid) && isstable(G_iff_vc_heavy) && ...
isstable(G_iff_md_light) && isstable(G_iff_md_mid) && isstable(G_iff_md_heavy) && ...
isstable(G_iff_pz_light) && isstable(G_iff_pz_mid) && isstable(G_iff_pz_heavy))
warning("One of the damped plant with decentralized IFF is not stable.");
end
% RDC
isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy)
if not(isstable(G_rdc_vc_light) && isstable(G_rdc_vc_mid) && isstable(G_rdc_vc_heavy) && ...
isstable(G_rdc_md_light) && isstable(G_rdc_md_mid) && isstable(G_rdc_md_heavy) && ...
isstable(G_rdc_pz_light) && isstable(G_rdc_pz_mid) && isstable(G_rdc_pz_heavy))
warning("One of the damped plant with decentralized RDC is not stable.");
end
% DVF
isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy)
if not(isstable(G_dvf_vc_light) && isstable(G_dvf_vc_mid) && isstable(G_dvf_vc_heavy) && ...
isstable(G_dvf_md_light) && isstable(G_dvf_md_mid) && isstable(G_dvf_md_heavy) && ...
isstable(G_dvf_pz_light) && isstable(G_dvf_pz_mid) && isstable(G_dvf_pz_heavy))
warning("One of the damped plant with decentralized DVF is not stable.");
end
%% Save Damped Plants
save('./mat/uniaxial_damped_plants.mat', 'G_iff_vc_light', 'G_iff_md_light', 'G_iff_pz_light', ...

20
A1-nass-uniaxial-model/uniaxial_6_hac_lac.m
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@ -258,7 +258,7 @@ hold off;
set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
xlabel('Real'); ylabel('Imag');
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([-3.8, 0.2]); ylim([-2, 2]);
axis square;
@ -279,7 +279,7 @@ hold off;
set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
xlabel('Real'); ylabel('Imag');
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([-3.8, 0.2]); ylim([-2, 2]);
axis square;
@ -300,7 +300,7 @@ hold off;
set(gca, 'XScale', 'lin'); set(gca, 'YScale', 'lin');
xlabel('Real'); ylabel('Imag');
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
xlim([-3.8, 0.2]); ylim([-2, 2]);
axis square;
@ -319,7 +319,7 @@ ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
ylim([1e-3, 1e3]);
yticks([1e-2, 1, 1e2])
leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15
leg.ItemTokenSize(1) = 15;
ax2 = nexttile;
hold on;
@ -413,11 +413,17 @@ G_hac_iff_pz_mid = feedback(G_iff_pz_mid , K_hac_pz, 'name', -1);
G_hac_iff_pz_heavy = feedback(G_iff_pz_heavy, K_hac_pz, 'name', -1);
%% Verify Stability
isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy)
if not(isstable(G_hac_iff_vc_light) && isstable(G_hac_iff_vc_mid) && isstable(G_hac_iff_vc_heavy))
warning("One of the damped plant with VC and decentralized IFF is not stable.");
end
isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy)
if not(isstable(G_hac_iff_md_light) && isstable(G_hac_iff_md_mid) && isstable(G_hac_iff_md_heavy))
warning("One of the damped plant with MD and decentralized IFF is not stable.");
end
isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy)
if not(isstable(G_hac_iff_pz_light) && isstable(G_hac_iff_pz_mid) && isstable(G_hac_iff_pz_heavy))
warning("One of the damped plant with PZ and decentralized IFF is not stable.");
end
%% Change of sensitivity to disturbances with LAC and with HAC-LAC
figure;

24
A1-nass-uniaxial-model/uniaxial_8_payload_dynamics.m
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@ -324,18 +324,18 @@ G_iff_vc_light_rigid = feedback(G_vc_light_rigid, K_iff_vc, 'name', +1);
G_iff_vc_light_soft = feedback(G_vc_light_soft , K_iff_vc, 'name', +1);
G_iff_vc_light_stiff = feedback(G_vc_light_stiff, K_iff_vc, 'name', +1);
isstable(G_iff_vc_light_rigid)
isstable(G_iff_vc_light_soft)
isstable(G_iff_vc_light_stiff)
if not(isstable(G_iff_vc_light_rigid) && isstable(G_iff_vc_light_soft) &&isstable(G_iff_vc_light_stiff))
warning("One of the damped plant with VC and decentralized IFF is not stable.");
end
% Stiff Nano-Hexapod
G_iff_pz_light_rigid = feedback(G_pz_light_rigid, K_iff_pz, 'name', +1);
G_iff_pz_light_soft = feedback(G_pz_light_soft , K_iff_pz, 'name', +1);
G_iff_pz_light_stiff = feedback(G_pz_light_stiff, K_iff_pz, 'name', +1);
isstable(G_iff_pz_light_rigid)
isstable(G_iff_pz_light_soft)
isstable(G_iff_pz_light_stiff)
if not(isstable(G_iff_pz_light_rigid) && isstable(G_iff_pz_light_soft) && isstable(G_iff_pz_light_stiff))
warning("One of the damped plant with PZ and decentralized IFF is not stable.");
end
%% Compute closed-loop plants and verify stability
% Soft Nano-Hexapod
@ -343,18 +343,18 @@ G_hac_iff_vc_light_rigid = feedback(G_iff_vc_light_rigid, K_hac_vc, 'name', -1);
G_hac_iff_vc_light_soft = feedback(G_iff_vc_light_soft , K_hac_vc, 'name', -1);
G_hac_iff_vc_light_stiff = feedback(G_iff_vc_light_stiff, K_hac_vc, 'name', -1);
isstable(G_hac_iff_vc_light_rigid)
isstable(G_hac_iff_vc_light_soft)
isstable(G_hac_iff_vc_light_stiff)
if not(isstable(G_hac_iff_vc_light_rigid) && isstable(G_hac_iff_vc_light_soft) && isstable(G_hac_iff_vc_light_stiff))
warning("One of the damped plant with VC and decentralized IFF is not stable.");
end
% Stiff Nano-Hexapod
G_hac_iff_pz_light_rigid = feedback(G_iff_pz_light_rigid, K_hac_pz, 'name', -1);
G_hac_iff_pz_light_soft = feedback(G_iff_pz_light_soft , K_hac_pz, 'name', -1);
G_hac_iff_pz_light_stiff = feedback(G_iff_pz_light_stiff, K_hac_pz, 'name', -1);
isstable(G_hac_iff_pz_light_rigid)
isstable(G_hac_iff_pz_light_soft)
isstable(G_hac_iff_pz_light_stiff)
if not(isstable(G_hac_iff_pz_light_rigid) && isstable(G_hac_iff_pz_light_soft) && isstable(G_hac_iff_pz_light_stiff))
warning("One of the damped plant with PZ and decentralized IFF is not stable.");
end
%% Cumulative Amplitude Spectrum of d - Effect of Sample's flexibility
figure;

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A2-nass-rotating-3dof-model/mat/nass_controllers.mat (Stored with Git LFS)
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A2-nass-rotating-3dof-model/rotating_7_nano_hexapod.m
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@ -221,6 +221,19 @@ i_iff_hpf_md = i_iff_hpf_md(end)+1;
i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz));
i_iff_hpf_pz = i_iff_hpf_pz(end)+1;
%% Define the obtained controllers
Kiff_hpf_vc = Kiff*opt_iff_hpf_gain_vc(i_iff_hpf_vc);
Kiff_hpf_vc.InputName = {'fu', 'fv'};
Kiff_hpf_vc.OutputName = {'Fu', 'Fv'};
Kiff_hpf_md = Kiff*opt_iff_hpf_gain_md(i_iff_hpf_md);
Kiff_hpf_md.InputName = {'fu', 'fv'};
Kiff_hpf_md.OutputName = {'Fu', 'Fv'};
Kiff_hpf_pz = Kiff*opt_iff_hpf_gain_pz(i_iff_hpf_pz);
Kiff_hpf_pz.InputName = {'fu', 'fv'};
Kiff_hpf_pz.OutputName = {'Fu', 'Fv'};
%% Optimal modified IFF parameters that yields maximum simultaneous damping
figure;
yyaxis left
@ -303,9 +316,9 @@ mn = 15; % Nano-Hexapod mass [kg]
ms = 1; % Sample Mass [kg]
%% IFF Controller
Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF
Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF
Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF
Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF - VC
Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF - MD
Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF - PZ
%% General Configuration
model_config = struct();
@ -392,6 +405,19 @@ for kp_i = 1:length(kps_pz)
opt_iff_kp_gain_pz(kp_i) = g_opt;
end
%% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'};
Kiff_kp_vc.OutputName = {'Fu', 'Fv'};
Kiff_kp_md = Kiff_md*opt_iff_kp_gain_md(i_kp_md);
Kiff_kp_md.InputName = {'fu', 'fv'};
Kiff_kp_md.OutputName = {'Fu', 'Fv'};
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));

2
A2-nass-rotating-3dof-model/rotating_8_nass.m
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@ -209,7 +209,7 @@ hold off;
yticks(-360:90:360);
ylim([ -200, 20]);
linkaxes([ax,ax2],'x');
linkaxes([ax1,ax2],'x');
xlim([freqs_vc(1), freqs_vc(end)]);
xticks([1e-1, 1e0, 1e1]);

12
A6-simscape-nass/nass_1_active_damping.m
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@ -268,8 +268,16 @@ xlim([freqs(1), freqs(end)]);
%% Verify that parallel stiffness permits to have a stable plant
Kiff_pure_int = -200/s*eye(6);
isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))
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("Decentralized IFF is not stable with rotation")
end
if isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
disp("Parallel stiffness makes the decentralized IFF stable")
else
warning("Decentralized IFF is not stable even with the parallel stiffness")
end
%% IFF Controller Design
% Second order high pass filter

1
B1-nass-geometry/detail_kinematics_1_geometry.m
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@ -5,7 +5,6 @@ clear; close all; clc;
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for functions
addpath('./subsystems/'); % Path for Subsystems Simulink files

1
B1-nass-geometry/detail_kinematics_2_cubic.m
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@ -5,7 +5,6 @@ clear; close all; clc;
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for functions
addpath('./subsystems/'); % Path for Subsystems Simulink files

7
B1-nass-geometry/detail_kinematics_3_nano_hexapod.m
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@ -5,7 +5,6 @@ clear; close all; clc;
s = zpk('s');
%% Path for functions, data and scripts
addpath('./mat/'); % Path for data
addpath('./src/'); % Path for functions
addpath('./subsystems/'); % Path for Subsystems Simulink files
@ -97,7 +96,7 @@ for Dx = Dxs
end
end
sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max)
disp(sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max))
%% Compute mobility in translation with combined angular motion
% Direction of motion (spherical coordinates)
@ -232,5 +231,5 @@ for Dx = Dxs
end
end
sprintf('Fixed joint stroke should be %.1f mrad', 1e3*max(max_angles_F))
sprintf('Mobile joint stroke should be %.1f mrad', 1e3*max(max_angles_M))
disp(sprintf('Fixed joint stroke should be %.1f mrad', 1e3*max(max_angles_F)))
disp(sprintf('Mobile joint stroke should be %.1f mrad', 1e3*max(max_angles_M)))

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B2-nass-fem/src/extractNodes.m Normal file
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@ -0,0 +1,91 @@
function [int_xyz, int_i, n_xyz, n_i, nodes] = extractNodes(filename)
% extractNodes -
%
% Syntax: [n_xyz, nodes] = extractNodes(filename)
%
% Inputs:
% - filename - relative or absolute path of the file that contains the Matrix
%
% Outputs:
% - n_xyz -
% - nodes - table containing the node numbers and corresponding dof of the interfaced DoFs
arguments
filename
end
fid = fopen(filename,'rt');
if fid == -1
error('Error opening the file');
end
n_xyz = []; % Contains nodes coordinates
n_i = []; % Contains nodes indices
n_num = []; % Contains node numbers
n_dof = {}; % Contains node directions
while 1
% Read a line
nextline = fgetl(fid);
% End of the file
if ~isstr(nextline), break, end
% Line just before the list of nodes coordinates
if contains(nextline, 'NODE') && ...
contains(nextline, 'X') && ...
contains(nextline, 'Y') && ...
contains(nextline, 'Z')
while 1
nextline = fgetl(fid);
if nextline < 0, break, end
c = sscanf(nextline, ' %f');
if isempty(c), break, end
n_xyz = [n_xyz; c(2:4)'];
n_i = [n_i; c(1)];
end
end
if nextline < 0, break, end
% Line just before the list of node DOF
if contains(nextline, 'NODE') && ...
contains(nextline, 'LABEL')
while 1
nextline = fgetl(fid);
if nextline < 0, break, end
c = sscanf(nextline, ' %d %s');
if isempty(c), break, end
n_num = [n_num; c(1)];
n_dof{length(n_dof)+1} = char(c(2:end)');
end
nodes = table(n_num, string(n_dof'), 'VariableNames', {'node_i', 'node_dof'});
end
if nextline < 0, break, end
end
fclose(fid);
int_i = unique(nodes.('node_i')); % indices of interface nodes
% Extract XYZ coordinates of only the interface nodes
if length(n_xyz) > 0 && length(n_i) > 0
int_xyz = n_xyz(logical(sum(n_i.*ones(1, length(int_i)) == int_i', 2)), :);
else
int_xyz = n_xyz;
end

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C5-test-bench-id31/src/h5scan.m
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@ -1,102 +1,61 @@
function [cntrs,tp] = h5scan(pth,smp,ds,sn,varargin)
% function [cntrs,tp] = h5scan(pth,smp,ds,sn,varargin)
function [cntrs,tp] = h5scan(ds,sn)
if ~isstr(ds), ds = sprintf('%.4d',ds); end;
i = cellfun(@(x) isa(x,'detector'),varargin);
if any(i), det = varargin{i}; varargin = varargin(~i); else, det = []; end;
if ~isstr(ds), ds = sprintf('%.4d',ds); end;
f = sprintf('%s.h5',ds);
h = h5info(f,sprintf('/%d.1/measurement',sn));
fid = H5F.open(f);
for i = 1:length(h.Links)
nm = h.Links(i).Name;
try
id = H5D.open(fid,h.Links(i).Value{1});
cntrs.(nm) = H5D.read(id);
H5D.close(id);
if ~isempty(det) & strcmp(nm,det.name), cntrs.(nm) = integrate(det,double(cntrs.(nm))); end;
end
[~,tp.(nm)] = fileparts(h.Links(i).Value{1});
end
try
h = h5info(f,sprintf('/%d.2/measurement',sn));
catch
h = [];
end
if ~isempty(h)
for i = 1:length(h.Links)
nm = h.Links(i).Name;
try
id = H5D.open(fid,h.Links(i).Value{1});
cntrs.part2.(nm) = H5D.read(id);
H5D.close(id);
end
[~,tp.part2.(nm)] = fileparts(h.Links(i).Value{1});
end
end
f = sprintf('%s/%s/%s_%s/%s_%s.h5',pth,smp,smp,ds,smp,ds);
h = h5info(f,sprintf('/%d.1/measurement',sn));
fid = H5F.open(f);
for i = 1:length(h.Links),
nm = h.Links(i).Name;
try,
id = H5D.open(fid,h.Links(i).Value{1});
cntrs.(nm) = H5D.read(id);
H5D.close(id);
if ~isempty(det) & strcmp(nm,det.name), cntrs.(nm) = integrate(det,double(cntrs.(nm))); end;
catch,
warning('solving problem with %s\n',nm);
cntrs.(nm) = vrtlds(sprintf('%s/%s/%s_%s/scan%.4d/',pth,smp,smp,ds,sn),nm,det);
end;
[~,tp.(nm)] = fileparts(h.Links(i).Value{1});
end;
try,
h = h5info(f,sprintf('/%d.2/measurement',sn));
catch,
h = [];
end;
if ~isempty(h),
for i = 1:length(h.Links),
nm = h.Links(i).Name;
try,
id = H5D.open(fid,h.Links(i).Value{1});
cntrs.part2.(nm) = H5D.read(id);
H5D.close(id);
catch,
warning('solving problem with %s\n',nm);
cntrs.part2.(nm) = vrtlds(sprintf('%s/%s/%s_%s/scan%.4d/',pth,smp,smp,ds,sn),nm,det);
end;
[~,tp.part2.(nm)] = fileparts(h.Links(i).Value{1});
end;
end;
if length(varargin),
fn = sprintf('/%d.1/instrument/positioners/',sn);
h = h5info(f,fn);
[~,k,m] = intersect({h.Datasets.Name},varargin,'stable');
h.Datasets = h.Datasets(k);
for i = 1:length(h.Datasets),
id = H5D.open(fid,[fn h.Datasets(i).Name]);
cntrs.(h.Datasets(i).Name) = H5D.read(id);
H5D.close(id);
end;
end;
H5F.close(fid);
H5F.close(fid);
%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%
function A = vrtlds(f,nm,det)
n = 0; A = [];
fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
function A = vrtlds(f,nm,det)
%try,
n = 0; A = [];
fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
while exist(fn) == 2,
fid = H5F.open(fn); n = n+1;
id = H5D.open(fid,sprintf('/entry_0000/ESRF-ID31/%s/data',nm));
if 2 < nargin & strcmp(nm,'p3') & ~isempty(det),
fprintf('integrating %s\n',fn);
if isempty(A),
A = integrate(det,double(H5D.read(id)),1);
else,
tmp = integrate(det,double(H5D.read(id)),1); A.y = cat(2,A.y,tmp.y); A.y0 = cat(2,A.y0,tmp.y0);
end;
else,
fprintf('loading %s\n',fn);
A = cat(3,A,H5D.read(id));
end;
H5D.close(id); H5F.close(fid);
fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
end;
%catch,
% A = [];
%end;
% fid = H5F.open...
% id = H5D.open...
% sid = H5D.get_space(id);
% [ndims,h5_dims]=H5S.get_simple_extent_dims(sid)
% Read a 2x3 hyperslab of data from a dataset, starting in the 4th row and 5th column of the example dataset.
% Create a property list identifier, then open the HDF5 file and the dataset /g1/g1.1/dset1.1.1.
% fid = H5F.open('example.h5');
% id = H5D.open(fid,'/g1/g1.1/dset1.1.1');
% dims = ([500 1679 1475];
% msid = H5S.create_simple(3,dims,[]);
% sid = H5D.get_space(id);
% offset = [n*500 0 0];
% block = dims; % d1: 500 or min(d1tot-n*500,500)
% H5S.select_hyperslab(sid,'H5S_SELECT_SET',offset,[],[],block);
% data = H5D.read(id,'H5ML_DEFAULT',msid,sid,'H5P_DEFAULT');
% H5D.close(id);
% H5F.close(fid);
while exist(fn) == 2
fid = H5F.open(fn); n = n+1;
id = H5D.open(fid,sprintf('/entry_0000/ESRF-ID31/%s/data',nm));
if 2 < nargin & strcmp(nm,'p3') & ~isempty(det)
fprintf('integrating %s\n',fn);
if isempty(A)
A = integrate(det,double(H5D.read(id)),1);
else
tmp = integrate(det,double(H5D.read(id)),1); A.y = cat(2,A.y,tmp.y); A.y0 = cat(2,A.y0,tmp.y0);
end
else
fprintf('loading %s\n',fn);
A = cat(3,A,H5D.read(id));
end
H5D.close(id); H5F.close(fid);
fn = sprintf('%s/%s_%.4d.h5',f,nm,n);
end
end
end

18
C5-test-bench-id31/test_id31_1_metrology.m
View File

@ -46,9 +46,9 @@ Hm = [ 0 1 0 -l2 0;
%% Angular alignment
% Load Data
data_it0 = h5scan(data_dir, 'alignment', 'h1rx_h1ry', 1);
data_it1 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 3);
data_it2 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 5);
data_it0 = h5scan('alignment_h1rx_h1ry', 1);
data_it1 = h5scan('alignment_h1rx_h1ry_0002', 3);
data_it2 = h5scan('alignment_h1rx_h1ry_0002', 5);
% Offset wrong points
i_it0 = find(abs(data_it0.Rx_int_filtered(2:end)-data_it0.Rx_int_filtered(1:end-1))>1e-5);
@ -81,8 +81,8 @@ ylim([-100, 800]);
%% Eccentricity alignment
% Load Data
data_it0 = h5scan(data_dir, 'alignment', 'h1rx_h1ry_0002', 5);
data_it1 = h5scan(data_dir, 'alignment', 'h1dx_h1dy', 1);
data_it0 = h5scan('alignment_h1rx_h1ry_0002', 5);
data_it1 = h5scan('alignment_h1dx_h1dy', 1);
% Offset wrong points
i_it0 = find(abs(data_it0.Dy_int_filtered(2:end)-data_it0.Dy_int_filtered(1:end-1))>1e-5);
@ -110,7 +110,7 @@ ylim([-8, 14]);
% This is estimated by moving the spheres using the micro-hexapod
% Dx
data_dx = h5scan(data_dir, 'metrology_acceptance_new_align', 'dx', 1);
data_dx = h5scan('metrology_acceptance_new_align_dx', 1);
dx_acceptance = zeros(5,1);
@ -126,7 +126,7 @@ for i = [1:size(dx_acceptance, 1)]
end
% Dy
data_dy = h5scan(data_dir, 'metrology_acceptance_new_align', 'dy', 1);
data_dy = h5scan('metrology_acceptance_new_align_dy', 1);
dy_acceptance = zeros(5,1);
@ -142,7 +142,7 @@ for i = [1:size(dy_acceptance, 1)]
end
% Dz
data_dz = h5scan(data_dir, 'metrology_acceptance_new_align', 'dz', 1);
data_dz = h5scan('metrology_acceptance_new_align_dz', 1);
dz_acceptance = zeros(5,1);
@ -186,7 +186,7 @@ leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15;
%% X-Y scan with the micro-hexapod, and record of the vertical interferometer
data = h5scan(data_dir, 'metrology_acceptance', 'after_int_align_meshXY', 1);
data = h5scan('metrology_acceptance_after_int_align_meshXY', 1);
x = 1e3*detrend(data.h1tx, 0); % [um]
y = 1e3*detrend(data.h1ty, 0); % [um]

8
C5-test-bench-id31/test_id31_2_open_loop_plant.m
View File

@ -198,10 +198,10 @@ linkaxes([ax1,ax2],'x');
xlim([1, 1e3]);
%% Load Data
data_1_dx = h5scan(data_dir, 'align_int_enc_Rz', 'tx_first_scan', 2);
data_1_dy = h5scan(data_dir, 'align_int_enc_Rz', 'tx_first_scan', 3);
data_2_dx = h5scan(data_dir, 'align_int_enc_Rz', 'verif-after-correct-offset', 1);
data_2_dy = h5scan(data_dir, 'align_int_enc_Rz', 'verif-after-correct-offset', 2);
data_1_dx = h5scan('align_int_enc_Rz_tx_first_scan', 2);
data_1_dy = h5scan('align_int_enc_Rz_tx_first_scan', 3);
data_2_dx = h5scan('align_int_enc_Rz_verif-after-correct-offset', 1);
data_2_dy = h5scan('align_int_enc_Rz_verif-after-correct-offset', 2);
% Estimation of Rz misalignment
p1 = polyfit(data_1_dx.Dx_int_filtered, data_1_dx.Dy_int_filtered, 1);