43 lines
1.6 KiB
Mathematica
43 lines
1.6 KiB
Mathematica
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function [sys] = identifyPlant(opts_param)
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%% Default values for opts
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opts = struct();
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nano_station';
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%% Input/Output definition
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io(1) = linio([mdl, '/Fn'], 1, 'input');
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io(2) = linio([mdl, '/Gm'], 1, 'input');
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io(3) = linio([mdl, '/Fs_ext'], 1, 'input');
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io(4) = linio([mdl, '/F_legs'], 1, 'input');
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io(5) = linio([mdl, '/Dsample_meas'], 1, 'output');
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io(6) = linio([mdl, '/F_meas'], 1, 'output');
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%% Run the linearization
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G = linearize(mdl, io, 0);
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G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz', ...
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'Dgx', 'Dgy', 'Dgz', ...
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'Fsx', 'Fsy', 'Fsz', ...
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'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
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G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', ...
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'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
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%% Create the sub transfer functions
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sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
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sys.G_gm = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}));
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sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz'}));
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sys.G_iff = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
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end
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