tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
8ae5b526d4
nass-simscape/cedrat-actuator/index.html

453 lines
27 KiB
HTML
Raw Normal View History

Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<!-- 2019-10-29 mar. 11:06 -->
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Cedrat Actuator</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" />
<style type="text/css">
<!--/*--><![CDATA[/*><!--*/
.title { text-align: center;
margin-bottom: .2em; }
.subtitle { text-align: center;
font-size: medium;
font-weight: bold;
margin-top:0; }
.todo { font-family: monospace; color: red; }
.done { font-family: monospace; color: green; }
.priority { font-family: monospace; color: orange; }
.tag { background-color: #eee; font-family: monospace;
padding: 2px; font-size: 80%; font-weight: normal; }
.timestamp { color: #bebebe; }
.timestamp-kwd { color: #5f9ea0; }
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
.underline { text-decoration: underline; }
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
p.verse { margin-left: 3%; }
pre {
border: 1px solid #ccc;
box-shadow: 3px 3px 3px #eee;
padding: 8pt;
font-family: monospace;
overflow: auto;
margin: 1.2em;
}
pre.src {
position: relative;
overflow: visible;
padding-top: 1.2em;
}
pre.src:before {
display: none;
position: absolute;
background-color: white;
top: -10px;
right: 10px;
padding: 3px;
border: 1px solid black;
}
pre.src:hover:before { display: inline;}
/* Languages per Org manual */
pre.src-asymptote:before { content: 'Asymptote'; }
pre.src-awk:before { content: 'Awk'; }
pre.src-C:before { content: 'C'; }
/* pre.src-C++ doesn't work in CSS */
pre.src-clojure:before { content: 'Clojure'; }
pre.src-css:before { content: 'CSS'; }
pre.src-D:before { content: 'D'; }
pre.src-ditaa:before { content: 'ditaa'; }
pre.src-dot:before { content: 'Graphviz'; }
pre.src-calc:before { content: 'Emacs Calc'; }
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
pre.src-fortran:before { content: 'Fortran'; }
pre.src-gnuplot:before { content: 'gnuplot'; }
pre.src-haskell:before { content: 'Haskell'; }
pre.src-hledger:before { content: 'hledger'; }
pre.src-java:before { content: 'Java'; }
pre.src-js:before { content: 'Javascript'; }
pre.src-latex:before { content: 'LaTeX'; }
pre.src-ledger:before { content: 'Ledger'; }
pre.src-lisp:before { content: 'Lisp'; }
pre.src-lilypond:before { content: 'Lilypond'; }
pre.src-lua:before { content: 'Lua'; }
pre.src-matlab:before { content: 'MATLAB'; }
pre.src-mscgen:before { content: 'Mscgen'; }
pre.src-ocaml:before { content: 'Objective Caml'; }
pre.src-octave:before { content: 'Octave'; }
pre.src-org:before { content: 'Org mode'; }
pre.src-oz:before { content: 'OZ'; }
pre.src-plantuml:before { content: 'Plantuml'; }
pre.src-processing:before { content: 'Processing.js'; }
pre.src-python:before { content: 'Python'; }
pre.src-R:before { content: 'R'; }
pre.src-ruby:before { content: 'Ruby'; }
pre.src-sass:before { content: 'Sass'; }
pre.src-scheme:before { content: 'Scheme'; }
pre.src-screen:before { content: 'Gnu Screen'; }
pre.src-sed:before { content: 'Sed'; }
pre.src-sh:before { content: 'shell'; }
pre.src-sql:before { content: 'SQL'; }
pre.src-sqlite:before { content: 'SQLite'; }
/* additional languages in org.el's org-babel-load-languages alist */
pre.src-forth:before { content: 'Forth'; }
pre.src-io:before { content: 'IO'; }
pre.src-J:before { content: 'J'; }
pre.src-makefile:before { content: 'Makefile'; }
pre.src-maxima:before { content: 'Maxima'; }
pre.src-perl:before { content: 'Perl'; }
pre.src-picolisp:before { content: 'Pico Lisp'; }
pre.src-scala:before { content: 'Scala'; }
pre.src-shell:before { content: 'Shell Script'; }
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
/* additional language identifiers per "defun org-babel-execute"
in ob-*.el */
pre.src-cpp:before { content: 'C++'; }
pre.src-abc:before { content: 'ABC'; }
pre.src-coq:before { content: 'Coq'; }
pre.src-groovy:before { content: 'Groovy'; }
/* additional language identifiers from org-babel-shell-names in
ob-shell.el: ob-shell is the only babel language using a lambda to put
the execution function name together. */
pre.src-bash:before { content: 'bash'; }
pre.src-csh:before { content: 'csh'; }
pre.src-ash:before { content: 'ash'; }
pre.src-dash:before { content: 'dash'; }
pre.src-ksh:before { content: 'ksh'; }
pre.src-mksh:before { content: 'mksh'; }
pre.src-posh:before { content: 'posh'; }
/* Additional Emacs modes also supported by the LaTeX listings package */
pre.src-ada:before { content: 'Ada'; }
pre.src-asm:before { content: 'Assembler'; }
pre.src-caml:before { content: 'Caml'; }
pre.src-delphi:before { content: 'Delphi'; }
pre.src-html:before { content: 'HTML'; }
pre.src-idl:before { content: 'IDL'; }
pre.src-mercury:before { content: 'Mercury'; }
pre.src-metapost:before { content: 'MetaPost'; }
pre.src-modula-2:before { content: 'Modula-2'; }
pre.src-pascal:before { content: 'Pascal'; }
pre.src-ps:before { content: 'PostScript'; }
pre.src-prolog:before { content: 'Prolog'; }
pre.src-simula:before { content: 'Simula'; }
pre.src-tcl:before { content: 'tcl'; }
pre.src-tex:before { content: 'TeX'; }
pre.src-plain-tex:before { content: 'Plain TeX'; }
pre.src-verilog:before { content: 'Verilog'; }
pre.src-vhdl:before { content: 'VHDL'; }
pre.src-xml:before { content: 'XML'; }
pre.src-nxml:before { content: 'XML'; }
/* add a generic configuration mode; LaTeX export needs an additional
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
pre.src-conf:before { content: 'Configuration File'; }
table { border-collapse:collapse; }
caption.t-above { caption-side: top; }
caption.t-bottom { caption-side: bottom; }
td, th { vertical-align:top; }
th.org-right { text-align: center; }
th.org-left { text-align: center; }
th.org-center { text-align: center; }
td.org-right { text-align: right; }
td.org-left { text-align: left; }
td.org-center { text-align: center; }
dt { font-weight: bold; }
.footpara { display: inline; }
.footdef { margin-bottom: 1em; }
.figure { padding: 1em; }
.figure p { text-align: center; }
.equation-container {
display: table;
text-align: center;
width: 100%;
}
.equation {
vertical-align: middle;
}
.equation-label {
display: table-cell;
text-align: right;
vertical-align: middle;
}
.inlinetask {
padding: 10px;
border: 2px solid gray;
margin: 10px;
background: #ffffcc;
}
#org-div-home-and-up
{ text-align: right; font-size: 70%; white-space: nowrap; }
textarea { overflow-x: auto; }
.linenr { font-size: smaller }
.code-highlighted { background-color: #ffff00; }
.org-info-js_info-navigation { border-style: none; }
#org-info-js_console-label
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
.org-info-js_search-highlight
{ background-color: #ffff00; color: #000000; font-weight: bold; }
.org-svg { width: 90%; }
/*]]>*/-->
</style>
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
<script type="text/javascript" src="../js/jquery.min.js"></script>
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="../js/readtheorg.js"></script>
<script type="text/javascript">
/*
@licstart The following is the entire license notice for the
JavaScript code in this tag.
Copyright (C) 2012-2019 Free Software Foundation, Inc.
The JavaScript code in this tag is free software: you can
redistribute it and/or modify it under the terms of the GNU
General Public License (GNU GPL) as published by the Free Software
Foundation, either version 3 of the License, or (at your option)
any later version. The code is distributed WITHOUT ANY WARRANTY;
without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
As additional permission under GNU GPL version 3 section 7, you
may distribute non-source (e.g., minimized or compacted) forms of
that code without the copy of the GNU GPL normally required by
section 4, provided you include this license notice and a URL
through which recipients can access the Corresponding Source.
@licend The above is the entire license notice
for the JavaScript code in this tag.
*/
<!--/*--><![CDATA[/*><!--*/
function CodeHighlightOn(elem, id)
{
var target = document.getElementById(id);
if(null != target) {
elem.cacheClassElem = elem.className;
elem.cacheClassTarget = target.className;
target.className = "code-highlighted";
elem.className = "code-highlighted";
}
}
function CodeHighlightOff(elem, id)
{
var target = document.getElementById(id);
if(elem.cacheClassElem)
elem.className = elem.cacheClassElem;
if(elem.cacheClassTarget)
target.className = elem.cacheClassTarget;
}
/*]]>*///-->
</script>
<script type="text/x-mathjax-config">
MathJax.Hub.Config({
displayAlign: "center",
displayIndent: "0em",
"HTML-CSS": { scale: 100,
linebreaks: { automatic: "false" },
webFont: "TeX"
},
SVG: {scale: 100,
linebreaks: { automatic: "false" },
font: "TeX"},
NativeMML: {scale: 100},
TeX: { equationNumbers: {autoNumber: "AMS"},
MultLineWidth: "85%",
TagSide: "right",
TagIndent: ".8em"
}
});
</script>
<script type="text/javascript"
src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-AMS_HTML"></script>
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Cedrat Actuator</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<li><a href="#orgd28b4dd">1. Documentation</a></li>
<li><a href="#org2594c75">2. Parameters</a></li>
<li><a href="#org5b8504e">3. Identification</a></li>
<li><a href="#org919f71c">4. Integral Force Feedback</a></li>
<li><a href="#org7ec0c4b">5. Damped System</a></li>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</ul>
</div>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="outline-container-orgd28b4dd" class="outline-2">
<h2 id="orgd28b4dd"><span class="section-number-2">1</span> Documentation</h2>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<div class="outline-text-2" id="text-1">
<ul class="org-ul">
<li>Blocked force: \(1400\ N\)</li>
<li>Stiffness: \(10.8\ N/\mu m\)</li>
<li>Resonance (free-free): \(6450\ Hz\)</li>
<li>Resonance (blocked-free): \(1750\ Hz\)</li>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<li>Height: \(H = 45\ mm\)</li>
<li>Length: \(L = 80\ mm\)</li>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<li>Width: \(22\ mm\)</li>
<li>Mass: \(160\ g\)</li>
</ul>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div class="figure">
<p><img src="figs/cedrat_geometry.png" alt="cedrat_geometry.png" />
</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</div>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
</div>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="outline-container-org2594c75" class="outline-2">
<h2 id="org2594c75"><span class="section-number-2">2</span> Parameters</h2>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<div class="outline-text-2" id="text-2">
<div class="org-src-container">
<pre class="src src-matlab">cedrat.L = <span class="org-highlight-numbers-number">80</span>; <span class="org-comment">% Total Width of the Actuator[mm]</span>
cedrat.H = <span class="org-highlight-numbers-number">45</span>; <span class="org-comment">% Total Height of the Actuator [mm]</span>
cedrat.L2 = sqrt<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">(</span>cedrat.L<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">^</span><span class="org-highlight-numbers-number">2</span> <span class="org-type">+</span> <span class="org-rainbow-delimiters-depth-2">(</span>cedrat.H<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% Length of the elipsoidal sections [mm]</span>
cedrat.alpha = <span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>atan2<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.L<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span>, cedrat.H<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [deg]</span>
cedrat.mtot = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">160</span>; <span class="org-comment">% Total mass of the Actuator [kg]</span>
cedrat.m = cedrat.mtot<span class="org-type">/</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Mass of each single element [kg]</span>
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">cedrat.k = <span class="org-highlight-numbers-number">1e9</span>; <span class="org-comment">% Linear Stiffness of each "blade" [N/m]</span>
cedrat.c = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>sqrt<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.mtot<span class="org-type">*</span>cedrat.k<span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [N/(m/s)]</span>
cedrat.ka = <span class="org-highlight-numbers-number">5e7</span>; <span class="org-comment">% Linear Stiffness of the stack [N/m]</span>
cedrat.ca = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>sqrt<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.mtot<span class="org-type">*</span>cedrat.ka<span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [N/(m/s)]</span>
cedrat.kr = <span class="org-highlight-numbers-number">10</span>; <span class="org-comment">% Rotation Stiffness [N*m/(deg)]</span>
cedrat.cr = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">0001</span>; <span class="org-comment">% Rotation Damping [N*m/(deg/s)]</span>
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">K_iff = tf<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">% dummy_mass = <span class="org-highlight-numbers-number">140</span>; % [kg]
dummy_mass = <span class="org-highlight-numbers-number">1</span>; <span class="org-comment">% [kg]</span>
</pre>
</div>
</div>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="outline-container-org5b8504e" class="outline-2">
<h2 id="org5b8504e"><span class="section-number-2">3</span> Identification</h2>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<div class="outline-text-2" id="text-3">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'cedrat_piezo'</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/F'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dw'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fm'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
G = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, options<span class="org-rainbow-delimiters-depth-1">)</span>;
G.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'F'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Dw'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Dz'</span>, <span class="org-string">'Fm'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
</pre>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="org6ebf8c8" class="figure">
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<p><img src="figs/cedrat_piezo_identified_tf.png" alt="cedrat_piezo_identified_tf.png" />
</p>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<p><span class="figure-number">Figure 2: </span>Identified Transfer function (<a href="./figs/cedrat_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_piezo_identified_tf.pdf">pdf</a>)</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</div>
</div>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="outline-container-org919f71c" class="outline-2">
<h2 id="org919f71c"><span class="section-number-2">4</span> Integral Force Feedback</h2>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<div class="outline-text-2" id="text-4">
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="org964c2d0" class="figure">
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<p><img src="figs/iff_plant_cedrat.png" alt="iff_plant_cedrat.png" />
</p>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<p><span class="figure-number">Figure 3: </span>Transfer function from \(F\) to \(F_m\) (<a href="./figs/iff_plant_cedrat.png">png</a>, <a href="./figs/iff_plant_cedrat.pdf">pdf</a>)</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</div>
<div class="org-src-container">
<pre class="src src-matlab">K_iff = <span class="org-type">-</span><span class="org-highlight-numbers-number">100000</span><span class="org-type">/</span>s<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">(</span>s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">/</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span> <span class="org-type">+</span> s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">(</span>s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">/</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span> <span class="org-type">+</span> s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="org090ce7f" class="figure">
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<p><img src="figs/iff_open_loop_cedrat.png" alt="iff_open_loop_cedrat.png" />
</p>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<p><span class="figure-number">Figure 4: </span>Open Loop Gain Transfer Function - Cedrat (<a href="./figs/iff_open_loop_cedrat.png">png</a>, <a href="./figs/iff_open_loop_cedrat.pdf">pdf</a>)</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</div>
</div>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="outline-container-org7ec0c4b" class="outline-2">
<h2 id="org7ec0c4b"><span class="section-number-2">5</span> Damped System</h2>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<div class="outline-text-2" id="text-5">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'cedrat_piezo'</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/F'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dw'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fm'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
G_iff = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, options<span class="org-rainbow-delimiters-depth-1">)</span>;
G_iff.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'F'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Dw'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
G_iff.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Dz'</span>, <span class="org-string">'Fm'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
</pre>
</div>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<div id="org2e7eff5" class="figure">
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<p><img src="figs/cedrat_iff_piezo_identified_tf.png" alt="cedrat_iff_piezo_identified_tf.png" />
</p>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<p><span class="figure-number">Figure 5: </span>Identified Transfer function (<a href="./figs/cedrat_iff_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_iff_piezo_identified_tf.pdf">pdf</a>)</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
Add small schematic of cedrat actuator
2019-10-29 11:07:14 +01:00
<p class="date">Created: 2019-10-29 mar. 11:06</p>
Add analysis about Cedrat Piezo actuators
2019-10-29 10:52:59 +01:00
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>
</html>
Reference in New Issue Copy Permalink