760 lines
23 KiB
Mathematica
760 lines
23 KiB
Mathematica
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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load('mat/conf_simscape.mat');
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% Initialize the Simulation
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% We initialize all the stages with the default parameters.
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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% No disturbances.
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initializeDisturbances('enable', false);
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% The nano-hexapod is a piezoelectric hexapod.
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initializeNanoHexapod('actuator', 'piezo');
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% We set the references to zero.
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initializeReferences();
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% And all the controllers are set to 0.
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_ine = tf(zeros(6));
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save('./mat/controllers.mat', 'K_ine', '-append');
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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% Identification
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% First, we identify the dynamics of the system using the =linearize= function.
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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_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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masses = [1, 10, 50];
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Gm = {zeros(length(masses))};
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Gm_iff = {zeros(length(masses))};
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Gm_dvf = {zeros(length(masses))};
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Gm_ine = {zeros(length(masses))};
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for i = 1:length(masses)
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initializeSample('mass', masses(i));
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%% Run the linearization
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G = linearize(mdl, io, 0.1, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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Gm(i) = {G};
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Gm_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gm_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gm_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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end
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save('./active_damping/mat/plants_variable.mat', 'Gm_iff', 'Gm_dvf', 'Gm_ine', '-append');
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% Plots
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load('./active_damping/mat/plants_variable.mat', 'Gm_iff', 'Gm_dvf', 'Gm_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_iff{i}(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i}(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))), 'HandleVisibility', 'off');
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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% #+NAME: fig:act_damp_variability_iff_sample_mass
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% #+CAPTION: Variability of the IFF plant with the Spindle Angle ([[./figs/act_damp_variability_iff_sample_mass.png][png]], [[./figs/act_damp_variability_iff_sample_mass.pdf][pdf]])
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% [[file:figs/act_damp_variability_iff_sample_mass.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_dvf{i}(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_dvf{i}(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))), 'HandleVisibility', 'off');
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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% #+NAME: fig:act_damp_variability_dvf_sample_mass
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% #+CAPTION: Variability of the DVF plant with the Spindle Angle ([[./figs/act_damp_variability_dvf_sample_mass.png][png]], [[./figs/act_damp_variability_dvf_sample_mass.pdf][pdf]])
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% [[file:figs/act_damp_variability_dvf_sample_mass.png]]
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gm_ine{i}(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Gm)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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for j = 2:6
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_ine{i}(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))), 'HandleVisibility', 'off');
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end
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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% Initialize the Simulation
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% We initialize all the stages with the default parameters.
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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% No disturbances.
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initializeDisturbances('enable', false);
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% The nano-hexapod is a piezoelectric hexapod.
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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% And all the controllers are set to 0.
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_ine = tf(zeros(6));
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save('./mat/controllers.mat', 'K_ine', '-append');
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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% Identification
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% First, we identify the dynamics of the system using the =linearize= function.
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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_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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Rz_amplitudes = [0, pi/4, pi/2, pi]; % [rad]
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Ga = {zeros(length(Rz_amplitudes))};
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Ga_iff = {zeros(length(Rz_amplitudes))};
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Ga_dvf = {zeros(length(Rz_amplitudes))};
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Ga_ine = {zeros(length(Rz_amplitudes))};
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for i = 1:length(Rz_amplitudes)
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initializeReferences('Rz_type', 'constant', 'Rz_amplitude', Rz_amplitudes(i))
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%% Run the linearization
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G = linearize(mdl, io, 0.1, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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Ga(i) = {G};
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Ga_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Ga_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Ga_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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end
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save('./active_damping/mat/plants_variable.mat', 'Ga_iff', 'Ga_dvf', 'Ga_ine', '-append');
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% Plots
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load('./active_damping/mat/plants_variable.mat', 'Ga_iff', 'Ga_dvf', 'Ga_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ga)
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plot(freqs, abs(squeeze(freqresp(Ga_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Ga)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_iff_spindle_angle
|
||
|
|
% #+CAPTION: Variability of the IFF plant with the Spindle Angle ([[./figs/act_damp_variability_iff_spindle_angle.png][png]], [[./figs/act_damp_variability_iff_spindle_angle.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_iff_spindle_angle.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
|
||
|
|
for i = 1:length(Ga)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Ga_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Ga)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_dvf_spindle_angle
|
||
|
|
% #+CAPTION: Variability of the DVF plant with the Spindle Angle ([[./figs/act_damp_variability_dvf_spindle_angle.png][png]], [[./figs/act_damp_variability_dvf_spindle_angle.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_dvf_spindle_angle.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Ga)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Ga_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Ga)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Ga_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [deg]', Rz_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
% Initialize the Simulation
|
||
|
|
% We initialize all the stages with the default parameters.
|
||
|
|
|
||
|
|
initializeGround();
|
||
|
|
initializeGranite();
|
||
|
|
initializeTy();
|
||
|
|
initializeRy();
|
||
|
|
initializeRz();
|
||
|
|
initializeMicroHexapod();
|
||
|
|
initializeAxisc();
|
||
|
|
initializeMirror();
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% No disturbances.
|
||
|
|
|
||
|
|
initializeDisturbances('enable', false);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% The nano-hexapod is a piezoelectric hexapod.
|
||
|
|
|
||
|
|
initializeNanoHexapod('actuator', 'piezo');
|
||
|
|
initializeSample('mass', 50);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% And all the controllers are set to 0.
|
||
|
|
|
||
|
|
K = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K', '-append');
|
||
|
|
K_ine = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_ine', '-append');
|
||
|
|
K_iff = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_iff', '-append');
|
||
|
|
K_dvf = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||
|
|
|
||
|
|
% Identification
|
||
|
|
% First, we identify the dynamics of the system using the =linearize= function.
|
||
|
|
|
||
|
|
%% Options for Linearized
|
||
|
|
options = linearizeOptions;
|
||
|
|
options.SampleTime = 0;
|
||
|
|
|
||
|
|
%% Name of the Simulink File
|
||
|
|
mdl = 'sim_nass_active_damping';
|
||
|
|
|
||
|
|
%% Input/Output definition
|
||
|
|
clear io; io_i = 1;
|
||
|
|
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
|
||
|
|
|
||
|
|
Rz_periods = [60, 10, 1]; % [s]
|
||
|
|
|
||
|
|
Gw = {zeros(length(Rz_periods))};
|
||
|
|
Gw_iff = {zeros(length(Rz_periods))};
|
||
|
|
Gw_dvf = {zeros(length(Rz_periods))};
|
||
|
|
Gw_ine = {zeros(length(Rz_periods))};
|
||
|
|
|
||
|
|
for i = 1:length(Rz_periods)
|
||
|
|
initializeReferences('Rz_type', 'rotating', 'Rz_period', Rz_periods(i));
|
||
|
|
|
||
|
|
%% Run the linearization
|
||
|
|
G = linearize(mdl, io, 0.5, options);
|
||
|
|
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||
|
|
G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
|
||
|
|
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
|
||
|
|
'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
|
||
|
|
Gw(i) = {G};
|
||
|
|
Gw_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
Gw_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
Gw_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
end
|
||
|
|
|
||
|
|
save('./active_damping/mat/plants_variable.mat', 'Gw_iff', 'Gw_dvf', 'Gw_ine', '-append');
|
||
|
|
|
||
|
|
% Plots
|
||
|
|
|
||
|
|
load('./active_damping/mat/plants_variable.mat', 'Gw_iff', 'Gw_dvf', 'Gw_ine');
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gw_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_iff_spindle_speed
|
||
|
|
% #+CAPTION: Variability of the IFF plant with the Spindle Angle ([[./figs/act_damp_variability_iff_spindle_speed.png][png]], [[./figs/act_damp_variability_iff_spindle_speed.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_iff_spindle_speed.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gw_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_dvf_spindle_speed
|
||
|
|
% #+CAPTION: Variability of the DVF plant with the Spindle Angle ([[./figs/act_damp_variability_dvf_spindle_speed.png][png]], [[./figs/act_damp_variability_dvf_spindle_speed.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_dvf_spindle_speed.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 2, 5000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gw_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gw)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gw_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Rz = %.0f$ [rpm]', 60/Rz_periods(i)));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
% Initialize the Simulation
|
||
|
|
% We initialize all the stages with the default parameters.
|
||
|
|
|
||
|
|
initializeGround();
|
||
|
|
initializeGranite();
|
||
|
|
initializeTy();
|
||
|
|
initializeRy();
|
||
|
|
initializeRz();
|
||
|
|
initializeMicroHexapod();
|
||
|
|
initializeAxisc();
|
||
|
|
initializeMirror();
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% No disturbances.
|
||
|
|
|
||
|
|
initializeDisturbances('enable', false);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% The nano-hexapod is a piezoelectric hexapod.
|
||
|
|
|
||
|
|
initializeNanoHexapod('actuator', 'piezo');
|
||
|
|
initializeSample('mass', 50);
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% And all the controllers are set to 0.
|
||
|
|
|
||
|
|
K = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K', '-append');
|
||
|
|
K_ine = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_ine', '-append');
|
||
|
|
K_iff = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_iff', '-append');
|
||
|
|
K_dvf = tf(zeros(6));
|
||
|
|
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||
|
|
|
||
|
|
% Identification
|
||
|
|
% First, we identify the dynamics of the system using the =linearize= function.
|
||
|
|
|
||
|
|
%% Options for Linearized
|
||
|
|
options = linearizeOptions;
|
||
|
|
options.SampleTime = 0;
|
||
|
|
|
||
|
|
%% Name of the Simulink File
|
||
|
|
mdl = 'sim_nass_active_damping';
|
||
|
|
|
||
|
|
%% Input/Output definition
|
||
|
|
clear io; io_i = 1;
|
||
|
|
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
|
||
|
|
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
|
||
|
|
|
||
|
|
Ry_amplitudes = [0, 3*pi/180]; % [rad]
|
||
|
|
|
||
|
|
Gy = {zeros(length(Ry_amplitudes))};
|
||
|
|
Gy_iff = {zeros(length(Ry_amplitudes))};
|
||
|
|
Gy_dvf = {zeros(length(Ry_amplitudes))};
|
||
|
|
Gy_ine = {zeros(length(Ry_amplitudes))};
|
||
|
|
|
||
|
|
for i = 1:length(Ry_amplitudes)
|
||
|
|
initializeReferences('Ry_type', 'constant', 'Ry_amplitude', Ry_amplitudes(i))
|
||
|
|
|
||
|
|
%% Run the linearization
|
||
|
|
G = linearize(mdl, io, 0.1, options);
|
||
|
|
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||
|
|
G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
|
||
|
|
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
|
||
|
|
'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
|
||
|
|
Gy(i) = {G};
|
||
|
|
Gy_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
Gy_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
Gy_ine(i) = {minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||
|
|
end
|
||
|
|
|
||
|
|
save('./active_damping/mat/plants_variable.mat', 'Gy_iff', 'Gy_dvf', 'Gy_ine', '-append');
|
||
|
|
|
||
|
|
% Plots
|
||
|
|
|
||
|
|
load('./active_damping/mat/plants_variable.mat', 'Gy_iff', 'Gy_dvf', 'Gy_ine');
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gy_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_iff_tilt_angle
|
||
|
|
% #+CAPTION: Variability of the IFF plant with the Spindle Angle ([[./figs/act_damp_variability_iff_tilt_angle.png][png]], [[./figs/act_damp_variability_iff_tilt_angle.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_iff_tilt_angle.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gy_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
% #+NAME: fig:act_damp_variability_dvf_tilt_angle
|
||
|
|
% #+CAPTION: Variability of the DVF plant with the Spindle Angle ([[./figs/act_damp_variability_dvf_tilt_angle.png][png]], [[./figs/act_damp_variability_dvf_tilt_angle.pdf][pdf]])
|
||
|
|
% [[file:figs/act_damp_variability_dvf_tilt_angle.png]]
|
||
|
|
|
||
|
|
|
||
|
|
freqs = logspace(0, 3, 1000);
|
||
|
|
|
||
|
|
figure;
|
||
|
|
|
||
|
|
ax1 = subplot(2, 1, 1);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, abs(squeeze(freqresp(Gy_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||
|
|
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
||
|
|
|
||
|
|
ax2 = subplot(2, 1, 2);
|
||
|
|
hold on;
|
||
|
|
for i = 1:length(Gy)
|
||
|
|
plot(freqs, 180/pi*angle(squeeze(freqresp(Gy_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), 'DisplayName', sprintf('$Ry = %.0f$ [deg]', Ry_amplitudes(i)*180/pi));
|
||
|
|
end
|
||
|
|
hold off;
|
||
|
|
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||
|
|
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||
|
|
ylim([-180, 180]);
|
||
|
|
yticks([-180, -90, 0, 90, 180]);
|
||
|
|
legend('location', 'southwest');
|
||
|
|
|
||
|
|
linkaxes([ax1,ax2],'x');
|