nass-simscape/demonstration/sample_pos_init.m

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%%
clear; close all; clc;
%% Initialize simulation configuration
opts_sim = struct(...
'Tsim', 2 ...
);
initializeSimConf(opts_sim);
%% Initialize Inputs
load('./mat/sim_conf.mat', 'sim_conf')
time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
% Translation Stage
ty = 0*ones(length(time_vector), 1);
% Tilt Stage
ry = 2*pi*(3/360)*ones(length(time_vector), 1);
% Spindle
rz = 2*pi*1*(time_vector);
% Micro Hexapod
u_hexa = zeros(length(time_vector), 6);
% Gravity Compensator system
mass = zeros(length(time_vector), 2);
opts_inputs = struct(...
'ty', ty, ...
'ry', ry, ...
'rz', rz, ...
'u_hexa', u_hexa, ...
'mass', mass ...
);
initializeInputs(opts_inputs);
%% Initialize SolidWorks Data
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initializeSolids();
%% Initialize Ground
initializeGround();
%% Initialize Granite
initializeGranite();
%% Initialize Translation stage
initializeTy();
%% Initialize Tilt Stage
initializeRy();
%% Initialize Spindle
initializeRz();
%% Initialize Hexapod Sym<EFBFBD>trie
initializeMicroHexapod();
%% Initialize Center of Gravity compensation
initializeAxisc();
%% Initialize NASS
initializeNanoHexapod(struct('actuator', 'piezo'));
%% Initialize Sample
initializeSample(struct('mass', 20));