57 lines
1.9 KiB
Mathematica
57 lines
1.9 KiB
Mathematica
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function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
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%% Load the controller and save it for the simulation
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if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none')
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K_obj = load('./mat/K_fb.mat');
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K = K_obj.(sprintf('K_%s_%s', sys_mass, sys_name)); %#ok
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save('./mat/controller.mat', 'K');
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elseif strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'iff')
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K_obj = load('./mat/K_fb_iff.mat');
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K = K_obj.(sprintf('K_%s_%s_iff', sys_mass, sys_name)); %#ok
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save('./mat/controller.mat', 'K');
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elseif strcmp(ctrl_type, 'ol')
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K = tf(zeros(6)); %#ok
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save('./mat/controller.mat', 'K');
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else
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error('ctrl_type should be cl or ol');
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end
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%% Active Damping
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if strcmp(act_damp, 'iff')
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K_iff_crit = load('./mat/K_iff_crit.mat');
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K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok
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save('./mat/K_iff.mat', 'K_iff');
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elseif strcmp(act_damp, 'none')
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K_iff = tf(zeros(6)); %#ok
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save('./mat/K_iff.mat', 'K_iff');
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end
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%%
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if strcmp(sys_name, 'pz')
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initializeNanoHexapod(struct('actuator', 'piezo'));
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elseif strcmp(sys_name, 'vc')
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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else
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error('sys_name should be pz or vc');
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end
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if strcmp(sys_mass, 'light')
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initializeSample(struct('mass', 1));
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elseif strcmp(sys_mass, 'heavy')
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initializeSample(struct('mass', 50));
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else
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error('sys_mass should be light or heavy');
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end
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%% Run the simulation
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sim('Assemblage.slx');
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%% Split the Dsample matrix into vectors
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[Dx, Dy, Dz, Rx, Ry, Rz] = matSplit(Dsample.Data, 1); %#ok
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time = Dsample.Time; %#ok
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%% Save the result
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filename = sprintf('sim_%s_%s_%s_%s', sys_mass, sys_name, ctrl_type, act_damp);
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save(sprintf('./mat/%s.mat', filename), ...
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'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
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end
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