diff --git a/docs/control_virtual_mass.html b/docs/control_virtual_mass.html index 987dcc1..3c64b94 100644 --- a/docs/control_virtual_mass.html +++ b/docs/control_virtual_mass.html @@ -1,11 +1,10 @@ - - + Decentralize control to add virtual mass @@ -37,24 +36,19 @@
@@ -82,6 +76,14 @@ initializeController('type', +
initializeNanoHexapod('k', 1e5, 'c', 2e2);
+
+
+

We set the stiffness of the payload fixation:

@@ -95,16 +97,6 @@ We set the stiffness of the payload fixation:

2 Identification

-
-
-

2.1 Identification of the transfer function from \(\tau\) to \(d\mathcal{L}\)

-
-
-
K = tf(zeros(6));
-Kdvf = tf(zeros(6));
-
-
-

We identify the system for the following payload masses:

@@ -114,25 +106,17 @@ We identify the system for the following payload masses:

-The nano-hexapod has the following leg’s stiffness and damping. +Identification of the transfer function from \(\tau\) to \(d\mathcal{L}\). +Identification of the Primary plant without virtual add of mass

-
-
initializeNanoHexapod('k', 1e5, 'c', 2e2);
-
-
-
-
- -
-

2.2 Identification of the Primary plant without virtual add of mass

3 Adding Virtual Mass in the Leg’s Space

-
-

3.1 Plant

+
+

3.1 Plant

@@ -143,8 +127,8 @@ The nano-hexapod has the following leg’s stiffness and damping.
-
-

3.2 Controller Design

+
+

3.2 Controller Design

Kdvf = 10*s^2/(1+s/2/pi/500)^2*eye(6);
@@ -160,8 +144,8 @@ The nano-hexapod has the following leg’s stiffness and damping.
 
-
-

3.3 Identification of the Primary Plant

+
+

3.3 Identification of the Primary Plant

@@ -184,8 +168,8 @@ The nano-hexapod has the following leg’s stiffness and damping.

4 Adding Virtual Mass in the Task Space

-
-

4.1 Plant

+
+

4.1 Plant

Let’s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\mathcal{X}}\): @@ -201,8 +185,8 @@ Let’s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m

-
-

4.2 Controller Design

+
+

4.2 Controller Design

KmX = (s^2*1/(1+s/2/pi/500)^2*diag([1 1 50 0 0 0]));
@@ -223,8 +207,8 @@ Let’s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m
 
-
-

4.3 Identification of the Primary Plant

+
+

4.3 Identification of the Primary Plant

@@ -245,7 +229,7 @@ Let’s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m

Author: Dehaeze Thomas

-

Created: 2020-04-17 ven. 14:10

+

Created: 2020-04-17 ven. 14:32

diff --git a/docs/figs/virtual_mass_L_primary_plant_L.pdf b/docs/figs/virtual_mass_L_primary_plant_L.pdf index b205c5c..2c27388 100644 Binary files a/docs/figs/virtual_mass_L_primary_plant_L.pdf and b/docs/figs/virtual_mass_L_primary_plant_L.pdf differ diff --git a/docs/figs/virtual_mass_L_primary_plant_L.png b/docs/figs/virtual_mass_L_primary_plant_L.png index 6a26529..a17fa39 100644 Binary files a/docs/figs/virtual_mass_L_primary_plant_L.png and b/docs/figs/virtual_mass_L_primary_plant_L.png differ diff --git a/docs/figs/virtual_mass_L_primary_plant_X.pdf b/docs/figs/virtual_mass_L_primary_plant_X.pdf index 26eeb64..5a5e469 100644 Binary files a/docs/figs/virtual_mass_L_primary_plant_X.pdf and b/docs/figs/virtual_mass_L_primary_plant_X.pdf differ diff --git a/docs/figs/virtual_mass_L_primary_plant_X.png b/docs/figs/virtual_mass_L_primary_plant_X.png index a7bf9a4..14ce71d 100644 Binary files a/docs/figs/virtual_mass_L_primary_plant_X.png and b/docs/figs/virtual_mass_L_primary_plant_X.png differ diff --git a/docs/figs/virtual_mass_X_primary_plant_L.pdf b/docs/figs/virtual_mass_X_primary_plant_L.pdf index f105a3c..a889a60 100644 Binary files a/docs/figs/virtual_mass_X_primary_plant_L.pdf and b/docs/figs/virtual_mass_X_primary_plant_L.pdf differ diff --git a/docs/figs/virtual_mass_X_primary_plant_L.png b/docs/figs/virtual_mass_X_primary_plant_L.png index 1d00197..c326c70 100644 Binary files a/docs/figs/virtual_mass_X_primary_plant_L.png and b/docs/figs/virtual_mass_X_primary_plant_L.png differ diff --git a/docs/figs/virtual_mass_X_primary_plant_X.pdf b/docs/figs/virtual_mass_X_primary_plant_X.pdf index c8fd07a..f0733d6 100644 Binary files a/docs/figs/virtual_mass_X_primary_plant_X.pdf and b/docs/figs/virtual_mass_X_primary_plant_X.pdf differ diff --git a/docs/figs/virtual_mass_X_primary_plant_X.png b/docs/figs/virtual_mass_X_primary_plant_X.png index eccd6e1..d1aafb4 100644 Binary files a/docs/figs/virtual_mass_X_primary_plant_X.png and b/docs/figs/virtual_mass_X_primary_plant_X.png differ diff --git a/docs/figs/virtual_mass_loop_gain_X.pdf b/docs/figs/virtual_mass_loop_gain_X.pdf index e9c4223..758e457 100644 --- a/docs/figs/virtual_mass_loop_gain_X.pdf +++ b/docs/figs/virtual_mass_loop_gain_X.pdf @@ -3,7 +3,7 @@ 1 0 obj << /Producer (Apache FOP Version 2.4.0-SNAPSHOT: PDFDocumentGraphics2D) -/CreationDate (D:20200417140437+02'00') +/CreationDate (D:20200417142926+02'00') >> endobj 2 0 obj @@ -219,13 +219,13 @@ endobj 37 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 38 0 obj << /Type /ExtGState -/CA 0.2509804 +/CA 0.14901961 >> endobj 39 0 obj @@ -315,25 +315,25 @@ endobj 53 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 54 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 55 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 56 0 obj << /Type /ExtGState -/CA 0.14901961 +/CA 0.2509804 >> endobj 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100644 Binary files a/docs/figs/virtual_mass_plant_X.png and b/docs/figs/virtual_mass_plant_X.png differ diff --git a/mat/conf_log.mat b/mat/conf_log.mat index 2920853..c7cb1fb 100644 Binary files a/mat/conf_log.mat and b/mat/conf_log.mat differ diff --git a/mat/conf_simscape.mat b/mat/conf_simscape.mat index 57aac0c..88fcee1 100644 Binary files a/mat/conf_simscape.mat and b/mat/conf_simscape.mat differ diff --git a/mat/controller.mat b/mat/controller.mat index 910eb56..49d28a8 100644 Binary files a/mat/controller.mat and b/mat/controller.mat differ diff --git a/mat/nass_disturbances.mat b/mat/nass_disturbances.mat index 4143c15..192ca75 100644 Binary files a/mat/nass_disturbances.mat and b/mat/nass_disturbances.mat differ diff --git a/mat/nass_references.mat b/mat/nass_references.mat index 03737ee..fae9a0f 100644 Binary files a/mat/nass_references.mat and b/mat/nass_references.mat differ diff --git a/org/control_virtual_mass.org b/org/control_virtual_mass.org index 37c61dc..85cef51 100644 --- a/org/control_virtual_mass.org +++ b/org/control_virtual_mass.org @@ -37,62 +37,66 @@ initializeController('type', 'hac-dvf'); #+end_src -We set the stiffness of the payload fixation: -#+begin_src matlab - Kp = 1e8; % [N/m] -#+end_src - -* Identification -** Identification of the transfer function from $\tau$ to $d\mathcal{L}$ -#+begin_src matlab - K = tf(zeros(6)); - Kdvf = tf(zeros(6)); -#+end_src - -We identify the system for the following payload masses: -#+begin_src matlab - Ms = [1, 10, 50]; -#+end_src - -#+begin_src matlab :exports none - Gm = {zeros(length(Ms), 1)}; -#+end_src - The nano-hexapod has the following leg's stiffness and damping. #+begin_src matlab initializeNanoHexapod('k', 1e5, 'c', 2e2); #+end_src +We set the stiffness of the payload fixation: +#+begin_src matlab + Kp = 1e8; % [N/m] +#+end_src + #+begin_src matlab :exports none + K = tf(zeros(6)); + Kdvf = tf(zeros(6)); +#+end_src + +* Identification +We identify the system for the following payload masses: +#+begin_src matlab + Ms = [1, 10, 50]; +#+end_src + +Identification of the transfer function from $\tau$ to $d\mathcal{L}$. +#+begin_src matlab :exports none + Gm = {zeros(length(Ms), 1)}; + %% Name of the Simulink File mdl = 'nass_model'; %% Input/Output definition clear io; io_i = 1; - io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs - io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Force Sensors -#+end_src + io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; + io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; -#+begin_src matlab :exports none for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization - G_dvf = linearize(mdl, io); - G_dvf.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; - G_dvf.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}; - Gm(i) = {G_dvf}; + G = linearize(mdl, io); + G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; + G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}; + Gm(i) = {G}; end #+end_src -** Identification of the Primary plant without virtual add of mass +Identification of the Primary plant without virtual add of mass #+begin_src matlab :exports none G_x = {zeros(length(Ms), 1)}; G_l = {zeros(length(Ms), 1)}; -#+end_src -#+begin_src matlab :exports none + load('mat/stages.mat', 'nano_hexapod'); + + %% Name of the Simulink File + mdl = 'nass_model'; + + %% Input/Output definition + clear io; io_i = 1; + io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs + io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror + for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); @@ -224,7 +228,7 @@ exportFig('figs/virtual_mass_loop_gain_L.pdf', 'width', 'full', 'height', 'full' %% Run the linearization G = linearize(mdl, io); - G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; + G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gx = -G*inv(nano_hexapod.J'); @@ -238,7 +242,7 @@ exportFig('figs/virtual_mass_loop_gain_L.pdf', 'width', 'full', 'height', 'full' #+end_src #+begin_src matlab :exports none - freqs = logspace(0, 3, 5000); + freqs = logspace(0, 3, 1000); figure; @@ -320,7 +324,7 @@ exportFig('figs/virtual_mass_L_primary_plant_X.pdf', 'width', 'full', 'height', [[file:figs/virtual_mass_L_primary_plant_X.png]] #+begin_src matlab :exports none - freqs = logspace(0, 3, 5000); + freqs = logspace(0, 3, 1000); figure; @@ -413,7 +417,7 @@ Let's look at the transfer function from $\bm{\mathcal{F}}$ to $d\bm{\mathcal{X} yticks([-360:90:360]); legend('location', 'northeast'); - ax1 = subplot(2, 2, 2); + ax3 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); @@ -423,7 +427,7 @@ Let's look at the transfer function from $\bm{\mathcal{F}}$ to $d\bm{\mathcal{X} set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); - ax2 = subplot(2, 2, 4); + ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); @@ -437,7 +441,7 @@ Let's look at the transfer function from $\bm{\mathcal{F}}$ to $d\bm{\mathcal{X} yticks([-360:90:360]); legend('location', 'northeast'); - linkaxes([ax1,ax2],'x'); + linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace @@ -476,9 +480,9 @@ exportFig('figs/virtual_mass_plant_X.pdf', 'width', 'full', 'height', 'full') end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); + ylabel('Loop Gain'); set(gca, 'XTickLabel',[]); - ax2 = subplot(2, 2, 3); + ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) LmX = GmX{i}*KmX; @@ -492,11 +496,11 @@ exportFig('figs/virtual_mass_plant_X.pdf', 'width', 'full', 'height', 'full') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); - ylim([-270, 90]); + ylim([-180, 180]); yticks([-360:90:360]); - legend('location', 'northeast'); + legend('location', 'southwest'); - ax1 = subplot(2, 2, 2); + ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) LmX = GmX{i}*KmX; @@ -505,9 +509,9 @@ exportFig('figs/virtual_mass_plant_X.pdf', 'width', 'full', 'height', 'full') end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); + ylabel('Loop Gain'); set(gca, 'XTickLabel',[]); - ax2 = subplot(2, 2, 4); + ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) LmX = GmX{i}*KmX; @@ -518,11 +522,11 @@ exportFig('figs/virtual_mass_plant_X.pdf', 'width', 'full', 'height', 'full') hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); - ylim([-270, 90]); + ylim([-180, 180]); yticks([-360:90:360]); - legend('location', 'northeast'); + legend('location', 'southwest'); - linkaxes([ax1,ax2],'x'); + linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace @@ -579,7 +583,7 @@ exportFig('figs/virtual_mass_loop_gain_X.pdf', 'width', 'full', 'height', 'full' #+end_src #+begin_src matlab :exports none - freqs = logspace(0, 3, 5000); + freqs = logspace(0, 3, 1000); figure; @@ -661,7 +665,7 @@ exportFig('figs/virtual_mass_X_primary_plant_X.pdf', 'width', 'full', 'height', [[file:figs/virtual_mass_X_primary_plant_X.png]] #+begin_src matlab :exports none - freqs = logspace(0, 3, 5000); + freqs = logspace(0, 3, 1000); figure;