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Add rotational stiffness to the sample

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Thomas Dehaeze 2020-03-30 17:39:40 +02:00
parent b9e900d410
commit 013cb67a26
3 changed files with 41 additions and 8 deletions
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matlab/nass_model.slx
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31
org/simscape_subsystems.org
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@ -1359,7 +1359,7 @@ The Simscape model of the sample environment is composed of:
args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m]
args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m]
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] args.freq (6,1) double {mustBeNumeric, mustBePositive} = 100*ones(6,1) % [Hz]
args.offset (1,1) double {mustBeNumeric} = 0 % [m] args.offset (1,1) double {mustBeNumeric} = 0 % [m]
args.Foffset logical {mustBeNumericOrLogical} = false args.Foffset logical {mustBeNumericOrLogical} = false
end end
@ -1404,14 +1404,37 @@ We define the geometrical parameters of the sample as well as its mass and posit
sample.offset = args.offset; % [m] sample.offset = args.offset; % [m]
#+end_src #+end_src
** Compute the Inertia
:PROPERTIES:
:UNNUMBERED: t
:END:
#+begin_src matlab
sample.inertia = [1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
1/2 * sample.mass * sample.radius^2];
#+end_src
** Stiffness and Damping properties ** Stiffness and Damping properties
:PROPERTIES: :PROPERTIES:
:UNNUMBERED: t :UNNUMBERED: t
:END: :END:
#+begin_src matlab #+begin_src matlab
sample.K = ones(3,1) * sample.mass * (2*pi * args.freq)^2; % [N/m] sample.K = zeros(6, 1);
sample.C = 0.1 * sqrt(sample.K*sample.mass); % [N/(m/s)] sample.C = zeros(6, 1);
#+end_src
Translation Stiffness and Damping:
#+begin_src matlab
sample.K(1:3) = sample.mass .* (2*pi * args.freq(1:3)).^2; % [N/m]
sample.C(1:3) = 0.1 * sqrt(sample.K(1:3)*sample.mass); % [N/(m/s)]
#+end_src
Rotational Stiffness and Damping:
#+begin_src matlab
sample.K(4:6) = sample.inertia .* (2*pi * args.freq(4:6)).^2; % [N/m]
sample.C(4:6) = 0.1 * sqrt(sample.K(4:6).*sample.inertia); % [N/(m/s)]
#+end_src #+end_src
** Equilibrium position of the each joint. ** Equilibrium position of the each joint.
@ -1424,7 +1447,7 @@ We define the geometrical parameters of the sample as well as its mass and posit
load('mat/Foffset.mat', 'Fsm'); load('mat/Foffset.mat', 'Fsm');
sample.Deq = -Fsm'./sample.K; sample.Deq = -Fsm'./sample.K;
else else
sample.Deq = zeros(3,1); sample.Deq = zeros(6,1);
end end
#+end_src #+end_src

18
src/initializeSample.m
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@ -5,7 +5,7 @@ arguments
args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m]
args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m]
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] args.freq (6,1) double {mustBeNumeric, mustBePositive} = 100*ones(6,1) % [Hz]
args.offset (1,1) double {mustBeNumeric} = 0 % [m] args.offset (1,1) double {mustBeNumeric} = 0 % [m]
args.Foffset logical {mustBeNumericOrLogical} = false args.Foffset logical {mustBeNumericOrLogical} = false
end end
@ -28,14 +28,24 @@ sample.height = args.height; % [m]
sample.mass = args.mass; % [kg] sample.mass = args.mass; % [kg]
sample.offset = args.offset; % [m] sample.offset = args.offset; % [m]
sample.K = ones(3,1) * sample.mass * (2*pi * args.freq)^2; % [N/m] sample.inertia = [1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
sample.C = 0.1 * sqrt(sample.K*sample.mass); % [N/(m/s)] 1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
1/2 * sample.mass * sample.radius^2];
sample.K = zeros(6, 1);
sample.C = zeros(6, 1);
sample.K(1:3) = sample.mass .* (2*pi * args.freq(1:3)).^2; % [N/m]
sample.C(1:3) = 0.1 * sqrt(sample.K(1:3)*sample.mass); % [N/(m/s)]
sample.K(4:6) = sample.inertia .* (2*pi * args.freq(4:6)).^2; % [N/m]
sample.C(4:6) = 0.1 * sqrt(sample.K(4:6).*sample.inertia); % [N/(m/s)]
if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
load('mat/Foffset.mat', 'Fsm'); load('mat/Foffset.mat', 'Fsm');
sample.Deq = -Fsm'./sample.K; sample.Deq = -Fsm'./sample.K;
else else
sample.Deq = zeros(3,1); sample.Deq = zeros(6,1);
end end
save('./mat/stages.mat', 'sample', '-append'); save('./mat/stages.mat', 'sample', '-append');