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Update the initialization functions

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This commit is contained in:
Thomas Dehaeze
2019-11-22 10:36:26 +01:00
parent 4a6a8ee0bc
commit 080996e579
14 changed files with 130 additions and 92 deletions
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34
src/initializeRy.m
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@@ -1,12 +1,12 @@
% Tilt Stage
% :PROPERTIES:
% :header-args:matlab+: :tangle src/initializeRy.m
% :header-args:matlab+: :tangle ../src/initializeRy.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeRy>>
% This Matlab function is accessible [[file:src/initializeRy.m][here]].
% This Matlab function is accessible [[file:../src/initializeRy.m][here]].
function [ry] = initializeRy(opts_param)
@@ -15,9 +15,9 @@ function [ry] = initializeRy(opts_param)
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
%%
@@ -41,23 +41,25 @@ function [ry] = initializeRy(opts_param)
ry.stage.color = [0.792 0.820 0.933];
ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
ry.m = 200; % TODO [kg]
ry.m = 800; % TODO [kg]
%% Tilt Stage - Dynamical Properties
if opts.rigid
ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
ry.k.h = 1e12; % Stiffness in the direction of the guidance [N/m]
ry.k.rad = 1e12; % Stiffness in the top direction [N/m]
ry.k.rrad = 1e12; % Stiffness in the side direction [N/m]
else
ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
ry.k.h = 1e8; % Stiffness in the direction of the guidance [N/m]
ry.k.rad = 1e8; % Stiffness in the top direction [N/m]
ry.k.rrad = 1e8; % Stiffness in the side direction [N/m]
end
ry.k.h = 357e6/4; % Stiffness in the direction of the guidance [N/m]
ry.k.rad = 555e6/4; % Stiffness in the top direction [N/m]
ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
ry.c.h = 10*(1/5)*sqrt(ry.k.h/ry.m);
ry.c.rad = 10*(1/5)*sqrt(ry.k.rad/ry.m);
ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m);
ry.c.h = 0.1*sqrt(ry.k.h*ry.m);
ry.c.rad = 0.1*sqrt(ry.k.rad*ry.m);
ry.c.rrad = 0.1*sqrt(ry.k.rrad*ry.m);
ry.c.tilt = 0.1*sqrt(ry.k.tilt*ry.m);
%% Positioning parameters
ry.z_offset = 0.58178; % Z-Offset so that the center of rotation matches the sample center [m]