Update the initialization functions

src/initializeAxisc.m

@@ -1,12 +1,12 @@
 % Center of gravity compensation
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeAxisc.m
+%   :header-args:matlab+: :tangle ../src/initializeAxisc.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeAxisc>>
 
-% This Matlab function is accessible [[file:src/initializeAxisc.m][here]].
+% This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
 
 
 function [axisc] = initializeAxisc()
@@ -34,8 +34,8 @@ function [axisc] = initializeAxisc()
     axisc.m      = 40; % TODO [kg]
 
     %% Axis Compensator - Dynamical Properties
-    axisc.k.ax   = 1; % TODO [N*m/deg)]
+    % axisc.k.ax   = 1; % TODO [N*m/deg)]
-    axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);
+    % axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);
 
     %% Save
     save('./mat/stages.mat', 'axisc', '-append');

src/initializeCedratPiezo.m

@@ -25,8 +25,8 @@ function [cedrat] = initializeCedratPiezo(opts_param)
   cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m]
   cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m]
 
-  cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)]
+  cedrat.c = 0.1*sqrt(50*cedrat.k); % [N/(m/s)]
-  cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)]
+  cedrat.ca = 0.1*sqrt(50*cedrat.ka); % [N/(m/s)]
 
   cedrat.L = 80; % Total Width of the Actuator[mm]
   cedrat.H = 45; % Total Height of the Actuator [mm]

src/initializeExperiment.m

@@ -1,12 +1,12 @@
 % Experiment
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeExperiment.m
+%   :header-args:matlab+: :tangle ../src/initializeExperiment.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeExperiment>>
 
-% This Matlab function is accessible [[file:src/initializeExperiment.m][here]].
+% This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
 
 
 function [] = initializeExperiment(exp_name, sys_mass)

src/initializeGranite.m

@@ -1,34 +1,60 @@
 % Granite
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeGranite.m
+%   :header-args:matlab+: :tangle ../src/initializeGranite.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeGranite>>
 
-% This Matlab function is accessible [[file:src/initializeGranite.m][here]].
+% This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
 
 
-function [granite] = initializeGranite()
+function [granite] = initializeGranite(opts_param)
+    %% Default values for opts
+    opts = struct('rigid', false);
+
+    %% Populate opts with input parameters
+    if exist('opts_param','var')
+      for opt = fieldnames(opts_param)'
+        opts.(opt{1}) = opts_param.(opt{1});
+      end
+    end
+
     %%
     granite = struct();
 
     %% Static Properties
     granite.density = 2800; % [kg/m3]
-    granite.volume  = 0.72; % [m3] TODO - should
+    granite.volume  = 0.749; % [m3] TODO - should
     granite.mass    = granite.density*granite.volume; % [kg]
     granite.color   = [1 1 1];
     granite.STEP    = './STEPS/granite/granite.STEP';
 
+    granite.mass_top = 4000; % [kg] TODO
+
     %% Dynamical Properties
-    granite.k.x = 1e8; % [N/m]
+    if opts.rigid
-    granite.c.x = 1e4; % [N/(m/s)]
+      granite.k.x = 1e12; % [N/m]
+      granite.k.y = 1e12; % [N/m]
+      granite.k.z = 1e12; % [N/m]
+      granite.k.rx = 1e10; % [N*m/deg]
+      granite.k.ry = 1e10; % [N*m/deg]
+      granite.k.rz = 1e10; % [N*m/deg]
+    else
+      granite.k.x = 4e9; % [N/m]
+      granite.k.y = 3e8; % [N/m]
+      granite.k.z = 8e8; % [N/m]
+      granite.k.rx = 1e4; % [N*m/deg]
+      granite.k.ry = 1e4; % [N*m/deg]
+      granite.k.rz = 1e6; % [N*m/deg]
+    end
 
-    granite.k.y = 1e8; % [N/m]
+    granite.c.x = 0.1*sqrt(granite.mass_top*granite.k.x); % [N/(m/s)]
-    granite.c.y = 1e4; % [N/(m/s)]
+    granite.c.y = 0.1*sqrt(granite.mass_top*granite.k.y); % [N/(m/s)]
-
+    granite.c.z = 0.5*sqrt(granite.mass_top*granite.k.z); % [N/(m/s)]
-    granite.k.z = 1e8; % [N/m]
+    granite.c.rx = 0.1*sqrt(granite.mass_top*granite.k.rx); % [N*m/(deg/s)]
-    granite.c.z = 1e4; % [N/(m/s)]
+    granite.c.ry = 0.1*sqrt(granite.mass_top*granite.k.ry); % [N*m/(deg/s)]
+    granite.c.rz = 0.1*sqrt(granite.mass_top*granite.k.rz); % [N*m/(deg/s)]
 
     %% Positioning parameters
     granite.sample_pos = 0.8; % Z-offset for the initial position of the sample [m]

src/initializeGround.m

@@ -1,12 +1,12 @@
 % Ground
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeGround.m
+%   :header-args:matlab+: :tangle ../src/initializeGround.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeGround>>
 
-% This Matlab function is accessible [[file:src/initializeGround.m][here]].
+% This Matlab function is accessible [[file:../src/initializeGround.m][here]].
 
 
 function [ground] = initializeGround()

src/initializeInputs.m

@@ -1,12 +1,12 @@
 % Inputs
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeInputs.m
+%   :header-args:matlab+: :tangle ../src/initializeInputs.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeInputs>>
 
-% This Matlab function is accessible [[file:src/initializeInputs.m][here]].
+% This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
 
 
 function [inputs] = initializeInputs(opts_param)

src/initializeMicroHexapod.m

@@ -1,29 +1,28 @@
 % Micro Hexapod
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeMicroHexapod.m
+%   :header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeMicroHexapod>>
 
-% This Matlab function is accessible [[file:src/initializeMicroHexapod.m][here]].
+% This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]].
 
 
 function [micro_hexapod] = initializeMicroHexapod(opts_param)
     %% Default values for opts
-    opts = struct();
+    opts = struct('rigid', false);
 
     %% Populate opts with input parameters
     if exist('opts_param','var')
-        for opt = fieldnames(opts_param)'
+      for opt = fieldnames(opts_param)'
-            opts.(opt{1}) = opts_param.(opt{1});
+        opts.(opt{1}) = opts_param.(opt{1});
-        end
+      end
     end
 
     %% Stewart Object
     micro_hexapod = struct();
     micro_hexapod.h        = 350; % Total height of the platform [mm]
-%     micro_hexapod.jacobian = 269.26; % Distance from the top platform to the Jacobian point [mm]
     micro_hexapod.jacobian = 270; % Distance from the top platform to the Jacobian point [mm]
 
     %% Bottom Plate - Mechanical Design
@@ -54,8 +53,12 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
     Leg = struct();
 
     Leg.stroke     = 10e-3; % Maximum Stroke of each leg [m]
-    Leg.k.ax       = 5e7;   % Stiffness of each leg [N/m]
+    if opts.rigid
-    Leg.ksi.ax     = 3;     % Maximum amplification at resonance []
+      Leg.k.ax     = 1e12; % Stiffness of each leg [N/m]
+    else
+      Leg.k.ax     = 2e7; % Stiffness of each leg [N/m]
+    end
+    Leg.ksi.ax     = 0.1;     % Modal damping ksi = 1/2*c/sqrt(km) []
     Leg.rad.bottom = 25;    % Radius of the cylinder of the bottom part [mm]
     Leg.rad.top    = 17;    % Radius of the cylinder of the top part [mm]
     Leg.density    = 8000;  % Density of the material [kg/m^3]
@@ -106,10 +109,10 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
 
     %%
     function [element] = updateDamping(element)
-        field = fieldnames(element.k);
+      field = fieldnames(element.k);
-        for i = 1:length(field)
+      for i = 1:length(field)
-            element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
+        element.c.(field{i}) = 2*element.ksi.(field{i})*sqrt(element.k.(field{i})*element.m);
-        end
+      end
     end
 
     %%

src/initializeMirror.m

@@ -1,12 +1,12 @@
 % Mirror
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeMirror.m
+%   :header-args:matlab+: :tangle ../src/initializeMirror.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeMirror>>
 
-% This Matlab function is accessible [[file:src/initializeMirror.m][here]].
+% This Matlab function is accessible [[file:../src/initializeMirror.m][here]].
 
 
 function [] = initializeMirror(opts_param)

src/initializeNanoHexapod.m

@@ -1,12 +1,12 @@
 % Nano Hexapod
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeNanoHexapod.m
+%   :header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeNanoHexapod>>
 
-% This Matlab function is accessible [[file:src/initializeNanoHexapod.m][here]].
+% This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]].
 
 
 function [nano_hexapod] = initializeNanoHexapod(opts_param)
@@ -85,7 +85,7 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
     SP.color.bottom   = [0.7 0.7 0.7]; % [rgb]
     SP.color.top      = [0.7 0.7 0.7]; % [rgb]
     SP.k.ax           = 0; % [N*m/deg]
-    SP.ksi.ax         = 3;
+    SP.ksi.ax         = 0;
 
     SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
     SP.thickness.top    = SP.height.top-Leg.sphere.top; % [mm]
@@ -115,7 +115,11 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
     function [element] = updateDamping(element)
         field = fieldnames(element.k);
         for i = 1:length(field)
-            element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
+            if element.ksi.(field{i}) > 0
+              element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
+            else
+              element.c.(field{i}) = 0;
+            end
         end
     end
 

src/initializeRy.m

@@ -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)'
+      for opt = fieldnames(opts_param)'
-            opts.(opt{1}) = opts_param.(opt{1});
+        opts.(opt{1}) = opts_param.(opt{1});
-        end
+      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.c.h    = 0.1*sqrt(ry.k.h*ry.m);
-    ry.k.rad  = 555e6/4; % Stiffness in the top direction [N/m]
+    ry.c.rad  = 0.1*sqrt(ry.k.rad*ry.m);
-    ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
+    ry.c.rrad = 0.1*sqrt(ry.k.rrad*ry.m);
-
+    ry.c.tilt = 0.1*sqrt(ry.k.tilt*ry.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);
 
     %% Positioning parameters
     ry.z_offset = 0.58178; % Z-Offset so that the center of rotation matches the sample center [m]

src/initializeRz.m

@@ -1,12 +1,12 @@
 % Spindle
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeRz.m
+%   :header-args:matlab+: :tangle ../src/initializeRz.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeRz>>
 
-% This Matlab function is accessible [[file:src/initializeRz.m][here]].
+% This Matlab function is accessible [[file:../src/initializeRz.m][here]].
 
 
 function [rz] = initializeRz(opts_param)
@@ -15,9 +15,9 @@ function [rz] = initializeRz(opts_param)
 
     %% Populate opts with input parameters
     if exist('opts_param','var')
-        for opt = fieldnames(opts_param)'
+      for opt = fieldnames(opts_param)'
-            opts.(opt{1}) = opts_param.(opt{1});
+        opts.(opt{1}) = opts_param.(opt{1});
-        end
+      end
     end
 
     %%
@@ -41,22 +41,24 @@ function [rz] = initializeRz(opts_param)
     rz.m = 250; % [kg]
 
     %% Spindle - Dynamical Properties
-    % Estimated stiffnesses
-    rz.k.ax   = 2e9; % Axial Stiffness [N/m]
-    rz.k.rad  = 7e8; % Radial Stiffness [N/m]
-    rz.k.rot  = 100e6*2*pi/360; % Rotational Stiffness [N*m/deg]
 
     if opts.rigid
-        rz.k.tilt = 1e10; % Vertical Rotational Stiffness [N*m/deg]
+      rz.k.rot  = 1e10; % Rotational Stiffness (Rz) [N*m/deg]
+      rz.k.tilt = 1e10; % Rotational Stiffness (Rx, Ry) [N*m/deg]
+      rz.k.ax   = 1e12; % Axial Stiffness (Z) [N/m]
+      rz.k.rad  = 1e12; % Radial Stiffness (X, Y) [N/m]
     else
-        rz.k.tilt = 1e2; % TODO what value should I put? [N*m/deg]
+      rz.k.rot  = 1e6; % TODO - Rotational Stiffness (Rz) [N*m/deg]
+      rz.k.tilt = 1e6; % Rotational Stiffness (Rx, Ry) [N*m/deg]
+      rz.k.ax   = 2e9; % Axial Stiffness (Z) [N/m]
+      rz.k.rad  = 7e8; % Radial Stiffness (X, Y) [N/m]
     end
 
-    % TODO
+    % Damping
-    rz.c.ax   = 2*sqrt(rz.k.ax/rz.m);
+    rz.c.ax   = 0.1*sqrt(rz.k.ax*rz.m);
-    rz.c.rad  = 2*sqrt(rz.k.rad/rz.m);
+    rz.c.rad  = 0.1*sqrt(rz.k.rad*rz.m);
-    rz.c.tilt = 100*sqrt(rz.k.tilt/rz.m);
+    rz.c.tilt = 0.1*sqrt(rz.k.tilt*rz.m);
-    rz.c.rot  = 100*sqrt(rz.k.rot/rz.m);
+    rz.c.rot  = 0.1*sqrt(rz.k.rot*rz.m);
 
     %% Save
     save('./mat/stages.mat', 'rz', '-append');

src/initializeSample.m

@@ -1,12 +1,12 @@
 % Sample
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeSample.m
+%   :header-args:matlab+: :tangle ../src/initializeSample.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeSample>>
 
-% This Matlab function is accessible [[file:src/initializeSample.m][here]].
+% This Matlab function is accessible [[file:../src/initializeSample.m][here]].
 
 
 function [sample] = initializeSample(opts_param)
@@ -27,13 +27,13 @@ function [sample] = initializeSample(opts_param)
 
     %%
     sample.k.x = 1e8;
-    sample.c.x = sqrt(sample.k.x*sample.mass)/10;
+    sample.c.x = 0.1*sqrt(sample.k.x*sample.mass);
 
     sample.k.y = 1e8;
-    sample.c.y = sqrt(sample.k.y*sample.mass)/10;
+    sample.c.y = 0.1*sqrt(sample.k.y*sample.mass);
 
     sample.k.z = 1e8;
-    sample.c.z = sqrt(sample.k.y*sample.mass)/10;
+    sample.c.z = 0.1*sqrt(sample.k.z*sample.mass);
 
     %% Save
     save('./mat/stages.mat', 'sample', '-append');

src/initializeSimConf.m

@@ -1,12 +1,12 @@
 % Simulation Configuration
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeSimConf.m
+%   :header-args:matlab+: :tangle ../src/initializeSimConf.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeSimConf>>
 
-% This Matlab function is accessible [[file:src/initializeSimConf.m][here]].
+% This Matlab function is accessible [[file:../src/initializeSimConf.m][here]].
 
 
 function [] = initializeSimConf(opts_param)

src/initializeTy.m

@@ -1,12 +1,12 @@
 % Translation Stage
 %   :PROPERTIES:
-%   :header-args:matlab+: :tangle src/initializeTy.m
+%   :header-args:matlab+: :tangle ../src/initializeTy.m
 %   :header-args:matlab+: :comments org :mkdirp yes
 %   :header-args:matlab+: :eval no :results none
 %   :END:
 %   <<sec:initializeTy>>
 
-% This Matlab function is accessible [[file:src/initializeTy.m][here]].
+% This Matlab function is accessible [[file:../src/initializeTy.m][here]].
 
 
 function [ty] = initializeTy(opts_param)
@@ -15,9 +15,9 @@ function [ty] = initializeTy(opts_param)
 
     %% Populate opts with input parameters
     if exist('opts_param','var')
-        for opt = fieldnames(opts_param)'
+      for opt = fieldnames(opts_param)'
-            opts.(opt{1}) = opts_param.(opt{1});
+        opts.(opt{1}) = opts_param.(opt{1});
-        end
+      end
     end
 
     %%
@@ -61,18 +61,19 @@ function [ty] = initializeTy(opts_param)
     ty.rotor.color           = [0.792 0.820 0.933];
     ty.rotor.STEP            = './STEPS/ty/Ty_Motor_Rotor.STEP';
 
-    ty.m = 250; % TODO [kg]
+    ty.m = 1000; % TODO [kg]
 
     %% Y-Translation - Dynamicals Properties
     if opts.rigid
-        ty.k.ax  = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+      ty.k.ax  = 1e12; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+      ty.k.rad = 1e12; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
     else
-        ty.k.ax  = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+      ty.k.ax  = 5e7; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+      ty.k.rad = 5e7; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
     end
-    ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
 
-    ty.c.ax  = 100*(1/5)*sqrt(ty.k.ax/ty.m);
+    ty.c.ax  = 0.1*sqrt(ty.k.ax*ty.m);
-    ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);
+    ty.c.rad = 0.1*sqrt(ty.k.rad*ty.m);
 
     %% Save
     save('./mat/stages.mat', 'ty', '-append');