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Update stiffness of Ty stage. Add init of Cedrat actuator

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Thomas Dehaeze
2019-11-22 10:39:08 +01:00
parent 080996e579
commit 0ed2768295
4 changed files with 355 additions and 247 deletions
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66
src/identifyPlant.m
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@@ -1,12 +1,12 @@
% identifyPlant
% :PROPERTIES:
% :header-args:matlab+: :tangle src/identifyPlant.m
% :header-args:matlab+: :tangle ../src/identifyPlant.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:identifyPlant>>
% This Matlab function is accessible [[file:src/identifyPlant.m][here]].
% This Matlab function is accessible [[file:../src/identifyPlant.m][here]].
function [sys] = identifyPlant(opts_param)
@@ -28,37 +28,63 @@ function [sys] = identifyPlant(opts_param)
mdl = 'sim_nano_station_id';
%% Input/Output definition
io(1) = linio([mdl, '/Fn'], 1, 'input'); % Cartesian forces applied by NASS
io(2) = linio([mdl, '/Dw'], 1, 'input'); % Ground Motion
io(3) = linio([mdl, '/Fs'], 1, 'input'); % External forces on the sample
io(4) = linio([mdl, '/Fnl'], 1, 'input'); % Forces applied on the NASS's legs
io(5) = linio([mdl, '/Dsm'], 1, 'output'); % Displacement of the sample
io(6) = linio([mdl, '/Fnlm'], 1, 'output'); % Force sensor in NASS's legs
io(7) = linio([mdl, '/Dnlm'], 1, 'output'); % Displacement of NASS's legs
io(8) = linio([mdl, '/Es'], 1, 'output'); % Position Error w.r.t. NASS base
io(1) = linio([mdl, '/Fn'], 1, 'input'); % Cartesian forces applied by NASS
io(2) = linio([mdl, '/Dw'], 1, 'input'); % Ground Motion
io(3) = linio([mdl, '/Fs'], 1, 'input'); % External forces on the sample
io(4) = linio([mdl, '/Fnl'], 1, 'input'); % Forces applied on the NASS's legs
io(5) = linio([mdl, '/Fd'], 1, 'input'); % Disturbance Forces
io(6) = linio([mdl, '/Dsm'], 1, 'output'); % Displacement of the sample
io(7) = linio([mdl, '/Fnlm'], 1, 'output'); % Force sensor in NASS's legs
io(8) = linio([mdl, '/Dnlm'], 1, 'output'); % Displacement of NASS's legs
io(9) = linio([mdl, '/Es'], 1, 'output'); % Position Error w.r.t. NASS base
io(10) = linio([mdl, '/Vlm'], 1, 'output'); % Measured absolute velocity of the legs
%% Run the linearization
G = linearize(mdl, io, 0);
G = linearize(mdl, io, options);
G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz', ...
'Dgx', 'Dgy', 'Dgz', ...
'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz', ...
'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
'F1', 'F2', 'F3', 'F4', 'F5', 'F6', ...
'Frzz', 'Ftyx', 'Ftyz'};
G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', ...
'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6', ...
'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', ...
'Edx', 'Rdy', 'Edz', 'Erx', 'Ery', 'Erz'};
'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz', ...
'Vm1', 'Vm2', 'Vm3', 'Vm4', 'Vm5', 'Vm6'};
%% Create the sub transfer functions
minreal_tol = sqrt(eps);
% From forces applied in the cartesian frame to displacement of the sample in the cartesian frame
sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}), minreal_tol, false);
% From ground motion to Sample displacement
sys.G_gm = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}));
sys.G_gm = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}), minreal_tol, false);
% From direct forces applied on the sample to displacement of the sample
sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz'}));
sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz'}), minreal_tol, false);
% From forces applied on NASS's legs to force sensor in each leg
sys.G_iff = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
sys.G_iff = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), minreal_tol, false);
% From forces applied on NASS's legs to displacement of each leg
sys.G_dleg = minreal(G({'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
% From forces applied on NASS's legs to displacement of each leg
sys.G_plant = minreal(G({'Edx', 'Rdy', 'Edz', 'Erx', 'Ery', 'Erz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
sys.G_dleg = minreal(G({'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), minreal_tol, false);
% From forces/torques applied by the NASS to position error
sys.G_plant = minreal(G({'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}), minreal_tol, false);
% From forces/torques applied by the NASS to velocity of the actuator
sys.G_geoph = minreal(G({'Vm1', 'Vm2', 'Vm3', 'Vm4', 'Vm5', 'Vm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), minreal_tol, false);
% From various disturbance forces to position error
sys.G_dist = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Frzz', 'Ftyx', 'Ftyz'}), minreal_tol, false);
%% We remove low frequency and high frequency dynamics that are usually unstable
% using =freqsep= is risky as it may change the shape of the transfer functions
% f_min = 0.1; % [Hz]
% f_max = 1e4; % [Hz]
% [~, sys.G_cart] = freqsep(freqsep(sys.G_cart, 2*pi*f_max), 2*pi*f_min);
% [~, sys.G_gm] = freqsep(freqsep(sys.G_gm, 2*pi*f_max), 2*pi*f_min);
% [~, sys.G_fs] = freqsep(freqsep(sys.G_fs, 2*pi*f_max), 2*pi*f_min);
% [~, sys.G_iff] = freqsep(freqsep(sys.G_iff, 2*pi*f_max), 2*pi*f_min);
% [~, sys.G_dleg] = freqsep(freqsep(sys.G_dleg, 2*pi*f_max), 2*pi*f_min);
% [~, sys.G_plant] = freqsep(freqsep(sys.G_plant, 2*pi*f_max), 2*pi*f_min);
%% We finally verify that the system is stable
if ~isstable(sys.G_cart) || ~isstable(sys.G_gm) || ~isstable(sys.G_fs) || ~isstable(sys.G_iff) || ~isstable(sys.G_dleg) || ~isstable(sys.G_plant)
warning('One of the identified system is unstable');
end
end

2
src/initializeTy.m
View File

@@ -68,7 +68,7 @@ function [ty] = initializeTy(opts_param)
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 = 5e7; % Axial Stiffness for each of the 4 guidance (y) [N/m]
ty.k.ax = 5e8; % 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