[WIP] Change inputs.mat elements

Create new identification simulink

config.m

@@ -1,12 +1,3 @@
-%% Add folders to Matlab Path
-% addpath('./analysis/');
-% addpath('./control/');
-% addpath('./identification/');
-% addpath('./initialize/');
-% addpath('./src/');
-% addpath('./stewart-simscape/');
-% addpath('./active_damping/');
-
 %%
 freqs = logspace(-1, 3, 1000);
 save_fig = false;

identification/id_micro_station.m

@@ -11,21 +11,27 @@ options = linearizeOptions;
 options.SampleTime = 0;
 
 %% Name of the Simulink File
-mdl = 'sim_micro_station';
+mdl = 'simscape_id_micro_station';
 
 %% Micro-Hexapod
 % Input/Output definition
 io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
 io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
 io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
-io(4) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
+io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
+io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
+io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
 
 % Run the linearization
 G_ms = linearize(mdl, io, 0);
 
 % Input/Output names
-G_ms.InputName  = {'Fmx', 'Fmy', 'Fmz', 'Fgx', 'Fgy', 'Fgz'};
-G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', 'Dgx', 'Dgy', 'Dgz'};
+G_ms.InputName  = {'Fmx', 'Fmy', 'Fmz',...
+                   'Fgx', 'Fgy', 'Fgz'};
+G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
+                   'Tyx', 'Tyy', 'Tyz', ...
+                   'Ryx', 'Ryy', 'Ryz', ...
+                   'Dgx', 'Dgy', 'Dgz'};
 
 %% Save the obtained transfer functions
 save('./mat/id_micro_station.mat', 'G_ms');

identification/id_micro_station_comp_meas.m

@@ -23,7 +23,7 @@ figure;
 % Amplitude
 ax1 = subaxis(2,1,1);
 hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(G_ms('Dgx', 'Fgx'), freqs, 'Hz'))));
 plot(freqs, abs(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
 set(gca,'xscale','log'); set(gca,'yscale','log');
 ylabel('Amplitude [m/N]');
@@ -50,7 +50,7 @@ figure;
 % Amplitude
 ax1 = subaxis(2,1,1);
 hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
 plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
 set(gca,'xscale','log'); set(gca,'yscale','log');
 ylabel('Amplitude [m/N]');
@@ -60,7 +60,7 @@ hold off;
 % Phase
 ax2 = subaxis(2,1,2);
 hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fmz'), freqs, 'Hz'))));
+plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
 plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
 set(gca,'xscale','log');
 ylim([-180, 180]);
@@ -77,7 +77,7 @@ figure;
 % Amplitude
 ax1 = subaxis(2,1,1);
 hold on;
-plot(freqs, abs(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
 plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
 set(gca,'xscale','log'); set(gca,'yscale','log');
 ylabel('Amplitude [m/N]');
@@ -87,7 +87,7 @@ hold off;
 % Phase
 ax2 = subaxis(2,1,2);
 hold on;
-plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmz', 'Fgz'), freqs, 'Hz'))));
+plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
 plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
 set(gca,'xscale','log');
 ylim([-180, 180]);

init_data.m

@@ -3,16 +3,16 @@ clear; close all; clc;
 
 %% Initialize simulation configuration
 opts_sim = struct(...
-    'Tsim', 10 ...
+    'Tsim', 5 ...
 );
 
 initializeSimConf(opts_sim);
 
 %% Initialize Inputs
 opts_inputs = struct(...
-    'ground_motion', false, ...
+    'Dw', true, ...
     'ry', false, ...
-    'rz', false ...
+    'Rz', true ...
 );
 
 initializeInputs(opts_inputs);
@@ -50,11 +50,6 @@ initializeMirror(struct('shape', 'spherical'));
 %% Initialize Sample
 initializeSample(struct('mass', 20));
 
-%% Additionnal parameters
-d_granite_sample = 0.80073; % [m] Z-offset from the top of the granite to the point of interest
-
-save('./mat/simscape_data.mat', 'd_granite_sample');
-
 %% Controllers
 K = tf(zeros(6));
 save('./mat/controller.mat', 'K');

init_simulation.m

@@ -6,9 +6,6 @@ load('./mat/sim_conf.mat', 'sim_conf');
 %% Load SolidWorks Data
 load('./mat/solids.mat', 'solids');
 
-%% Load more data
-load('./mat/simscape_data.mat');
-
 %% Load data of each stage
 load('./mat/stages.mat', 'ground', 'granite', 'ty', 'ry', 'rz', 'micro_hexapod', 'axisc', 'nano_hexapod', 'mirror', 'sample');
 

initialize/initializeAxisc.m

@@ -1,4 +1,4 @@
-function [] = initializeAxisc()
+function [axisc] = initializeAxisc()
     %%
     axisc = struct();
 

initialize/initializeGround.m

@@ -1,8 +1,10 @@
-function [] = initializeGround()
+function [ground] = initializeGround()
     %%
     ground = struct();
 
-    ground.shape = [2, 2, 0.5]; % m
+    ground.shape = [2, 2, 0.5]; % [m]
+    ground.density = 2800; % [kg/m3]
+    ground.color = [0.5, 0.5, 0.5];
 
     %% Save
     save('./mat/stages.mat', 'ground', '-append');

initialize/initializeInputs.m

@@ -1,13 +1,13 @@
 function [inputs] = initializeInputs(opts_param)
     %% Default values for opts
-    opts = struct('setpoint',      false, ...
-                  'ground_motion', false, ...
-                  'ty',            false, ...
-                  'ry',            false, ...
-                  'rz',            false, ... % If numerical value, rpm speed of the spindle
-                  'u_hexa',        false, ...
-                  'mass',          false, ...
-                  'n_hexa',        false  ...
+    opts = struct('setpoint', false, ...
+                  'Dw',       false, ...
+                  'ty',       false, ...
+                  'ry',       false, ...
+                  'Rz',       false, ...
+                  'u_hexa',   false, ...
+                  'mass',     false, ...
+                  'n_hexa',   false  ...
     );
 
     %% Populate opts with input parameters
@@ -27,19 +27,19 @@ function [inputs] = initializeInputs(opts_param)
     inputs = struct();
 
     %% Ground motion
-    if islogical(opts.ground_motion) && opts.ground_motion == true
+    if islogical(opts.Dw) && opts.Dw == true
         load('./mat/weight_Wxg.mat', 'Wxg');
-        ground_motion = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
-        ground_motion(:, 1) = lsim(Wxg, ground_motion(:, 1), time_vector);
-        ground_motion(:, 2) = lsim(Wxg, ground_motion(:, 2), time_vector);
-        ground_motion(:, 3) = lsim(Wxg, ground_motion(:, 3), time_vector);
-    elseif islogical(opts.ground_motion) && opts.ground_motion == false
-        ground_motion = zeros(length(time_vector), 3);
+        Dw = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
+        Dw(:, 1) = lsim(Wxg, Dw(:, 1), time_vector);
+        Dw(:, 2) = lsim(Wxg, Dw(:, 2), time_vector);
+        Dw(:, 3) = lsim(Wxg, Dw(:, 3), time_vector);
+    elseif islogical(opts.Dw) && opts.Dw == false
+        Dw = zeros(length(time_vector), 3);
     else
-        ground_motion = opts.ground_motion;
+        Dw = opts.Dw;
     end
 
-    inputs.ground_motion = timeseries(ground_motion, time_vector);
+    inputs.Dw = timeseries(Dw, time_vector);
 
     %% Translation stage [m]
     if islogical(opts.ty) && opts.ty == true
@@ -64,17 +64,17 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ry = timeseries(ry, time_vector);
 
     %% Spindle [rad]
-    if islogical(opts.rz) && opts.rz == true
-        rz = 2*pi*0.5*time_vector;
-    elseif islogical(opts.rz) && opts.rz == false
-        rz = zeros(length(time_vector), 1);
-    elseif isnumeric(opts.rz) && length(opts.rz) == 1
-        rz = 2*pi*(opts.rz/60)*time_vector;
+    if islogical(opts.Rz) && opts.Rz == true
+        Rz = 2*pi*0.5*time_vector;
+    elseif islogical(opts.Rz) && opts.Rz == false
+        Rz = zeros(length(time_vector), 1);
+    elseif isnumeric(opts.Rz) && length(opts.Rz) == 1
+        Rz = 2*pi*(opts.Rz/60)*time_vector;
     else
-        rz = opts.rz;
+        Rz = opts.Rz;
     end
 
-    inputs.rz = timeseries(rz, time_vector);
+    inputs.Rz = timeseries(Rz, time_vector);
 
     %% Micro Hexapod
     if islogical(opts.u_hexa) && opts.setpoint == true
@@ -89,15 +89,15 @@ function [inputs] = initializeInputs(opts_param)
 
     %% Center of gravity compensation
     if islogical(opts.mass) && opts.setpoint == true
-        axisc = zeros(length(time_vector), 2);
+        Rm = zeros(length(time_vector), 2);
     elseif islogical(opts.mass) && opts.setpoint == false
-        axisc = zeros(length(time_vector), 2);
-        axisc(:, 2) = pi*ones(length(time_vector), 1);
+        Rm = zeros(length(time_vector), 2);
+        Rm(:, 2) = pi*ones(length(time_vector), 1);
     else
-        axisc = opts.mass;
+        Rm = opts.mass;
     end
 
-    inputs.axisc = timeseries(axisc, time_vector);
+    inputs.Rm = timeseries(Rm, time_vector);
 
     %% Nano Hexapod
     if islogical(opts.n_hexa) && opts.setpoint == true

initialize/initializeRy.m

@@ -1,13 +1,14 @@
-function [] = initializeRy()
+function [ry] = initializeRy()
     %%
     ry = struct();
 
     ry.m = 200; % [kg]
 
+    ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
+
     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.k.tilt = 1e4 ;    % Rotation stiffness around y [N*m/deg]
 
     ry.c.h    = 10*(1/5)*sqrt(ry.k.h/ry.m);
     ry.c.rad  = 10*(1/5)*sqrt(ry.k.rad/ry.m);

initialize/initializeRz.m

@@ -1,4 +1,4 @@
-function [] = initializeRz()
+function [rz] = initializeRz()
     %%
     rz = struct();
 
@@ -6,8 +6,8 @@ function [] = initializeRz()
 
     rz.k.ax   = 2e9; % Axial Stiffness [N/m]
     rz.k.rad  = 7e8; % Radial Stiffness [N/m]
-    rz.k.tilt = 1e2; % TODO [N*m/deg]
     rz.k.rot  = 1e2; % Rotational Stiffness [N*m/deg]
+    rz.k.tilt = 1e2; % TODO [N*m/deg]
 
     rz.c.ax   = 10*(1/5)*sqrt(rz.k.ax/rz.m);
     rz.c.rad  = 10*(1/5)*sqrt(rz.k.rad/rz.m);

initialize/initializeTy.m

@@ -4,8 +4,8 @@ function [ty] = initializeTy()
 
     ty.m = 250; % [kg]
 
-    ty.k.ax   = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
-    ty.k.rad  = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
+    ty.k.ax  = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+    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.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);