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[WIP] Change inputs.mat elements

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Create new identification simulink
This commit is contained in:
Thomas Dehaeze
2018-10-12 18:17:03 +02:00
parent 782129a31d
commit 14259c7e67
26 changed files with 60 additions and 68 deletions
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Assemblage.slx
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Micro_Station.slx
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config.m
-9
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@@ -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
+10 -4
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@@ -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
+5 -5
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@@ -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]);
identification/sim_micro_station.slx
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identification/simscape_id_micro_station.slx
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init_data.m
+3 -8
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@@ -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
-3
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@@ -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 -1
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@@ -1,4 +1,4 @@
function [] = initializeAxisc()
function [axisc] = initializeAxisc()
%%
axisc = struct();
initialize/initializeGround.m
+4 -2
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@@ -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
+30 -30
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@@ -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
+3 -2
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@@ -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
+2 -2
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@@ -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
+2 -2
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@@ -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);
mat/K_iff.mat
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mat/config.mat
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mat/controller.mat
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mat/id_micro_station.mat
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mat/inputs.mat
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mat/sim_conf.mat
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mat/simscape_data.mat
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mat/solids.mat
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mat/stages.mat
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mat/weight_Wxg.mat
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micro_station_test.slx
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