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Implemented amplified actuators

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This commit is contained in:
Thomas Dehaeze
2020-05-20 16:41:34 +02:00
parent 945741a795
commit 1466105c77
24 changed files with 1370 additions and 727 deletions
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26
src/initializeNanoHexapod.m
View File

@@ -13,7 +13,13 @@ arguments
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
% initializeStrutDynamics
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz', 'amplified'})} = 'piezo'
args.k1 (1,1) double {mustBeNumeric} = 1e6
args.ke (1,1) double {mustBeNumeric} = 5e6
args.ka (1,1) double {mustBeNumeric} = 60e6
args.c1 (1,1) double {mustBeNumeric} = 10
args.ce (1,1) double {mustBeNumeric} = 10
args.ca (1,1) double {mustBeNumeric} = 10
args.k (1,1) double {mustBeNumeric} = -1
args.c (1,1) double {mustBeNumeric} = -1
% initializeJointDynamics
@@ -63,15 +69,23 @@ stewart = generateGeneralConfiguration(stewart, 'FH', args.FH, 'FR', args.FR, 'F
stewart = computeJointsPose(stewart);
if args.k > 0 && args.c > 0
stewart = initializeStrutDynamics(stewart, 'K', args.k*ones(6,1), 'C', args.c*ones(6,1));
stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', args.c*ones(6,1));
elseif args.k > 0
stewart = initializeStrutDynamics(stewart, 'K', args.k*ones(6,1), 'C', 1.5*sqrt(args.k)*ones(6,1));
stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', 1.5*sqrt(args.k)*ones(6,1));
elseif strcmp(args.actuator, 'piezo')
stewart = initializeStrutDynamics(stewart, 'K', 1e7*ones(6,1), 'C', 1e2*ones(6,1));
stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e7*ones(6,1), 'C', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'lorentz')
stewart = initializeStrutDynamics(stewart, 'K', 1e4*ones(6,1), 'C', 1e2*ones(6,1));
stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e4*ones(6,1), 'C', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'amplified')
stewart = initializeStrutDynamics(stewart, 'type', 'amplified', ...
'k1', args.k1*ones(6,1), ...
'c1', args.c1*ones(6,1), ...
'ka', args.ka*ones(6,1), ...
'ca', args.ca*ones(6,1), ...
'ke', args.ke*ones(6,1), ...
'ce', args.ce*ones(6,1));
else
error('args.actuator should be piezo or lorentz');
error('args.actuator should be piezo, lorentz or amplified');
end
stewart = initializeJointDynamics(stewart, ...

27
src/initializeStrutDynamics.m
View File

@@ -16,11 +16,36 @@ function [stewart] = initializeStrutDynamics(stewart, args)
arguments
stewart
args.type char {mustBeMember(args.type,{'classical', 'amplified'})} = 'classical'
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 20e6*ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e1*ones(6,1)
args.k1 (6,1) double {mustBeNumeric} = 1e6
args.ke (6,1) double {mustBeNumeric} = 5e6
args.ka (6,1) double {mustBeNumeric} = 60e6
args.c1 (6,1) double {mustBeNumeric} = 10
args.ce (6,1) double {mustBeNumeric} = 10
args.ca (6,1) double {mustBeNumeric} = 10
args.me (6,1) double {mustBeNumeric} = 0.05
args.ma (6,1) double {mustBeNumeric} = 0.05
end
stewart.actuators.type = 3;
if strcmp(args.type, 'classical')
stewart.actuators.type = 1;
elseif strcmp(args.type, 'amplified')
stewart.actuators.type = 2;
end
stewart.actuators.K = args.K;
stewart.actuators.C = args.C;
stewart.actuators.k1 = args.k1;
stewart.actuators.c1 = args.c1;
stewart.actuators.ka = args.ka;
stewart.actuators.ca = args.ca;
stewart.actuators.ke = args.ke;
stewart.actuators.ce = args.ce;
stewart.actuators.ma = args.ma;
stewart.actuators.me = args.me;