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Update the disturbance analysis

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Thomas Dehaeze
2019-12-13 16:40:46 +01:00
parent 73a3735f19
commit 27055d8f24
16 changed files with 224 additions and 288 deletions
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76
identification/index.html
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@@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-12-13 ven. 15:53 -->
<!-- 2019-12-13 ven. 16:25 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Identification</title>
@@ -283,17 +283,17 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgb8d5122">1. Some notes about the Simscape Model</a></li>
<li><a href="#orgc2a789d">2. Compare with measurements at the CoM of each element</a>
<li><a href="#orgb856d17">1. Some notes about the Simscape Model</a></li>
<li><a href="#orga0759cc">2. Compare with measurements at the CoM of each element</a>
<ul>
<li><a href="#orgf4fd5e0">2.1. Prepare the Simulation</a></li>
<li><a href="#org80db7e9">2.2. Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis</a></li>
<li><a href="#org93dc35e">2.3. Create a frame at the CoM of each solid body</a></li>
<li><a href="#org7b8b6f1">2.4. Identification of the dynamics of the Simscape Model</a></li>
<li><a href="#org45a93e8">2.5. Compare with measurements</a></li>
<li><a href="#org276f402">2.1. Prepare the Simulation</a></li>
<li><a href="#org58d4a0b">2.2. Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis</a></li>
<li><a href="#orgd1a401f">2.3. Create a frame at the CoM of each solid body</a></li>
<li><a href="#org938e5b4">2.4. Identification of the dynamics of the Simscape Model</a></li>
<li><a href="#org8b67645">2.5. Compare with measurements</a></li>
</ul>
</li>
<li><a href="#org75fd8be">3. Conclusion</a></li>
<li><a href="#org69d2afb">3. Conclusion</a></li>
</ul>
</div>
</div>
@@ -314,8 +314,8 @@ We can then compare the measured Frequency Response Functions with the identifie
Finally, this should help to tune the parameters of the model such that the dynamics is closer to the measured FRF.
</p>
<div id="outline-container-orgb8d5122" class="outline-2">
<h2 id="orgb8d5122"><span class="section-number-2">1</span> Some notes about the Simscape Model</h2>
<div id="outline-container-orgb856d17" class="outline-2">
<h2 id="orgb856d17"><span class="section-number-2">1</span> Some notes about the Simscape Model</h2>
<div class="outline-text-2" id="text-1">
<p>
The Simscape Model of the micro-station consists of several solid bodies:
@@ -341,17 +341,22 @@ Some of the springs and dampers values can be estimated from the joints/stages s
</div>
</div>
<div id="outline-container-orgc2a789d" class="outline-2">
<h2 id="orgc2a789d"><span class="section-number-2">2</span> Compare with measurements at the CoM of each element</h2>
<div id="outline-container-orga0759cc" class="outline-2">
<h2 id="orga0759cc"><span class="section-number-2">2</span> Compare with measurements at the CoM of each element</h2>
<div class="outline-text-2" id="text-2">
<p>
<a href="../../meas/modal-analysis/index.html">here</a>
</p>
</div>
<div id="outline-container-orgf4fd5e0" class="outline-3">
<h3 id="orgf4fd5e0"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div id="outline-container-org276f402" class="outline-3">
<h3 id="org276f402"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'identification/matlab/sim_micro_station_com.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre>
</div>
<p>
We load the configuration.
</p>
@@ -387,14 +392,9 @@ initializeSample<span class="org-rainbow-delimiters-depth-1">(</span>struct<span
</div>
</div>
<div id="outline-container-org80db7e9" class="outline-3">
<h3 id="org80db7e9"><span class="section-number-3">2.2</span> Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis</h3>
<div id="outline-container-org58d4a0b" class="outline-3">
<h3 id="org58d4a0b"><span class="section-number-3">2.2</span> Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'identification/matlab/sim_micro_station_com.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre>
</div>
<p>
Thanks to the <a href="https://fr.mathworks.com/help/physmod/sm/ref/inertiasensor.html">Inertia Sensor</a> simscape block, it is possible to estimate the position of the Center of Mass of a solid body with respect to a defined frame.
</p>
@@ -405,10 +405,10 @@ Thanks to the <a href="https://fr.mathworks.com/help/physmod/sm/ref/inertiasenso
</div>
<p>
The results are shown in the table <a href="#orgb162423">1</a>.
The results are shown in the table <a href="#orga7b7bb1">1</a>.
</p>
<table id="orgb162423" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orga7b7bb1" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Center of Mass of each solid body as defined in Simscape</caption>
<colgroup>
@@ -471,10 +471,10 @@ The results are shown in the table <a href="#orgb162423">1</a>.
</table>
<p>
We can compare the obtained center of mass (table <a href="#orgb162423">1</a>) with the one used for the Modal Analysis shown in table <a href="#org7f786a2">2</a>.
We can compare the obtained center of mass (table <a href="#orga7b7bb1">1</a>) with the one used for the Modal Analysis shown in table <a href="#org03ce6cf">2</a>.
</p>
<table id="org7f786a2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org03ce6cf" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Estimated Center of Mass of each solid body using Solidworks</caption>
<colgroup>
@@ -548,8 +548,8 @@ However, in SolidWorks, this has probably not be included with the top granite.
</div>
</div>
<div id="outline-container-org93dc35e" class="outline-3">
<h3 id="org93dc35e"><span class="section-number-3">2.3</span> Create a frame at the CoM of each solid body</h3>
<div id="outline-container-orgd1a401f" class="outline-3">
<h3 id="orgd1a401f"><span class="section-number-3">2.3</span> Create a frame at the CoM of each solid body</h3>
<div class="outline-text-3" id="text-2-3">
<p>
Now we use one <code>inertiasensor</code> block connected on each solid body that measured the center of mass of this solid with respect to the same connected frame.
@@ -652,8 +652,8 @@ Then, we use the obtained results to add a <code>rigidTransform</code> block in
</div>
</div>
<div id="outline-container-org7b8b6f1" class="outline-3">
<h3 id="org7b8b6f1"><span class="section-number-3">2.4</span> Identification of the dynamics of the Simscape Model</h3>
<div id="outline-container-org938e5b4" class="outline-3">
<h3 id="org938e5b4"><span class="section-number-3">2.4</span> Identification of the dynamics of the Simscape Model</h3>
<div class="outline-text-3" id="text-2-4">
<p>
We now use a new Simscape Model where 6DoF inertial sensors are located at the Center of Mass of each solid body.
@@ -720,8 +720,8 @@ In order to obtain a displacement, we divide the obtained transfer function by \
</div>
</div>
<div id="outline-container-org45a93e8" class="outline-3">
<h3 id="org45a93e8"><span class="section-number-3">2.5</span> Compare with measurements</h3>
<div id="outline-container-org8b67645" class="outline-3">
<h3 id="org8b67645"><span class="section-number-3">2.5</span> Compare with measurements</h3>
<div class="outline-text-3" id="text-2-5">
<p>
We now load the Frequency Response Functions measurements during the Modal Analysis (accessible <a href="../../meas/modal-analysis/index.html">here</a>).
@@ -738,7 +738,7 @@ We then compare the measurements with the identified transfer functions using th
</p>
<div id="org6215dd8" class="figure">
<div id="org568eba5" class="figure">
<p><img src="figs/identification_comp_bot_stages.png" alt="identification_comp_bot_stages.png" />
</p>
<p><span class="figure-number">Figure 1: </span>caption (<a href="./figs/identification_comp_bot_stages.png">png</a>, <a href="./figs/identification_comp_bot_stages.pdf">pdf</a>)</p>
@@ -746,7 +746,7 @@ We then compare the measurements with the identified transfer functions using th
<div id="org3a94e0d" class="figure">
<div id="orge5cc23c" class="figure">
<p><img src="figs/identification_comp_mid_stages.png" alt="identification_comp_mid_stages.png" />
</p>
<p><span class="figure-number">Figure 2: </span>caption (<a href="./figs/identification_comp_mid_stages.png">png</a>, <a href="./figs/identification_comp_mid_stages.pdf">pdf</a>)</p>
@@ -754,7 +754,7 @@ We then compare the measurements with the identified transfer functions using th
<div id="orgaf6f4aa" class="figure">
<div id="org23612c0" class="figure">
<p><img src="figs/identification_comp_top_stages.png" alt="identification_comp_top_stages.png" />
</p>
<p><span class="figure-number">Figure 3: </span>caption (<a href="./figs/identification_comp_top_stages.png">png</a>, <a href="./figs/identification_comp_top_stages.pdf">pdf</a>)</p>
@@ -764,8 +764,8 @@ We then compare the measurements with the identified transfer functions using th
</div>
<div id="outline-container-org75fd8be" class="outline-2">
<h2 id="org75fd8be"><span class="section-number-2">3</span> Conclusion</h2>
<div id="outline-container-org69d2afb" class="outline-2">
<h2 id="org69d2afb"><span class="section-number-2">3</span> Conclusion</h2>
<div class="outline-text-2" id="text-3">
<div class="important">
<p>
@@ -778,7 +778,7 @@ For such a complex system, we believe that the Simscape Model represents the dyn
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-12-13 ven. 15:53</p>
<p class="date">Created: 2019-12-13 ven. 16:25</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>

56
identification/index.org
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@@ -66,14 +66,34 @@ Finally, this should help to tune the parameters of the model such that the dyna
simulinkproject('../');
#+end_src
** Compute the transfer functions
We first define some parameters for the identification.
** Simscape Model
The simulink file for the identification is =sim_micro_station_id.slx=.
#+begin_src matlab
open('identification/matlab/sim_micro_station_id.slx')
#+end_src
We load the configuration and we set a small =StopTime=.
#+begin_src matlab
load('mat/conf_simscape.mat');
set_param(conf_simscape, 'StopTime', '0.5');
#+end_src
We initialize all the stages.
#+begin_src matlab
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod(struct('actuator', 'piezo'));
initializeSample(struct('mass', 50));
#+end_src
** Compute the transfer functions
We first define some parameters for the identification.
#+begin_src matlab
%% Options for Linearized
options = linearizeOptions;
@@ -132,10 +152,32 @@ save('./mat/id_micro_station.mat', 'G_ms');
#+end_src
** Simscape Model
The simulink file for the analysis is =sim_micro_station_modal_analysis.slx=.
#+begin_src matlab
open('identification/matlab/sim_micro_station_modal_analysis.slx')
#+end_src
We load the configuration and we set a small =StopTime=.
#+begin_src matlab
load('mat/conf_simscape.mat');
set_param(conf_simscape, 'StopTime', '0.5');
#+end_src
We initialize all the stages.
#+begin_src matlab
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod(struct('actuator', 'piezo'));
initializeSample(struct('mass', 50));
#+end_src
** Identification
#+begin_src matlab
%% Options for Linearized
options = linearizeOptions;
@@ -231,6 +273,10 @@ Some of the springs and dampers values can be estimated from the joints/stages s
#+end_src
** Prepare the Simulation
#+begin_src matlab
open('identification/matlab/sim_micro_station_com.slx')
#+end_src
We load the configuration.
#+begin_src matlab
load('mat/conf_simscape.mat');
@@ -256,10 +302,6 @@ We initialize all the stages.
#+end_src
** Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis
#+begin_src matlab
open('identification/matlab/sim_micro_station_com.slx')
#+end_src
Thanks to the [[https://fr.mathworks.com/help/physmod/sm/ref/inertiasensor.html][Inertia Sensor]] simscape block, it is possible to estimate the position of the Center of Mass of a solid body with respect to a defined frame.
#+begin_src matlab