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Add custom stiffness and damping to the n-hexapod

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Thomas Dehaeze 2020-04-02 15:29:22 +02:00
parent 8fdb9f86c7
commit 295ba8bca1
4 changed files with 25 additions and 3 deletions
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mat/optimal_stiffness_Gk_wz.mat Normal file
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mat/optimal_stiffness_Gm_Gf.mat Normal file
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org/simscape_subsystems.org
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@ -1242,6 +1242,8 @@ The =mirror= structure is saved.
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180) args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
% initializeStrutDynamics % initializeStrutDynamics
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo' args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
args.k (1,1) double {mustBeNumeric} = -1
args.c (1,1) double {mustBeNumeric} = -1
% initializeCylindricalPlatforms % initializeCylindricalPlatforms
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1 args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
@ -1274,13 +1276,23 @@ The =mirror= structure is saved.
nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B); nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh); nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
nano_hexapod = computeJointsPose(nano_hexapod); nano_hexapod = computeJointsPose(nano_hexapod);
if strcmp(args.actuator, 'piezo') #+end_src
#+begin_src matlab
if args.k > 0 && args.c > 0
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', args.c*ones(6,1));
elseif args.k > 0
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', 1.5*sqrt(args.k)*ones(6,1));
elseif strcmp(args.actuator, 'piezo')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1)); nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'lorentz') elseif strcmp(args.actuator, 'lorentz')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1)); nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
else else
error('args.actuator should be piezo or lorentz'); error('args.actuator should be piezo or lorentz');
end end
#+end_src
#+begin_src matlab
nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr); nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr); nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
nano_hexapod = computeJacobian(nano_hexapod); nano_hexapod = computeJacobian(nano_hexapod);
@ -1494,7 +1506,7 @@ The =sample= structure is saved.
:END: :END:
#+begin_src matlab #+begin_src matlab
arguments arguments
args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff'})} = 'open-loop' args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
end end
#+end_src #+end_src
@ -1529,6 +1541,8 @@ First, we initialize the =controller= structure.
controller.type = 7; controller.type = 7;
case 'hac-iff' case 'hac-iff'
controller.type = 8; controller.type = 8;
case 'stabilizing'
controller.type = 9;
end end
#+end_src #+end_src

10
src/initializeNanoHexapod.m
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@ -14,6 +14,8 @@ arguments
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180) args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
% initializeStrutDynamics % initializeStrutDynamics
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo' args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
args.k (1,1) double {mustBeNumeric} = -1
args.c (1,1) double {mustBeNumeric} = -1
% initializeCylindricalPlatforms % initializeCylindricalPlatforms
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1 args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
@ -40,13 +42,19 @@ end
nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B); nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh); nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
nano_hexapod = computeJointsPose(nano_hexapod); nano_hexapod = computeJointsPose(nano_hexapod);
if strcmp(args.actuator, 'piezo')
if args.k > 0 && args.c > 0
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', args.c*ones(6,1));
elseif args.k > 0
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', 1.5*sqrt(args.k)*ones(6,1));
elseif strcmp(args.actuator, 'piezo')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1)); nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'lorentz') elseif strcmp(args.actuator, 'lorentz')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1)); nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
else else
error('args.actuator should be piezo or lorentz'); error('args.actuator should be piezo or lorentz');
end end
nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr); nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr); nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
nano_hexapod = computeJacobian(nano_hexapod); nano_hexapod = computeJacobian(nano_hexapod);