From 3367cabc704cfcfe6104377927e096f4ba156ac2 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 15 Jan 2020 16:23:40 +0100 Subject: [PATCH] Work on tomography experiment with active damping --- active_damping/index.html | 1682 ++++----- active_damping/index.org | 3251 ++++++++++------- active_damping/matlab/dvf.m | 280 ++ active_damping/matlab/iff.m | 300 ++ active_damping/matlab/ine.m | 263 ++ .../matlab/sim_nass_active_damping.slx | Bin 35922 -> 37262 bytes active_damping/matlab/undamped_system.m | 166 + .../src/prepareTomographyExperiment.m | 30 + figs/dvf_open_loop.png | Bin 0 -> 123174 bytes figs/dvf_plant.png | Bin 130835 -> 97008 bytes figs/iff_open_loop.png | Bin 123663 -> 119576 bytes figs/iff_plant.png | Bin 126518 -> 122786 bytes figs/ine_open_loop_gain.png | Bin 0 -> 158545 bytes figs/ine_plant.png | Bin 0 -> 156497 bytes figs/nass_act_damp_dvf_sim_tomo_rot.png | Bin 0 -> 170688 bytes figs/nass_act_damp_dvf_sim_tomo_trans.png | Bin 0 -> 180283 bytes figs/nass_act_damp_iff_sim_tomo_rot.png | Bin 0 -> 31711 bytes figs/nass_act_damp_iff_sim_tomo_trans.png | Bin 0 -> 120659 bytes figs/nass_act_damp_ine_sim_tomo_rot.png | Bin 0 -> 104545 bytes figs/nass_act_damp_ine_sim_tomo_trans.png | Bin 0 -> 42678 bytes figs/nass_act_damp_undamped_sim_tomo_rot.png | Bin 0 -> 72008 bytes .../nass_act_damp_undamped_sim_tomo_trans.png | Bin 0 -> 94498 bytes figs/nass_active_damping_iff_plant.png | Bin 0 -> 122743 bytes figs/nass_active_damping_ine_plant.png | Bin 0 -> 97008 bytes figs/nass_active_damping_inertial_plant.png | Bin 0 -> 157510 bytes figs/rmc_open_loop.png | Bin 124745 -> 123164 bytes figs/rmc_plant.png | Bin 118013 -> 97008 bytes simscape_subsystems/index.org | 2 +- simscape_subsystems/nano_hexapod_F.slx | Bin 37649 -> 38449 bytes simscape_subsystems/nano_hexapod_leg.slx | Bin 30274 -> 31239 bytes src/initializeReferences.m | 2 +- 31 files changed, 3739 insertions(+), 2237 deletions(-) create mode 100644 active_damping/matlab/dvf.m create mode 100644 active_damping/matlab/iff.m create mode 100644 active_damping/matlab/ine.m create mode 100644 active_damping/matlab/undamped_system.m create mode 100644 active_damping/src/prepareTomographyExperiment.m create mode 100644 figs/dvf_open_loop.png create mode 100644 figs/ine_open_loop_gain.png create mode 100644 figs/ine_plant.png create mode 100644 figs/nass_act_damp_dvf_sim_tomo_rot.png create mode 100644 figs/nass_act_damp_dvf_sim_tomo_trans.png create mode 100644 figs/nass_act_damp_iff_sim_tomo_rot.png create mode 100644 figs/nass_act_damp_iff_sim_tomo_trans.png create mode 100644 figs/nass_act_damp_ine_sim_tomo_rot.png create mode 100644 figs/nass_act_damp_ine_sim_tomo_trans.png create mode 100644 figs/nass_act_damp_undamped_sim_tomo_rot.png create mode 100644 figs/nass_act_damp_undamped_sim_tomo_trans.png create mode 100644 figs/nass_active_damping_iff_plant.png create mode 100644 figs/nass_active_damping_ine_plant.png create mode 100644 figs/nass_active_damping_inertial_plant.png diff --git a/active_damping/index.html b/active_damping/index.html index 32bd328..d4e19e6 100644 --- a/active_damping/index.html +++ b/active_damping/index.html @@ -1,12 +1,13 @@ + - + -Active Damping +Active Damping applied on the Simscape Model