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<a accesskey="H" href="../../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">HAC-LAC applied on the Simscape Model</h1>
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||||
<div id="table-of-contents">
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||||
<h2>Table of Contents</h2>
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||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#org1fe8594">1. Initialization</a></li>
|
||||
<li><a href="#orgfd54447">2. Low Authority Control - Direct Velocity Feedback \(\bm{K}_\mathcal{L}\)</a>
|
||||
<li><a href="#org689cb19">1. Initialization</a></li>
|
||||
<li><a href="#org24d1d7f">2. Low Authority Control - Direct Velocity Feedback \(\bm{K}_\mathcal{L}\)</a>
|
||||
<ul>
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||||
<li><a href="#orga860160">2.1. Identification</a></li>
|
||||
<li><a href="#org7a2c131">2.2. Plant</a></li>
|
||||
<li><a href="#org46eb79b">2.3. Root Locus</a></li>
|
||||
<li><a href="#orgafbd7d0">2.4. Controller and Loop Gain</a></li>
|
||||
<li><a href="#org68cbbe7">2.1. Identification</a></li>
|
||||
<li><a href="#org7c1c629">2.2. Plant</a></li>
|
||||
<li><a href="#org719e252">2.3. Root Locus</a></li>
|
||||
<li><a href="#org2c42b90">2.4. Controller and Loop Gain</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org73445c2">3. Uncertainty Improvements thanks to the LAC control</a></li>
|
||||
<li><a href="#orged12a17">4. High Authority Control - \(\bm{K}_\mathcal{X}\)</a>
|
||||
<li><a href="#org195a29c">3. Uncertainty Improvements thanks to the LAC control</a></li>
|
||||
<li><a href="#org81738ac">4. High Authority Control - \(\bm{K}_\mathcal{X}\)</a>
|
||||
<ul>
|
||||
<li><a href="#orgc22e2f2">4.1. Identification of the damped plant</a></li>
|
||||
<li><a href="#org6bca8e2">4.2. Controller Design</a></li>
|
||||
<li><a href="#org94cb2c9">4.1. Identification of the damped plant</a></li>
|
||||
<li><a href="#org2a269d5">4.2. Controller Design</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgb7ffa65">5. Simulation</a></li>
|
||||
<li><a href="#org448f335">6. Results</a></li>
|
||||
<li><a href="#org1171960">5. Simulation</a></li>
|
||||
<li><a href="#orgad3e1c7">6. Results</a></li>
|
||||
</ul>
|
||||
</div>
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||||
</div>
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||||
@@ -66,27 +70,27 @@ It is then compare to the wanted position of the Sample \(\bm{r}_\mathcal{X}\) i
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||||
</p>
|
||||
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||||
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||||
<div id="orgb987aa6" class="figure">
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||||
<div id="org270f668" class="figure">
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||||
<p><img src="figs/hac_lac_control_schematic.png" alt="hac_lac_control_schematic.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>HAC-LAC Control Architecture used for the Control of the NASS</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1fe8594" class="outline-2">
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||||
<h2 id="org1fe8594"><span class="section-number-2">1</span> Initialization</h2>
|
||||
<div id="outline-container-org689cb19" class="outline-2">
|
||||
<h2 id="org689cb19"><span class="section-number-2">1</span> Initialization</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
We initialize all the stages with the default parameters.
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||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeGround();
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||||
initializeGranite();
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||||
initializeTy();
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||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
<pre class="src src-matlab"> initializeGround();
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||||
initializeGranite();
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||||
initializeTy();
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||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
</pre>
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||||
</div>
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||||
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||||
@@ -94,8 +98,8 @@ initializeMirror();
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||||
The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
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||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeNanoHexapod('actuator', 'piezo');
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||||
initializeSample('mass', 1);
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||||
<pre class="src src-matlab"> initializeNanoHexapod(<span class="org-string">'actuator'</span>, <span class="org-string">'piezo'</span>);
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||||
initializeSample(<span class="org-string">'mass'</span>, 1);
|
||||
</pre>
|
||||
</div>
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||||
|
||||
@@ -103,12 +107,12 @@ initializeSample('mass', 1);
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||||
We set the references that corresponds to a tomography experiment.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
<pre class="src src-matlab"> initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeDisturbances();
|
||||
<pre class="src src-matlab"> initializeDisturbances();
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -116,7 +120,7 @@ We set the references that corresponds to a tomography experiment.
|
||||
Open Loop.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController('type', 'open-loop');
|
||||
<pre class="src src-matlab"> initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
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||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -124,7 +128,7 @@ Open Loop.
|
||||
And we put some gravity.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeSimscapeConfiguration('gravity', true);
|
||||
<pre class="src src-matlab"> initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">true</span>);
|
||||
</pre>
|
||||
</div>
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||||
|
||||
@@ -132,14 +136,14 @@ And we put some gravity.
|
||||
We log the signals.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeLoggingConfiguration('log', 'all');
|
||||
<pre class="src src-matlab"> initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfd54447" class="outline-2">
|
||||
<h2 id="orgfd54447"><span class="section-number-2">2</span> Low Authority Control - Direct Velocity Feedback \(\bm{K}_\mathcal{L}\)</h2>
|
||||
<div id="outline-container-org24d1d7f" class="outline-2">
|
||||
<h2 id="org24d1d7f"><span class="section-number-2">2</span> Low Authority Control - Direct Velocity Feedback \(\bm{K}_\mathcal{L}\)</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
The first loop closed corresponds to a direct velocity feedback loop.
|
||||
@@ -150,106 +154,106 @@ The design of the associated decentralized controller is explained in <a href="c
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga860160" class="outline-3">
|
||||
<h3 id="orga860160"><span class="section-number-3">2.1</span> Identification</h3>
|
||||
<div id="outline-container-org68cbbe7" class="outline-3">
|
||||
<h3 id="org68cbbe7"><span class="section-number-3">2.1</span> Identification</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">%% Name of the Simulink File
|
||||
mdl = 'nass_model';
|
||||
<pre class="src src-matlab"> <span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
||||
mdl = <span class="org-string">'nass_model'</span>;
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Inputs</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station'</span>], 3, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'Dnlm'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Relative Motion Outputs</span>
|
||||
|
||||
%% Run the linearization
|
||||
G_dvf = linearize(mdl, io, 0);
|
||||
G_dvf.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G_dvf.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'};
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
|
||||
G_dvf = linearize(mdl, io, 0);
|
||||
G_dvf.InputName = {<span class="org-string">'Fnl1'</span>, <span class="org-string">'Fnl2'</span>, <span class="org-string">'Fnl3'</span>, <span class="org-string">'Fnl4'</span>, <span class="org-string">'Fnl5'</span>, <span class="org-string">'Fnl6'</span>};
|
||||
G_dvf.OutputName = {<span class="org-string">'Dnlm1'</span>, <span class="org-string">'Dnlm2'</span>, <span class="org-string">'Dnlm3'</span>, <span class="org-string">'Dnlm4'</span>, <span class="org-string">'Dnlm5'</span>, <span class="org-string">'Dnlm6'</span>};
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7a2c131" class="outline-3">
|
||||
<h3 id="org7a2c131"><span class="section-number-3">2.2</span> Plant</h3>
|
||||
<div id="outline-container-org7c1c629" class="outline-3">
|
||||
<h3 id="org7c1c629"><span class="section-number-3">2.2</span> Plant</h3>
|
||||
</div>
|
||||
<div id="outline-container-org46eb79b" class="outline-3">
|
||||
<h3 id="org46eb79b"><span class="section-number-3">2.3</span> Root Locus</h3>
|
||||
<div id="outline-container-org719e252" class="outline-3">
|
||||
<h3 id="org719e252"><span class="section-number-3">2.3</span> Root Locus</h3>
|
||||
</div>
|
||||
<div id="outline-container-orgafbd7d0" class="outline-3">
|
||||
<h3 id="orgafbd7d0"><span class="section-number-3">2.4</span> Controller and Loop Gain</h3>
|
||||
<div id="outline-container-org2c42b90" class="outline-3">
|
||||
<h3 id="org2c42b90"><span class="section-number-3">2.4</span> Controller and Loop Gain</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">K_dvf = s*15000/(1 + s/2/pi/10000);
|
||||
<pre class="src src-matlab"> K_dvf = s<span class="org-type">*</span>15000<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>10000);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">K_dvf = -K_dvf*eye(6);
|
||||
<pre class="src src-matlab"> K_dvf = <span class="org-type">-</span>K_dvf<span class="org-type">*</span>eye(6);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org73445c2" class="outline-2">
|
||||
<h2 id="org73445c2"><span class="section-number-2">3</span> Uncertainty Improvements thanks to the LAC control</h2>
|
||||
<div id="outline-container-org195a29c" class="outline-2">
|
||||
<h2 id="org195a29c"><span class="section-number-2">3</span> Uncertainty Improvements thanks to the LAC control</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">K_dvf_backup = K_dvf;
|
||||
initializeController('type', 'hac-dvf');
|
||||
<pre class="src src-matlab"> K_dvf_backup = K_dvf;
|
||||
initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-dvf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">masses = [1, 10, 50]; % [kg]
|
||||
<pre class="src src-matlab"> masses = [1, 10, 50]; <span class="org-comment">% [kg]</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">%% Name of the Simulink File
|
||||
mdl = 'nass_model';
|
||||
<pre class="src src-matlab"> <span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
||||
mdl = <span class="org-string">'nass_model'</span>;
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>], 1, <span class="org-string">'input'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Inputs</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Tracking Error'</span>], 1, <span class="org-string">'output'</span>, [], <span class="org-string">'En'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position Errror</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orged12a17" class="outline-2">
|
||||
<h2 id="orged12a17"><span class="section-number-2">4</span> High Authority Control - \(\bm{K}_\mathcal{X}\)</h2>
|
||||
<div id="outline-container-org81738ac" class="outline-2">
|
||||
<h2 id="org81738ac"><span class="section-number-2">4</span> High Authority Control - \(\bm{K}_\mathcal{X}\)</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
</div>
|
||||
<div id="outline-container-orgc22e2f2" class="outline-3">
|
||||
<h3 id="orgc22e2f2"><span class="section-number-3">4.1</span> Identification of the damped plant</h3>
|
||||
<div id="outline-container-org94cb2c9" class="outline-3">
|
||||
<h3 id="org94cb2c9"><span class="section-number-3">4.1</span> Identification of the damped plant</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Kx = tf(zeros(6));
|
||||
<pre class="src src-matlab"> Kx = tf(zeros(6));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">initializeController('type', 'hac-dvf');
|
||||
<pre class="src src-matlab"> initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-dvf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">%% Name of the Simulink File
|
||||
mdl = 'nass_model';
|
||||
<pre class="src src-matlab"> <span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
||||
mdl = <span class="org-string">'nass_model'</span>;
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>], 1, <span class="org-string">'input'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Inputs</span>
|
||||
io(io_i) = linio([mdl, <span class="org-string">'/Tracking Error'</span>], 1, <span class="org-string">'output'</span>, [], <span class="org-string">'En'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Position Errror</span>
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, 0);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
|
||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
|
||||
G = linearize(mdl, io, 0);
|
||||
G.InputName = {<span class="org-string">'Fnl1'</span>, <span class="org-string">'Fnl2'</span>, <span class="org-string">'Fnl3'</span>, <span class="org-string">'Fnl4'</span>, <span class="org-string">'Fnl5'</span>, <span class="org-string">'Fnl6'</span>};
|
||||
G.OutputName = {<span class="org-string">'Ex'</span>, <span class="org-string">'Ey'</span>, <span class="org-string">'Ez'</span>, <span class="org-string">'Erx'</span>, <span class="org-string">'Ery'</span>, <span class="org-string">'Erz'</span>};
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -257,17 +261,17 @@ G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
|
||||
The minus sine is put here because there is already a minus sign included due to the computation of the position error.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load('mat/stages.mat', 'nano_hexapod');
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'mat/stages.mat'</span>, <span class="org-string">'nano_hexapod'</span>);
|
||||
|
||||
Gx = -G*inv(nano_hexapod.kinematics.J');
|
||||
Gx.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
|
||||
Gx = <span class="org-type">-</span>G<span class="org-type">*</span>inv(nano_hexapod.kinematics.J<span class="org-type">'</span>);
|
||||
Gx.InputName = {<span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Mx'</span>, <span class="org-string">'My'</span>, <span class="org-string">'Mz'</span>};
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6bca8e2" class="outline-3">
|
||||
<h3 id="org6bca8e2"><span class="section-number-3">4.2</span> Controller Design</h3>
|
||||
<div id="outline-container-org2a269d5" class="outline-3">
|
||||
<h3 id="org2a269d5"><span class="section-number-3">4.2</span> Controller Design</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<p>
|
||||
The controller consists of:
|
||||
@@ -280,41 +284,41 @@ The controller consists of:
|
||||
</ul>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">wc = 2*pi*15; % Bandwidth Bandwidth [rad/s]
|
||||
<pre class="src src-matlab"> wc = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>15; <span class="org-comment">% Bandwidth Bandwidth [rad/s]</span>
|
||||
|
||||
h = 1.5; % Lead parameter
|
||||
h = 1.5; <span class="org-comment">% Lead parameter</span>
|
||||
|
||||
Kx = (1/h) * (1 + s/wc*h)/(1 + s/wc/h) * wc/s * ((s/wc*2 + 1)/(s/wc*2)) * (1/(1 + s/wc/2));
|
||||
Kx = (1<span class="org-type">/</span>h) <span class="org-type">*</span> (1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">*</span>h)<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">/</span>h) <span class="org-type">*</span> wc<span class="org-type">/</span>s <span class="org-type">*</span> ((s<span class="org-type">/</span>wc<span class="org-type">*</span>2 <span class="org-type">+</span> 1)<span class="org-type">/</span>(s<span class="org-type">/</span>wc<span class="org-type">*</span>2)) <span class="org-type">*</span> (1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>wc<span class="org-type">/</span>2));
|
||||
|
||||
% Normalization of the gain of have a loop gain of 1 at frequency wc
|
||||
Kx = Kx.*diag(1./diag(abs(freqresp(Gx*Kx, wc))));
|
||||
<span class="org-comment">% Normalization of the gain of have a loop gain of 1 at frequency wc</span>
|
||||
Kx = Kx<span class="org-type">.*</span>diag(1<span class="org-type">./</span>diag(abs(freqresp(Gx<span class="org-type">*</span>Kx, wc))));
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">isstable(feedback(Gx*Kx, eye(6), -1))
|
||||
<pre class="src src-matlab"> isstable(feedback(Gx<span class="org-type">*</span>Kx, eye(6), <span class="org-type">-</span>1))
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Kx = inv(nano_hexapod.kinematics.J')*Kx;
|
||||
<pre class="src src-matlab"> Kx = inv(nano_hexapod.kinematics.J<span class="org-type">'</span>)<span class="org-type">*</span>Kx;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">isstable(feedback(G*Kx, eye(6), 1))
|
||||
<pre class="src src-matlab"> isstable(feedback(G<span class="org-type">*</span>Kx, eye(6), 1))
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb7ffa65" class="outline-2">
|
||||
<h2 id="orgb7ffa65"><span class="section-number-2">5</span> Simulation</h2>
|
||||
<div id="outline-container-org1171960" class="outline-2">
|
||||
<h2 id="org1171960"><span class="section-number-2">5</span> Simulation</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '2');
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'mat/conf_simulink.mat'</span>);
|
||||
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'2'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -322,27 +326,27 @@ set_param(conf_simulink, 'StopTime', '2');
|
||||
And we simulate the system.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">sim('nass_model');
|
||||
<pre class="src src-matlab"> <span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">hac_dvf = simout;
|
||||
save('./mat/tomo_exp_hac_lac.mat', 'hac_dvf');
|
||||
<pre class="src src-matlab"> hac_dvf = simout;
|
||||
save(<span class="org-string">'./mat/tomo_exp_hac_lac.mat'</span>, <span class="org-string">'hac_dvf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org448f335" class="outline-2">
|
||||
<h2 id="org448f335"><span class="section-number-2">6</span> Results</h2>
|
||||
<div id="outline-container-orgad3e1c7" class="outline-2">
|
||||
<h2 id="orgad3e1c7"><span class="section-number-2">6</span> Results</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<p>
|
||||
Let’s load the simulation when no control is applied.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'tomo_align_dist');
|
||||
load('./mat/tomo_exp_hac_lac.mat', 'hac_dvf');
|
||||
<pre class="src src-matlab"> load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
|
||||
load(<span class="org-string">'./mat/tomo_exp_hac_lac.mat'</span>, <span class="org-string">'hac_dvf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
@@ -350,7 +354,7 @@ load('./mat/tomo_exp_hac_lac.mat', 'hac_dvf');
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-05-05 mar. 10:34</p>
|
||||
<p class="date">Created: 2021-02-20 sam. 23:08</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user