Minor update of identification script
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9792a73065
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@ -221,26 +221,13 @@ hold off;
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** Init
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#+begin_src matlab :results none
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite();
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%% Initialize Translation stage
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initializeTy();
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%% Initialize Tilt Stage
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initializeRy();
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%% Initialize Spindle
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initializeRz();
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%% Initialize Hexapod Symétrie
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initializeMicroHexapod();
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%% Initialize Center of gravity compensation
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initializeAxisc();
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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#+end_src
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** Center of Mass of each solid body
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@ -300,10 +287,10 @@ initializeAxisc();
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stages = {'gbot', 'gtop', 'ty', 'ry', 'rz', 'hexa'}
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n_stg = 2;
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n_dir = 2; % x, y, z, Rx, Ry, Rz
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n_dir = 5; % x, y, z, Rx, Ry, Rz
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n_exc = 2; % x, y, z
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f = logspace(1, 3, 1000);
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f = logspace(0, 3, 1000);
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figure;
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hold on;
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@ -312,7 +299,7 @@ initializeAxisc();
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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hold off;
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xlim([10, 1000]);
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xlim([1, 200]);
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#+end_src
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#+begin_src matlab
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@ -331,6 +318,9 @@ initializeAxisc();
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plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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if n_dir == 3
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xlabel('Frequency [Hz]');
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end
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hold off;
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xlim([10, 1000]);
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ylim([1e-12, 1e-6]);
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@ -338,6 +328,16 @@ initializeAxisc();
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end
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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/identification_comp_bot_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:identification_comp_bot_stages
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#+CAPTION: caption ([[./figs/identification_comp_bot_stages.png][png]], [[./figs/identification_comp_bot_stages.pdf][pdf]])
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[[file:figs/identification_comp_bot_stages.png]]
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#+begin_src matlab
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dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
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stages = {'ry', 'rz', 'hexa'}
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@ -354,6 +354,9 @@ initializeAxisc();
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plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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if n_dir == 3
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xlabel('Frequency [Hz]');
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end
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hold off;
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xlim([10, 1000]);
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ylim([1e-12, 1e-6]);
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@ -361,6 +364,16 @@ initializeAxisc();
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end
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#+end_src
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/identification_comp_mid_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:identification_comp_mid_stages
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#+CAPTION: caption ([[./figs/identification_comp_mid_stages.png][png]], [[./figs/identification_comp_mid_stages.pdf][pdf]])
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[[file:figs/identification_comp_mid_stages.png]]
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#+begin_src matlab
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dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
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stages = {'hexa'}
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@ -370,13 +383,16 @@ initializeAxisc();
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figure;
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for n_stg = 1
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for n_dir = 1:3
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subplot(3, 2, (n_dir-1)*2 + n_stg);
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subplot(3, 1, (n_dir-1)*2 + n_stg);
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title(['F ', dirs{n_dir}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
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hold on;
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plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg+4) + n_dir, n_dir, :)))./((2*pi*freqs).^2)');
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plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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if n_dir == 3
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xlabel('Frequency [Hz]');
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end
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hold off;
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xlim([10, 1000]);
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ylim([1e-12, 1e-6]);
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@ -384,54 +400,14 @@ initializeAxisc();
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end
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#+end_src
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** Bis
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#+begin_src matlab :results none
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite(struct('rigid', false));
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%% Initialize Translation stage
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initializeTy(struct('rigid', false));
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%% Initialize Tilt Stage
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initializeRy(struct('rigid', false));
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%% Initialize Spindle
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initializeRz(struct('rigid', false));
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%% Initialize Hexapod Symétrie
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initializeMicroHexapod(struct('rigid', false));
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%% Initialize Center of gravity compensation
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initializeAxisc();
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#+HEADER: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/identification_comp_top_stages.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
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#+begin_src matlab
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dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
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stages = {'gtop', 'ty', 'ry', 'rz', 'hexa'}
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n_stg = 5;
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n_exc = 3;
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f = logspace(0, 3, 1000);
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figure;
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for n_dir = 1:6
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subplot(2, 3, n_dir);
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title(['F', dirs{n_exc}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
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hold on;
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plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg) + n_dir, n_exc, :)))./((2*pi*freqs).^2)');
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plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_exc}]), f, 'Hz'))));
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]');
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hold off;
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xlim([10, 1000]);
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ylim([1e-12, 1e-6]);
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end
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#+end_src
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#+NAME: fig:identification_comp_top_stages
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#+CAPTION: caption ([[./figs/identification_comp_top_stages.png][png]], [[./figs/identification_comp_top_stages.pdf][pdf]])
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[[file:figs/identification_comp_top_stages.png]]
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* ZIP file containing the data and matlab files :ignore:
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#+begin_src bash :exports none :results none
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