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Align the centers of rotation of Ry, Hexa, NASS with the sample

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This commit is contained in:
Thomas Dehaeze
2018-10-30 14:37:19 +01:00
parent ef6f4613b1
commit 389fd66ba4
27 changed files with 90 additions and 32 deletions
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4
control/control_cl_sim.m
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@@ -9,3 +9,7 @@ runSimulation('vc', 'light', 'cl', 'none');
runSimulation('pz', 'light', 'cl', 'none');
% runSimulation('vc', 'heavy', 'cl', 'none');
% runSimulation('pz', 'heavy', 'cl', 'none');
%%
opts_inputs = struct('Dw', true);
initializeInputs(opts_inputs);

8
control/control_cl_tf.m
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@@ -9,12 +9,12 @@ initializeSample(struct('mass', 1));
initializeNanoHexapod(struct('actuator', 'lorentz'));
K = K_light_vc; %#ok
save('./mat/controller.mat', 'K');
save('./mat/controllers.mat', 'K');
Gd_cl_light_vc = identifyPlant();
initializeNanoHexapod(struct('actuator', 'piezo'));
K = K_light_pz; %#ok
save('./mat/controller.mat', 'K');
save('./mat/controllers.mat', 'K');
Gd_cl_light_pz = identifyPlant();
%% Closed Loop - Heavy Sample
@@ -22,12 +22,12 @@ initializeSample(struct('mass', 50));
initializeNanoHexapod(struct('actuator', 'lorentz'));
K = K_heavy_vc; %#ok
save('./mat/controller.mat', 'K');
save('./mat/controllers.mat', 'K');
G_cl_heavy_vc = identifyPlant();
initializeNanoHexapod(struct('actuator', 'piezo'));
K = K_heavy_pz;
save('./mat/controller.mat', 'K');
save('./mat/controllers.mat', 'K');
G_cl_heavy_pz = identifyPlant();
%% Save the identified transfer functions

52
control/control_generate.m
View File

@@ -5,13 +5,53 @@ clear; close all; clc;
load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
%%
fs = 10;
s = tf('s');
K_light_vc = generateDiagPidControl(G_light_vc.G_cart, fs);
K_light_pz = generateDiagPidControl(G_light_pz.G_cart, fs);
%%
% bodeFig({minreal(G_light_vc.G_cart(1, 1))}, struct('phase', true));
K_heavy_vc = generateDiagPidControl(G_heavy_vc.G_cart, fs);
K_heavy_pz = generateDiagPidControl(G_heavy_pz.G_cart, fs);
%%
% sisotool(minreal(G_light_vc.G_cart(6, 6)))
K_light_vc = tf(zeros(6));
K_light_vc(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
K_light_vc(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
K_light_vc(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
K_light_vc(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
K_light_vc(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
K_light_vc(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
%%
i = 6;
bodeFig({-G_light_vc.G_plant(i, i)*K_light_vc(i, i)}, struct('phase', true))
%%
% sisotool(minreal(G_light_pz.G_plant(1, 1)))
K_light_pz = tf(zeros(6));
% K_light_pz(1, 1) = 3.4802e06*(s+0.6983)*(s+131.6)/((s+5.306e-06)*(s+577.4));
% K_light_pz(2, 2) = 5.3292e06*(s+0.6722)*(s+58.23)/((s+3.628e-06)*(s+734.6));
% K_light_pz(3, 3) = 2.1727e06*(s+66.94)*(s+3.522)/((s+530.6)*(s+0.0006859));
% K_light_pz(4, 4) = 6.4807e06*(s+2.095)*(s+111.1)/((s+0.0001246)*(s+577.4));
% K_light_pz(5, 5) = 2.5184e06*(s+5.582)*(s+48.76)/((s+0.01558)*(s+453.8));
% K_light_pz(6, 6) = 1.022e06*(s+6.152)*(s+40.15)/((s+0.001945)*(s+589.7));
%%
K_heavy_vc = tf(zeros(6));
K_heavy_pz = tf(zeros(6));
%%
save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
%% Automatic generation of controllers
% fs = 100;
%
% K_light_vc = generateDiagPidControl(G_light_vc.G_cart, fs);
% K_light_pz = generateDiagPidControl(G_light_pz.G_cart, fs);
%
% K_heavy_vc = generateDiagPidControl(G_heavy_vc.G_cart, fs);
% K_heavy_pz = generateDiagPidControl(G_heavy_pz.G_cart, fs);
%% Save the MIMO control
save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');
% save('./mat/K_fb.mat', 'K_light_vc', 'K_light_pz', 'K_heavy_vc', 'K_heavy_pz');