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Thomas Dehaeze
2020-04-01 16:17:26 +02:00
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-13 ven. 17:39 -->
<!-- 2020-04-01 mer. 16:14 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Identification</title>
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<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script>
<script type="text/javascript">
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&dn=gpl-3.0.txt GPL-v3-or-Later
// @license magnet:?xt=urn:btih:1f739d935676111cfff4b4693e3816e664797050&amp;dn=gpl-3.0.txt GPL-v3-or-Later
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<li><a href="#org0c6ab2b">2.5. Compare with measurements</a></li>
</ul>
</li>
<li><a href="#orga1de7a7">3. Conclusion</a></li>
<li><a href="#org4704f01">3. Obtained Compliance of the Micro-Station</a>
<ul>
<li><a href="#orge0c91d3">3.1. Initialization</a></li>
</ul>
</li>
<li><a href="#orga1de7a7">4. Conclusion</a></li>
</ul>
</div>
</div>
@@ -312,11 +317,6 @@ Some of the springs and dampers values can be estimated from the joints/stages s
<div id="outline-container-orgcfb741d" class="outline-3">
<h3 id="orgcfb741d"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">open(<span class="org-string">'nass_model.slx'</span>)
</pre>
</div>
<p>
We load the configuration.
</p>
@@ -728,9 +728,82 @@ We then compare the measurements with the identified transfer functions using th
</div>
<div id="outline-container-orga1de7a7" class="outline-2">
<h2 id="orga1de7a7"><span class="section-number-2">3</span> Conclusion</h2>
<div id="outline-container-org4704f01" class="outline-2">
<h2 id="org4704f01"><span class="section-number-2">3</span> Obtained Compliance of the Micro-Station</h2>
<div class="outline-text-2" id="text-3">
</div>
<div id="outline-container-orge0c91d3" class="outline-3">
<h3 id="orge0c91d3"><span class="section-number-3">3.1</span> Initialization</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We initialize all the stages with the default parameters.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod(<span class="org-string">'type'</span>, <span class="org-string">'compliance'</span>);
</pre>
</div>
<p>
We put nothing on top of the micro-hexapod.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeAxisc(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
initializeMirror(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences();
initializeDisturbances();
initializeController();
initializeSimscapeConfiguration();
initializeLoggingConfiguration();
</pre>
</div>
<p>
And we identify the dynamics from forces/torques applied on the micro-hexapod top platform to the motion of the micro-hexapod top platform at the same point.
</p>
<p>
The obtained compliance is shown in Figure <a href="#org67dfd1a">4</a>.
</p>
<div class="org-src-container">
<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>;
<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">'/Micro-Station/Micro Hexapod/Compliance/Fm'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Direct Forces/Torques applied on the micro-hexapod top platform</span>
io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Micro Hexapod/Compliance/Dm'</span>], 1, <span class="org-string">'output'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute displacement of the top platform</span>
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
Gm = linearize(mdl, io, 0);
Gm.InputName = {<span class="org-string">'Fmx'</span>, <span class="org-string">'Fmy'</span>, <span class="org-string">'Fmz'</span>, <span class="org-string">'Mmx'</span>, <span class="org-string">'Mmy'</span>, <span class="org-string">'Mmz'</span>};
Gm.OutputName = {<span class="org-string">'Dx'</span>, <span class="org-string">'Dy'</span>, <span class="org-string">'Dz'</span>, <span class="org-string">'Drx'</span>, <span class="org-string">'Dry'</span>, <span class="org-string">'Drz'</span>};
</pre>
</div>
<div id="org67dfd1a" class="figure">
<p><img src="figs/compliance_micro_station.png" alt="compliance_micro_station.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Obtained compliance of the Micro-Station (<a href="./figs/compliance_micro_station.png">png</a>, <a href="./figs/compliance_micro_station.pdf">pdf</a>)</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orga1de7a7" class="outline-2">
<h2 id="orga1de7a7"><span class="section-number-2">4</span> Conclusion</h2>
<div class="outline-text-2" id="text-4">
<div class="important">
<p>
For such a complex system, we believe that the Simscape Model represents the dynamics of the system with enough fidelity.
@@ -742,7 +815,7 @@ For such a complex system, we believe that the Simscape Model represents the dyn
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-13 ven. 17:39</p>
<p class="date">Created: 2020-04-01 mer. 16:14</p>
</div>
</body>
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