Remove model name
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@ -72,9 +72,8 @@ The document in organized as follow:
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* Simscape Model
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<<sec:simscape_model>>
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The simulink file to do tomography experiments is =sim_nano_station_tomo.slx=.
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#+begin_src matlab
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open('experiment_tomography/matlab/sim_nano_station_tomo.slx')
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open('nass_model.slx');
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#+end_src
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We load the shared simulink configuration and we set the =StopTime=.
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@ -122,7 +121,7 @@ And we initialize the disturbances to be equal to zero.
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We simulate the model.
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#+begin_src matlab
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sim('sim_nano_station_tomo');
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sim('nass_model');
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#+end_src
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And we save the obtained data.
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@ -232,7 +231,7 @@ We now activate the disturbances.
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We simulate the model.
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#+begin_src matlab
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sim('sim_nano_station_tomo');
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sim('nass_model');
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#+end_src
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And we save the obtained data.
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@ -356,7 +355,7 @@ And we initialize the disturbances to zero.
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We simulate the model.
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#+begin_src matlab
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sim('sim_nano_station_tomo');
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sim('nass_model');
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#+end_src
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And we save the obtained data.
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@ -484,7 +483,7 @@ And we initialize the disturbances to zero.
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We simulate the model.
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#+begin_src matlab
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sim('sim_nano_station_tomo');
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sim('nass_model');
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#+end_src
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And we save the obtained data.
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@ -7,9 +7,8 @@ s = zpk('s');
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% Simscape Model
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% <<sec:simscape_model>>
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% The simulink file to do tomography experiments is =sim_nano_station_tomo.slx=.
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open('experiment_tomography/matlab/sim_nano_station_tomo.slx')
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open('nass_model.slx');
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@ -30,34 +29,33 @@ initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeSample(struct('mass', 1));
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 1);
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% We initialize the reference path for all the stages.
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% All stage is set to its zero position except the Spindle which is rotating at 60rpm.
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initializeReferences(struct('Rz_type', 'rotating', 'Rz_period', 1));
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initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
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% Simulation Setup
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% And we initialize the disturbances to be equal to zero.
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opts = struct(...
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initializeDisturbances(...
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'Dwx', false, ... % Ground Motion - X direction
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'Dwy', false, ... % Ground Motion - Y direction
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'Dwz', false, ... % Ground Motion - Z direction
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'Fty_x', false, ... % Translation Stage - X direction
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'Fty_z', false, ... % Translation Stage - Z direction
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'Frz_z', false ... % Spindle - Z direction
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);
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initDisturbances(opts);
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);
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% We simulate the model.
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sim('sim_nano_station_tomo');
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sim('nass_model');
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@ -96,7 +94,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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@ -121,26 +119,25 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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% Simulation Setup
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% We now activate the disturbances.
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opts = struct(...
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initializeDisturbances(...
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'Dwx', true, ... % Ground Motion - X direction
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'Dwy', true, ... % Ground Motion - Y direction
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'Dwz', true, ... % Ground Motion - Z direction
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'Fty_x', true, ... % Translation Stage - X direction
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'Fty_z', true, ... % Translation Stage - Z direction
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'Frz_z', true ... % Spindle - Z direction
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);
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initDisturbances(opts);
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);
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% We simulate the model.
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sim('sim_nano_station_tomo');
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sim('nass_model');
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@ -179,7 +176,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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@ -204,7 +201,7 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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% Simulation Setup
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% We first set the wanted translation of the Micro Hexapod.
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@ -215,33 +212,32 @@ P_micro_hexapod = [0.01; 0; 0]; % [m]
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% We initialize the reference path.
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initializeReferences(struct('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1));
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initializeReferences('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1);
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% We initialize the stages.
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initializeMicroHexapod(struct('AP', P_micro_hexapod));
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initializeMicroHexapod('AP', P_micro_hexapod);
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% And we initialize the disturbances to zero.
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opts = struct(...
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initializeDisturbances(...
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'Dwx', false, ... % Ground Motion - X direction
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'Dwy', false, ... % Ground Motion - Y direction
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'Dwz', false, ... % Ground Motion - Z direction
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'Fty_x', false, ... % Translation Stage - X direction
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'Fty_z', false, ... % Translation Stage - Z direction
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'Frz_z', false ... % Spindle - Z direction
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);
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initDisturbances(opts);
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);
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% We simulate the model.
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sim('sim_nano_station_tomo');
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sim('nass_model');
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@ -280,7 +276,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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@ -305,12 +301,12 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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% Simulation Setup
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% We set the reference path.
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initializeReferences(struct('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1));
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initializeReferences('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1);
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@ -324,28 +320,27 @@ initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeSample(struct('mass', 1));
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 1);
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% And we initialize the disturbances to zero.
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opts = struct(...
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initializeDisturbances(...
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'Dwx', false, ... % Ground Motion - X direction
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'Dwy', false, ... % Ground Motion - Y direction
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'Dwz', false, ... % Ground Motion - Z direction
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'Fty_x', false, ... % Translation Stage - X direction
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'Fty_z', false, ... % Translation Stage - Z direction
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'Frz_z', false ... % Spindle - Z direction
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);
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initDisturbances(opts);
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);
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% We simulate the model.
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sim('sim_nano_station_tomo');
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sim('nass_model');
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@ -384,7 +379,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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@ -409,4 +404,4 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
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legend('location', 'northeast');
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linkaxes([ax1,ax2,ax3],'x');
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xlim([1, inf]);
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xlim([2, inf]);
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@ -60,7 +60,7 @@
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#+end_src
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#+begin_src matlab
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open('hac_lac/matlab/sim_nass_hac_lac.slx')
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open('nass_model.slx')
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#+end_src
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** Identification of the plant
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@ -106,12 +106,12 @@ First, we identify the dynamics of the system using the =linearize= function.
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_hac_lac';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
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%% Run the linearization
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G = linearize(mdl, io, options);
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@ -130,11 +130,6 @@ First, we identify the dynamics of the system using the =linearize= function.
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G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
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#+end_src
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# And we save them for further analysis.
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# #+begin_src matlab
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# save('./hac_lac/mat/undamped_plant.mat', 'G');
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# #+end_src
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*** Display TF
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#+begin_src matlab :exports none
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freqs = logspace(0, 3, 1000);
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@ -329,7 +324,7 @@ We change the simulation stop time.
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And we simulate the system.
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#+begin_src matlab
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sim('sim_nass_active_damping');
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sim('nass_model');
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#+end_src
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Finally, we save the simulation results for further analysis
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@ -384,6 +379,7 @@ We load the results of tomography experiments.
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#+NAME: fig:nass_act_damp_undamped_sim_tomo_rot
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#+CAPTION: Position Error during tomography experiment - Rotations ([[./figs/nass_act_damp_undamped_sim_tomo_rot.png][png]], [[./figs/nass_act_damp_undamped_sim_tomo_rot.pdf][pdf]])
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[[file:figs/nass_act_damp_undamped_sim_tomo_rot.png]]
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** Verification of the transfer function from nano hexapod to metrology
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*** Initialize the Simulation
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We initialize all the stages with the default parameters.
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@ -427,12 +423,12 @@ First, we identify the dynamics of the system using the =linearize= function.
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_hac_lac';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
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%% Run the linearization
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G = linearize(mdl, io, options);
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@ -97,7 +97,7 @@ The three rotations that we define thus corresponds to the Euler U-V-W angles.
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We should have the *same behavior* for the Micro-Hexapod on Simscape (same inputs at least).
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However, the Bushing Joint makes rotations around mobiles axes (X, Y' and then Z'') and not fixed axes (X, Y and Z).
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*** Using Inverse Kinematics and Leg Actuators
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*** TODO Using Inverse Kinematics and Leg Actuators
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Here, we can use the Inverse Kinematic of the Hexapod to determine the length of each leg in order to obtain some defined translation and rotation of the mobile platform.
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The advantages are:
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@ -147,7 +147,7 @@ Otherwise, when the limbs' lengths derived yield complex numbers, then the posit
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**** Matlab Implementation
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We open the Simulink file.
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#+begin_src matlab
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open('kinematics/matlab/hexapod_tests.slx')
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#+end_src
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We load the configuration and set a small =StopTime=.
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@ -182,7 +182,7 @@ We define the wanted position/orientation of the Hexapod under study.
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We run the simulation.
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#+begin_src matlab
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sim('hexapod_tests')
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sim()
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#+end_src
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And we verify that we indeed succeed to go to the wanted position.
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