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Remove model name

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Thomas Dehaeze
2020-02-18 13:58:27 +01:00
parent 87bdd8f0e2
commit 56e8a120fa
4 changed files with 46 additions and 56 deletions
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@@ -60,7 +60,7 @@
#+end_src
#+begin_src matlab
open('hac_lac/matlab/sim_nass_hac_lac.slx')
open('nass_model.slx')
#+end_src
** Identification of the plant
@@ -106,12 +106,12 @@ First, we identify the dynamics of the system using the =linearize= function.
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_nass_hac_lac';
mdl = 'nass_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
%% Run the linearization
G = linearize(mdl, io, options);
@@ -130,11 +130,6 @@ First, we identify the dynamics of the system using the =linearize= function.
G_legs.OutputName = {'e1', 'e2', 'e3', 'e4', 'e5', 'e6'};
#+end_src
# And we save them for further analysis.
# #+begin_src matlab
# save('./hac_lac/mat/undamped_plant.mat', 'G');
# #+end_src
*** Display TF
#+begin_src matlab :exports none
freqs = logspace(0, 3, 1000);
@@ -329,7 +324,7 @@ We change the simulation stop time.
And we simulate the system.
#+begin_src matlab
sim('sim_nass_active_damping');
sim('nass_model');
#+end_src
Finally, we save the simulation results for further analysis
@@ -384,6 +379,7 @@ We load the results of tomography experiments.
#+NAME: fig:nass_act_damp_undamped_sim_tomo_rot
#+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]])
[[file:figs/nass_act_damp_undamped_sim_tomo_rot.png]]
** Verification of the transfer function from nano hexapod to metrology
*** Initialize the Simulation
We initialize all the stages with the default parameters.
@@ -427,12 +423,12 @@ First, we identify the dynamics of the system using the =linearize= function.
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_nass_hac_lac';
mdl = 'nass_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/HAC'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
%% Run the linearization
G = linearize(mdl, io, options);