Remove model name
This commit is contained in:
parent
87bdd8f0e2
commit
56e8a120fa
@ -72,9 +72,8 @@ The document in organized as follow:
|
||||
* Simscape Model
|
||||
<<sec:simscape_model>>
|
||||
|
||||
The simulink file to do tomography experiments is =sim_nano_station_tomo.slx=.
|
||||
#+begin_src matlab
|
||||
open('experiment_tomography/matlab/sim_nano_station_tomo.slx')
|
||||
open('nass_model.slx');
|
||||
#+end_src
|
||||
|
||||
We load the shared simulink configuration and we set the =StopTime=.
|
||||
@ -122,7 +121,7 @@ And we initialize the disturbances to be equal to zero.
|
||||
|
||||
We simulate the model.
|
||||
#+begin_src matlab
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
#+end_src
|
||||
|
||||
And we save the obtained data.
|
||||
@ -232,7 +231,7 @@ We now activate the disturbances.
|
||||
|
||||
We simulate the model.
|
||||
#+begin_src matlab
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
#+end_src
|
||||
|
||||
And we save the obtained data.
|
||||
@ -356,7 +355,7 @@ And we initialize the disturbances to zero.
|
||||
|
||||
We simulate the model.
|
||||
#+begin_src matlab
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
#+end_src
|
||||
|
||||
And we save the obtained data.
|
||||
@ -484,7 +483,7 @@ And we initialize the disturbances to zero.
|
||||
|
||||
We simulate the model.
|
||||
#+begin_src matlab
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
#+end_src
|
||||
|
||||
And we save the obtained data.
|
||||
|
||||
@ -7,9 +7,8 @@ s = zpk('s');
|
||||
% Simscape Model
|
||||
% <<sec:simscape_model>>
|
||||
|
||||
% The simulink file to do tomography experiments is =sim_nano_station_tomo.slx=.
|
||||
|
||||
open('experiment_tomography/matlab/sim_nano_station_tomo.slx')
|
||||
open('nass_model.slx');
|
||||
|
||||
|
||||
|
||||
@ -30,20 +29,20 @@ initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
||||
initializeSample(struct('mass', 1));
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 1);
|
||||
|
||||
|
||||
|
||||
% We initialize the reference path for all the stages.
|
||||
% All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
|
||||
initializeReferences(struct('Rz_type', 'rotating', 'Rz_period', 1));
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
% Simulation Setup
|
||||
% And we initialize the disturbances to be equal to zero.
|
||||
|
||||
opts = struct(...
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
@ -51,13 +50,12 @@ opts = struct(...
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
initDisturbances(opts);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
@ -96,7 +94,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
@ -121,12 +119,12 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We now activate the disturbances.
|
||||
|
||||
opts = struct(...
|
||||
initializeDisturbances(...
|
||||
'Dwx', true, ... % Ground Motion - X direction
|
||||
'Dwy', true, ... % Ground Motion - Y direction
|
||||
'Dwz', true, ... % Ground Motion - Z direction
|
||||
@ -134,13 +132,12 @@ opts = struct(...
|
||||
'Fty_z', true, ... % Translation Stage - Z direction
|
||||
'Frz_z', true ... % Spindle - Z direction
|
||||
);
|
||||
initDisturbances(opts);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
@ -179,7 +176,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
@ -204,7 +201,7 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We first set the wanted translation of the Micro Hexapod.
|
||||
@ -215,19 +212,19 @@ P_micro_hexapod = [0.01; 0; 0]; % [m]
|
||||
|
||||
% We initialize the reference path.
|
||||
|
||||
initializeReferences(struct('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1));
|
||||
initializeReferences('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
|
||||
|
||||
% We initialize the stages.
|
||||
|
||||
initializeMicroHexapod(struct('AP', P_micro_hexapod));
|
||||
initializeMicroHexapod('AP', P_micro_hexapod);
|
||||
|
||||
|
||||
|
||||
% And we initialize the disturbances to zero.
|
||||
|
||||
opts = struct(...
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
@ -235,13 +232,12 @@ opts = struct(...
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
initDisturbances(opts);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
@ -280,7 +276,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
@ -305,12 +301,12 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We set the reference path.
|
||||
|
||||
initializeReferences(struct('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1));
|
||||
initializeReferences('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1);
|
||||
|
||||
|
||||
|
||||
@ -324,14 +320,14 @@ initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
||||
initializeSample(struct('mass', 1));
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 1);
|
||||
|
||||
|
||||
|
||||
% And we initialize the disturbances to zero.
|
||||
|
||||
opts = struct(...
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
@ -339,13 +335,12 @@ opts = struct(...
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
initDisturbances(opts);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('sim_nano_station_tomo');
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
@ -384,7 +379,7 @@ plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
@ -409,4 +404,4 @@ plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([1, inf]);
|
||||
xlim([2, inf]);
|
||||
|
||||
@ -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);
|
||||
|
||||
@ -97,7 +97,7 @@ The three rotations that we define thus corresponds to the Euler U-V-W angles.
|
||||
We should have the *same behavior* for the Micro-Hexapod on Simscape (same inputs at least).
|
||||
However, the Bushing Joint makes rotations around mobiles axes (X, Y' and then Z'') and not fixed axes (X, Y and Z).
|
||||
|
||||
*** Using Inverse Kinematics and Leg Actuators
|
||||
*** TODO Using Inverse Kinematics and Leg Actuators
|
||||
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.
|
||||
|
||||
The advantages are:
|
||||
@ -147,7 +147,7 @@ Otherwise, when the limbs' lengths derived yield complex numbers, then the posit
|
||||
**** Matlab Implementation
|
||||
We open the Simulink file.
|
||||
#+begin_src matlab
|
||||
open('kinematics/matlab/hexapod_tests.slx')
|
||||
|
||||
#+end_src
|
||||
|
||||
We load the configuration and set a small =StopTime=.
|
||||
@ -182,7 +182,7 @@ We define the wanted position/orientation of the Hexapod under study.
|
||||
|
||||
We run the simulation.
|
||||
#+begin_src matlab
|
||||
sim('hexapod_tests')
|
||||
sim()
|
||||
#+end_src
|
||||
|
||||
And we verify that we indeed succeed to go to the wanted position.
|
||||
|
||||
Loading…
Reference in New Issue
Block a user