Remove useless simscape models

active_damping/index.org

@@ -426,7 +426,7 @@ 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
@@ -565,7 +565,7 @@ We initialize all the stages with the default parameters.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],           1, 'openinput');              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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
@@ -745,7 +745,7 @@ We initialize all the stages with the default parameters.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],           1, 'openinput');              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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
@@ -924,7 +924,7 @@ We initialize all the stages with the default parameters.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],           1, 'openinput');              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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
@@ -1256,7 +1256,7 @@ We initialize all the stages with the default parameters.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],           1, 'openinput');              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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
@@ -1444,7 +1444,7 @@ We initialize all the stages with the default parameters.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],           1, 'openinput');              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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
@@ -1846,8 +1846,8 @@ We identify the dynamics of the system using the =linearize= function.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],                        1, 'openinput');  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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
+  io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
 #+end_src
 
 We identify the dynamics for the following sample mass.
@@ -2034,7 +2034,7 @@ 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
@@ -2326,8 +2326,8 @@ We identify the dynamics of the system using the =linearize= function.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],                        1, 'openinput');  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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
+  io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
 #+end_src
 
 We identify the dynamics for the following sample mass.
@@ -2514,7 +2514,7 @@ 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
@@ -2801,8 +2801,8 @@ We identify the dynamics of the system using the =linearize= function.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'],                        1, 'openinput');  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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
+  io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
 #+end_src
 
 We identify the dynamics for the following sample mass.
@@ -3545,7 +3545,7 @@ We log the signals.
   io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwx'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwy'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); 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, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
 
   %% Run the linearization
   G = linearize(mdl, io, options);
@@ -3564,8 +3564,8 @@ We log the signals.
 
   %% Input/Output definition
   clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
+  io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
 
   %% Run the linearization
   G = linearize(mdl, io, options);
@@ -3637,57 +3637,6 @@ We log the signals.
   linkaxes([ax1,ax2],'x');
 #+end_src
 
-*** TODO test
-#+begin_src matlab
-  %% Options for Linearized
-  options = linearizeOptions;
-  options.SampleTime = 0;
-
-  %% Name of the Simulink File
-  mdl = 'nass_model';
-
-  %% Input/Output definition
-  clear io; io_i = 1;
-  io(io_i) = linio([mdl, '/Micro-Station/Dy'], 1, 'openinput'); io_i = io_i + 1;
-  io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
-
-  %% Run the linearization
-  G = linearize(mdl, io, options);
-  G.InputName  = {'Dy'};
-  G.OutputName = {'Edx', 'Edy', 'Edz', 'Erx', 'Ery', 'Erz'};
-#+end_src
-
-#+begin_important
-Why is the transfer function from Ty displacement to position error is equal to
-1 at all frequencies?
-Why don't we see any resonance?
-#+end_important
-
-#+begin_src matlab :exports none
-  freqs = logspace(0, 3, 1000);
-
-  figure;
-
-  ax1 = subplot(2, 1, 1);
-  hold on;
-  plot(freqs, abs(squeeze(freqresp(G('Edy', 'Dy(1)'), freqs, 'Hz'))), 'DisplayName', '$T_{x}$');
-  hold off;
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
-  legend('location', 'southwest')
-
-  ax2 = subplot(2, 1, 2);
-  hold on;
-  plot(freqs, 180/pi*angle(squeeze(freqresp(G('Edy', 'Dy(1)'), freqs, 'Hz'))));
-  hold off;
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
-  ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
-  ylim([-180, 180]);
-  yticks([-180, -90, 0, 90, 180]);
-
-  linkaxes([ax1,ax2],'x');
-#+end_src
-
 *** Sensitivity to disturbances
 The sensitivity to disturbances are shown on figure [[fig:sensitivity_dist_undamped]].
 

metrology/figs

@@ -1 +0,0 @@
-../figs

metrology/index.html

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-<h1 class="title">Metrology</h1>
-<div id="table-of-contents">
-<h2>Table of Contents</h2>
-<div id="text-table-of-contents">
-<ul>
-<li><a href="#orgdf449a5">1. How do we measure the position of the sample with respect to the granite</a></li>
-</ul>
-</div>
-</div>
-
-<p>
-The global measurement and control schematic is shown in figure <a href="#org1be8cfd">1</a>.
-</p>
-
-
-<div id="org1be8cfd" class="figure">
-<p><img src="figs/control-schematic-nass.png" alt="control-schematic-nass.png" />
-</p>
-<p><span class="figure-number">Figure 1: </span>Global Control Schematic for the Station</p>
-</div>
-
-<p>
-In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
-</p>
-
-<p>
-First, in section <a href="#org09b824d">1</a>, is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
-</p>
-
-<div id="outline-container-orgdf449a5" class="outline-2">
-<h2 id="orgdf449a5"><span class="section-number-2">1</span> How do we measure the position of the sample with respect to the granite</h2>
-<div class="outline-text-2" id="text-1">
-<p>
-<a id="org09b824d"></a>
-A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
-</p>
-
-<p>
-The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
-</p>
-
-<p>
-The follower frame is attached to the sample (or more precisely to the reflector).
-</p>
-
-<p>
-The outputs of the transform sensor are:
-</p>
-<ul class="org-ul">
-<li>the 3 translations x, y and z in meter</li>
-<li>the <b>rotation matrix</b> \(\bm{R}\) that permits to rotate the base frame into the follower frame.</li>
-</ul>
-
-<p>
-We can then determine extract other orientation conventions such that Euler angles or screw axis.
-</p>
-</div>
-</div>
-</div>
-<div id="postamble" class="status">
-<p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2019-12-11 mer. 17:33</p>
-<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
-</div>
-</body>
-</html>

metrology/index.org

@@ -1,67 +0,0 @@
-#+TITLE: Metrology
-:DRAWER:
-#+STARTUP: overview
-
-#+LANGUAGE: en
-#+EMAIL: dehaeze.thomas@gmail.com
-#+AUTHOR: Dehaeze Thomas
-
-#+HTML_LINK_HOME: ../index.html
-#+HTML_LINK_UP: ../index.html
-
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
-#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
-#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
-#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
-
-#+HTML_MATHJAX: align: center tagside: right font: TeX
-
-#+PROPERTY: header-args:matlab  :session *MATLAB*
-#+PROPERTY: header-args:matlab+ :comments org
-#+PROPERTY: header-args:matlab+ :results none
-#+PROPERTY: header-args:matlab+ :exports both
-#+PROPERTY: header-args:matlab+ :eval no-export
-#+PROPERTY: header-args:matlab+ :output-dir figs
-#+PROPERTY: header-args:matlab+ :tangle no
-#+PROPERTY: header-args:matlab+ :mkdirp yes
-
-#+PROPERTY: header-args:shell  :eval no-export
-
-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
-#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
-#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
-#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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-#+PROPERTY: header-args:latex+ :eval no-export
-#+PROPERTY: header-args:latex+ :exports both
-#+PROPERTY: header-args:latex+ :mkdirp yes
-#+PROPERTY: header-args:latex+ :output-dir figs
-:END:
-
-* Introduction                                                       :ignore:
-The global measurement and control schematic is shown in figure [[fig:control-schematic-nass]].
-
-#+name: fig:control-schematic-nass
-#+caption: Global Control Schematic for the Station
-[[file:figs/control-schematic-nass.png]]
-
-In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
-
-First, in section [[sec:measurement_principle]], is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
-
-* How do we measure the position of the sample with respect to the granite
-<<sec:measurement_principle>>
-A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
-
-The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
-
-The follower frame is attached to the sample (or more precisely to the reflector).
-
-The outputs of the transform sensor are:
-- the 3 translations x, y and z in meter
-- the *rotation matrix* $\bm{R}$ that permits to rotate the base frame into the follower frame.
-
-We can then determine extract other orientation conventions such that Euler angles or screw axis.