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We not specify rotation instead of torque for the spindle

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Thomas Dehaeze 2018-06-12 13:20:44 +02:00
parent 84bc428a18
commit 602751c834
3 changed files with 8 additions and 6 deletions
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Assemblage.slx
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14
init_inputs.m
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@ -8,7 +8,7 @@ time_vector = 0:Ts:Tsim;
%% Set point [m, rad] %% Set point [m, rad]
setpoint = zeros(length(time_vector), 6); setpoint = zeros(length(time_vector), 6);
setpoint(ceil(1/Ts):end, 2) = 1e-6; % setpoint(ceil(1/Ts):end, 2) = 1e-6;
r_setpoint = timeseries(setpoint, time_vector); r_setpoint = timeseries(setpoint, time_vector);
@ -29,16 +29,18 @@ r_Gm = timeseries(xg, time_vector);
% figure; % figure;
% plot(r_Gm) % plot(r_Gm)
%% Translation stage %% Translation stage [m]
r_Ty = timeseries(zeros(length(time_vector), 1), time_vector); r_Ty = timeseries(zeros(length(time_vector), 1), time_vector);
%% Tilt Stage %% Tilt Stage [deg]
r_My = timeseries(zeros(length(time_vector), 1), time_vector); r_My = timeseries(zeros(length(time_vector), 1), time_vector);
%% Spindle %% Spindle [deg]
r_Mz = timeseries(zeros(length(time_vector), 1), time_vector); % r_spindle = zeros(length(time_vector), 1);
% r_Mz = timeseries(360*time_vector*rz.k.rot', time_vector); r_spindle = 2*pi*time_vector;
r_Mz = timeseries(r_spindle, time_vector);
%% Micro Hexapod %% Micro Hexapod
r_u_hexa = timeseries(zeros(length(time_vector), 6), time_vector); r_u_hexa = timeseries(zeros(length(time_vector), 6), time_vector);

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mat/inputs_setpoint.mat
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