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Round some smidata number

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This commit is contained in:
Thomas Dehaeze 2018-10-02 21:33:56 +02:00
parent 77f8b61d38
commit 6161ff1ad3
7 changed files with 63 additions and 91 deletions
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2
Analysis/ground_motion_experiment.m
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@ -4,7 +4,7 @@
clear; close all; clc;
%%
sim Assemblage
sim Assemblage;
%%
Dsample.Data = Dsample.Data - Dsample.Data(1, :);

BIN
Assemblage.slx
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8
init_demonstration.m
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@ -93,11 +93,7 @@ initializeMicroHexapod();
initializeAxisc();
%% Initialize NASS
opts_nano_hexapod = struct('actuator', 'lorentz');
initializeNanoHexapod(opts_nano_hexapod);
initializeNanoHexapod(struct('actuator', 'lorentz'));
%% Initialize Sample
opts_sample = struct('mass', 20);
initializeSample(opts_sample);
initializeSample(struct('mass', 20));

130
initialize/initializeSmiData.m
View File

@ -108,7 +108,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(26).angle = 2.7686982945666694;
smiData.RigidTransform(26).axis = [0 -1 0];
smiData.RigidTransform(26).ID = 'F[Correcteur_Axe-1:-:Bati_Correcteur_Axe_Capteurs2-1]';
smiData.RigidTransform(27).translation = [-293.50000000000114 -50 0];
smiData.RigidTransform(27).translation = [-293.5 -50 0];
smiData.RigidTransform(27).angle = 2.0943951023931953;
smiData.RigidTransform(27).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(27).ID = 'B[Correcteur_Axe-1:-:Axe_Correcteur_Axe-1]';
@ -116,7 +116,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(28).angle = 0;
smiData.RigidTransform(28).axis = [-0.18690204536159183 0.982378555058921 0];
smiData.RigidTransform(28).ID = 'F[Correcteur_Axe-1:-:Axe_Correcteur_Axe-1]';
smiData.RigidTransform(29).translation = [-293.50000000000114 -50 0];
smiData.RigidTransform(29).translation = [-293.5 -50 0];
smiData.RigidTransform(29).angle = 2.0943951023931953;
smiData.RigidTransform(29).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(29).ID = 'B[Correcteur_Axe-1:-:Axe_Correcteur_Axe-2]';
@ -256,7 +256,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(63).angle = 2.0943951023931953;
smiData.RigidTransform(63).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(63).ID = 'B[Guide_Tilt-1:-:Plateau_Tilt-1]';
smiData.RigidTransform(64).translation = [-313.500000000003 0 0];
smiData.RigidTransform(64).translation = [-313.5 0 0];
smiData.RigidTransform(64).angle = 2.0943951023931966;
smiData.RigidTransform(64).axis = [-0.57735026918962584 -0.57735026918962606 0.57735026918962529];
smiData.RigidTransform(64).ID = 'F[Guide_Tilt-1:-:Plateau_Tilt-1]';
@ -264,31 +264,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(65).angle = 2.0943951023931953;
smiData.RigidTransform(65).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(65).ID = 'B[Guide_Tilt-2:-:Plateau_Tilt-1]';
smiData.RigidTransform(66).translation = [-313.50000000000307 0 0];
smiData.RigidTransform(66).angle = 2.0943951023931962;
smiData.RigidTransform(66).axis = [-0.577350269189626 -0.57735026918962606 0.5773502691896254];
smiData.RigidTransform(66).ID = 'F[Guide_Tilt-2:-:Plateau_Tilt-1]';
smiData.RigidTransform(67).translation = [0 -5 600];
smiData.RigidTransform(67).angle = 2.0943951023931953;
smiData.RigidTransform(67).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(67).ID = 'B[Guide_Tilt-3:-:Plateau_Tilt-1]';
smiData.RigidTransform(68).translation = [313.5 0 0];
smiData.RigidTransform(68).angle = 2.0943951023931948;
smiData.RigidTransform(68).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
smiData.RigidTransform(68).ID = 'F[Guide_Tilt-3:-:Plateau_Tilt-1]';
smiData.RigidTransform(69).translation = [0 -5 600];
smiData.RigidTransform(69).angle = 2.0943951023931953;
smiData.RigidTransform(69).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(69).ID = 'B[Guide_Tilt-4:-:Plateau_Tilt-1]';
smiData.RigidTransform(70).translation = [313.5 0 0];
smiData.RigidTransform(70).angle = 2.0943951023931948;
smiData.RigidTransform(70).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
smiData.RigidTransform(70).ID = 'F[Guide_Tilt-4:-:Plateau_Tilt-1]';
smiData.RigidTransform(71).translation = [146.02 0 0];
smiData.RigidTransform(71).angle = 2.0943951023931953;
smiData.RigidTransform(71).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(71).ID = 'B[Bati_Spindle-1:-:Axe_Spindle-1]';
smiData.RigidTransform(72).translation = [146.20000000000005 0 0];
smiData.RigidTransform(66).translation = [-313.5 0 0];
smiData.RigidTransform(72).angle = 2.0943951023931957;
smiData.RigidTransform(72).axis = [0.57735026918962573 0.57735026918962584 0.57735026918962573];
smiData.RigidTransform(72).ID = 'F[Bati_Spindle-1:-:Axe_Spindle-1]';
@ -396,15 +372,15 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(98).angle = 2.6381355635463279;
smiData.RigidTransform(98).axis = [-0.25718398137297871 -0.68332144695053421 -0.683321446950534];
smiData.RigidTransform(98).ID = 'F[Bati_Spindle-1:-:Moteur_Spindle-1]';
smiData.RigidTransform(99).translation = [0 20.500000000000075 39.5];
smiData.RigidTransform(99).translation = [0 20.5 39.5];
smiData.RigidTransform(99).angle = 2.0943951023931953;
smiData.RigidTransform(99).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(99).ID = 'B[Bati_Correcteur_Axe_Capteurs2-1:-:Axe_Correcteur_Axe-1]';
smiData.RigidTransform(100).translation = [0 0 0.3700000000000615];
smiData.RigidTransform(100).translation = [0 0 0.37];
smiData.RigidTransform(100).angle = 0;
smiData.RigidTransform(100).axis = [0.3663919258296145 0.93046061533353808 0];
smiData.RigidTransform(100).ID = 'F[Bati_Correcteur_Axe_Capteurs2-1:-:Axe_Correcteur_Axe-1]';
smiData.RigidTransform(101).translation = [0 -611.25000000000045 0];
smiData.RigidTransform(101).translation = [0 -611.25 0];
smiData.RigidTransform(101).angle = 2.0943951023931953;
smiData.RigidTransform(101).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(101).ID = 'B[Plateau_Tilt-1:-:Bati_Spindle-1]';
@ -460,11 +436,11 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(114).angle = 3.1415926535897931;
smiData.RigidTransform(114).axis = [0.71358095587998338 0 -0.7005727795207356];
smiData.RigidTransform(114).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-3]';
smiData.RigidTransform(115).translation = [45 15 34.750000000000057];
smiData.RigidTransform(115).translation = [45 15 34.75];
smiData.RigidTransform(115).angle = 2.0943951023931953;
smiData.RigidTransform(115).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(115).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-3]';
smiData.RigidTransform(116).translation = [-3.6000000000000485 2.5000000000001137 0];
smiData.RigidTransform(116).translation = [-3.6 2.5 0];
smiData.RigidTransform(116).angle = 2.0943951023931957;
smiData.RigidTransform(116).axis = [-0.57735026918962584 -0.57735026918962573 -0.57735026918962573];
smiData.RigidTransform(116).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-3]';
@ -476,11 +452,11 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(118).angle = 3.1415926535897931;
smiData.RigidTransform(118).axis = [0.93808708517252759 0 0.3463995101505068];
smiData.RigidTransform(118).ID = 'F[Correcteur_Axe-1:-:HEPCO_RSJ34DE-4]';
smiData.RigidTransform(119).translation = [-45 15 34.750000000000057];
smiData.RigidTransform(119).translation = [-45 15 34.75];
smiData.RigidTransform(119).angle = 2.0943951023931953;
smiData.RigidTransform(119).axis = [0.57735026918962584 -0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(119).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-4]';
smiData.RigidTransform(120).translation = [-3.6000000000638703 2.5000000000000018 0];
smiData.RigidTransform(120).translation = [-3.6 2.5 0];
smiData.RigidTransform(120).angle = 2.0943951023931957;
smiData.RigidTransform(120).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962562];
smiData.RigidTransform(120).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:HEPCO_RSJ34DE-4]';
@ -492,15 +468,15 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(122).angle = 0.20426489504440995;
smiData.RigidTransform(122).axis = [0 -1 0];
smiData.RigidTransform(122).ID = 'F[Correcteur_Axe-1:-:Bati_Correcteur_Axe_SansCapteur2-1]';
smiData.RigidTransform(123).translation = [0 20.5 39.500000000000092];
smiData.RigidTransform(123).translation = [0 20.5 39.5];
smiData.RigidTransform(123).angle = 2.0943951023931953;
smiData.RigidTransform(123).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(123).ID = 'B[Bati_Correcteur_Axe_SansCapteur2-1:-:Axe_Correcteur_Axe-2]';
smiData.RigidTransform(124).translation = [0 0 -0.37000000000011823];
smiData.RigidTransform(124).translation = [0 0 -0.37];
smiData.RigidTransform(124).angle = 0;
smiData.RigidTransform(124).axis = [0.99729063179040955 0.07356218962949336 0];
smiData.RigidTransform(124).ID = 'F[Bati_Correcteur_Axe_SansCapteur2-1:-:Axe_Correcteur_Axe-2]';
smiData.RigidTransform(125).translation = [-13 104.22000000000003 110.5];
smiData.RigidTransform(125).translation = [-13 104.22 110.5];
smiData.RigidTransform(125).angle = 2.0943951023931953;
smiData.RigidTransform(125).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(125).ID = 'B[Guide_Translation1-1:-:Plateau_Translation-1]';
@ -508,7 +484,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(126).angle = 2.0943951023931957;
smiData.RigidTransform(126).axis = [-0.57735026918962562 -0.577350269189626 -0.577350269189626];
smiData.RigidTransform(126).ID = 'F[Guide_Translation1-1:-:Plateau_Translation-1]';
smiData.RigidTransform(127).translation = [-55 104.22000000000003 -110.50000000000115];
smiData.RigidTransform(127).translation = [-55 104.22 -110.5];
smiData.RigidTransform(127).angle = 2.0943951023931953;
smiData.RigidTransform(127).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(127).ID = 'B[Guide_Translation2-1:-:Plateau_Translation-1]';
@ -516,7 +492,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(128).angle = 2.0943951023931953;
smiData.RigidTransform(128).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(128).ID = 'F[Guide_Translation2-1:-:Plateau_Translation-1]';
smiData.RigidTransform(129).translation = [-55 104.22000000000001 110.5];
smiData.RigidTransform(129).translation = [-55 104.22 110.5];
smiData.RigidTransform(129).angle = 2.0943951023931953;
smiData.RigidTransform(129).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(129).ID = 'B[Guide_Translation12-1:-:Plateau_Translation-1]';
@ -524,7 +500,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(130).angle = 2.0943951023931953;
smiData.RigidTransform(130).axis = [-0.57735026918962606 0.57735026918962551 0.57735026918962562];
smiData.RigidTransform(130).ID = 'F[Guide_Translation12-1:-:Plateau_Translation-1]';
smiData.RigidTransform(131).translation = [-13 104.22000000000006 -110.50000000000115];
smiData.RigidTransform(131).translation = [-13 104.22 -110.5];
smiData.RigidTransform(131).angle = 2.0943951023931953;
smiData.RigidTransform(131).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(131).ID = 'B[Guide_Translation22-1:-:Plateau_Translation-1]';
@ -536,7 +512,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(133).angle = 3.1415926535897931;
smiData.RigidTransform(133).axis = [1 0 0];
smiData.RigidTransform(133).ID = 'B[Plateau_Translation-1:-:Guide_Tilt-1]';
smiData.RigidTransform(134).translation = [-29 134.50000000000006 -41];
smiData.RigidTransform(134).translation = [-29 134.5 -41];
smiData.RigidTransform(134).angle = 1.6563819867311662;
smiData.RigidTransform(134).axis = [-0.91787842097906314 -0.28062359514212426 -0.28062359514212443];
smiData.RigidTransform(134).ID = 'F[Plateau_Translation-1:-:Guide_Tilt-1]';
@ -584,7 +560,7 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(145).angle = 2.0943951023931953;
smiData.RigidTransform(145).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(145).ID = 'B[Plateau_Translation-1:-:Plateau_Tilt-1]';
smiData.RigidTransform(146).translation = [-387 -426.78000000000071 -505];
smiData.RigidTransform(146).translation = [-387 -426.78 -505];
smiData.RigidTransform(146).angle = 1.570796326794897;
smiData.RigidTransform(146).axis = [-1 0 0];
smiData.RigidTransform(146).ID = 'F[Plateau_Translation-1:-:Plateau_Tilt-1]';
@ -823,28 +799,28 @@ function [smiData] = initializeSmiData()
smiData.Solid(1).CoM = [0.015718974415195226 35.000106662086104 0.66628765693154646];
smiData.Solid(1).MoI = [74518.954605887164 165222.36906531572 139603.38151958794];
smiData.Solid(1).PoI = [-1518.3614460506017 -7.2374554620627034 -309.89153404714762];
smiData.Solid(1).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(1).color = [0.792 0.820 0.933];
smiData.Solid(1).opacity = 1;
smiData.Solid(1).ID = 'Moteur_Translation_Attache*:*Un';
smiData.Solid(2).mass = 15.43418416106894;
smiData.Solid(2).CoM = [0 7.48333189807615 -86.332571976971607];
smiData.Solid(2).MoI = [2.2709374659793619E+6 4.2263019787784433E+6 1.9559436634416454E+6];
smiData.Solid(2).PoI = [-17.5333372137901 0 0];
smiData.Solid(2).color = [0.75294117647058822 1 0.75294117647058822];
smiData.Solid(2).color = [0.753 1 0.753];
smiData.Solid(2).opacity = 1;
smiData.Solid(2).ID = 'Attache_Granite*:*Un';
smiData.Solid(3).mass = 76.23534630428415;
smiData.Solid(3).CoM = [-6.7649065519793163 -12.146139105262785 -1.4104679905522566E-8];
smiData.Solid(3).MoI = [9.4039834963181838E+6 9.4034579744764678E+6 232263.26039287818];
smiData.Solid(3).PoI = [-0.00015334858811380178 -0.00027172084966439487 -3553.386294247427];
smiData.Solid(3).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(3).color = [0.792 0.820 0.933];
smiData.Solid(3).opacity = 1;
smiData.Solid(3).ID = 'Guide_Translation_Attache_Granite*:*Un';
smiData.Solid(4).mass = 8.3613735231187114;
smiData.Solid(4).CoM = [19.1409856316717 11.907994144196662 11.821533174094323];
smiData.Solid(4).MoI = [53852.677261917212 56839.401066359722 55772.228960332352];
smiData.Solid(4).PoI = [-3256.0421853479766 -4924.8108766115784 -1320.0442429257519];
smiData.Solid(4).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(4).color = [0.792 0.820 0.933];
smiData.Solid(4).opacity = 1;
smiData.Solid(4).ID = 'Guide_Translation12*:*Un';
smiData.Solid(5).mass = 2089.6423298726722;
@ -858,210 +834,210 @@ function [smiData] = initializeSmiData()
smiData.Solid(6).CoM = [16.87989864259038 10.71472380164245 12.617372197409855];
smiData.Solid(6).MoI = [52969.730978163447 54572.543668756531 53183.634453418505];
smiData.Solid(6).PoI = [-3631.945563223851 -5630.6059761096 -289.15773342455952];
smiData.Solid(6).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(6).color = [0.792 0.820 0.933];
smiData.Solid(6).opacity = 1;
smiData.Solid(6).ID = 'Guide_Translation1*:*Un';
smiData.Solid(7).mass = 8.3609058443789515;
smiData.Solid(7).CoM = [19.132133721964305 11.892463147403664 -11.823956211824273];
smiData.Solid(7).MoI = [53839.548367298143 56828.643221751627 55750.099842573487];
smiData.Solid(7).PoI = [3261.10407978655 4927.7918682396448 -1304.436900584067];
smiData.Solid(7).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(7).color = [0.792 0.820 0.933];
smiData.Solid(7).opacity = 1;
smiData.Solid(7).ID = 'Guide_Translation22*:*Un';
smiData.Solid(8).mass = 8.1829256494063252;
smiData.Solid(8).CoM = [16.879899026528118 10.714722674505232 -12.617370596448877];
smiData.Solid(8).MoI = [52969.732158808736 54572.544816981281 53183.635918253414];
smiData.Solid(8).PoI = [3631.9460791272418 5630.60590582175 -289.15762831869131];
smiData.Solid(8).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(8).color = [0.792 0.820 0.933];
smiData.Solid(8).opacity = 1;
smiData.Solid(8).ID = 'Guide_Translation2*:*Un';
smiData.Solid(9).mass = 123.27304666520648;
smiData.Solid(9).CoM = [1.0745153439908003E-8 76.840734640488066 -15.7858927227978];
smiData.Solid(9).MoI = [1.6258590199632309E+7 3.3998679601297766E+7 1.8290485861220378E+7];
smiData.Solid(9).PoI = [-40100.293113086067 -18283.832750216414 0.00010977145084025645];
smiData.Solid(9).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(9).color = [0.792 0.820 0.933];
smiData.Solid(9).opacity = 1;
smiData.Solid(9).ID = 'Plateau_Translation*:*Un';
smiData.Solid(10).mass = 26.05449761481789;
smiData.Solid(10).CoM = [-0.095307614034803215 -73.729181325504371 0.060643973360152141];
smiData.Solid(10).MoI = [542775.78978177439 273763.46024085052 542564.45071286859];
smiData.Solid(10).PoI = [-98.959191426503438 -1805.6394231119384 -52.852323754654158];
smiData.Solid(10).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(10).color = [0.792 0.820 0.933];
smiData.Solid(10).opacity = 1;
smiData.Solid(10).ID = 'Moteur_Spindle*:*Un';
smiData.Solid(11).mass = 2.2361582977906496;
smiData.Solid(11).CoM = [-0.15900593897461887 24.855409113474046 -0.17548810891069858];
smiData.Solid(11).MoI = [2117.5998025030904 3635.7958018687932 2242.3242214716147];
smiData.Solid(11).PoI = [-4.1934867272725125 -0.32511744228602696 2.3625270647825505];
smiData.Solid(11).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(11).color = [0.792 0.820 0.933];
smiData.Solid(11).opacity = 1;
smiData.Solid(11).ID = 'Guide_Tilt*:*Un';
smiData.Solid(12).mass = 18.489788236729925;
smiData.Solid(12).CoM = [83.945932907862158 3.5024291372378355E-5 -2.340248362521065E-5];
smiData.Solid(12).MoI = [918590.42919547844 499096.85122296982 499096.80095398769];
smiData.Solid(12).PoI = [-0.060680025979102596 -0.055279758468797451 0.082732004208309853];
smiData.Solid(12).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(12).color = [0.792 0.820 0.933];
smiData.Solid(12).opacity = 1;
smiData.Solid(12).ID = 'Axe_Spindle*:*Un';
smiData.Solid(13).mass = 5.7334065928013711;
smiData.Solid(13).CoM = [0 0 5];
smiData.Solid(13).MoI = [52006.775635535778 52006.775635535763 103917.99449452484];
smiData.Solid(13).PoI = [0 0 0];
smiData.Solid(13).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(13).color = [0.647 0.620 0.588];
smiData.Solid(13).opacity = 1;
smiData.Solid(13).ID = 'Base*:*Défaut';
smiData.Solid(14).mass = 0.0061079891568644063;
smiData.Solid(14).CoM = [0 1.9192740926157621 0];
smiData.Solid(14).MoI = [0.16309128511388668 0.30532530578461997 0.16309128511388665];
smiData.Solid(14).PoI = [0 0 0];
smiData.Solid(14).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(14).color = [0.647 0.620 0.588];
smiData.Solid(14).opacity = 1;
smiData.Solid(14).ID = 'SupportBrasBas*:*Défaut';
smiData.Solid(15).mass = 0.056868040158916187;
smiData.Solid(15).CoM = [0 0 79.389976523577147];
smiData.Solid(15).MoI = [49.2365165141254 49.2365165141254 1.6689342352680094];
smiData.Solid(15).PoI = [0 0 0];
smiData.Solid(15).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(15).color = [0.647 0.620 0.588];
smiData.Solid(15).opacity = 1;
smiData.Solid(15).ID = 'BrasBas_Nano*:*Un';
smiData.Solid(16).mass = 1.0163232631824652;
smiData.Solid(16).CoM = [0 0 54.206426110535489];
smiData.Solid(16).MoI = [1956.3946024532142 1956.3946024532142 154.49618255964612];
smiData.Solid(16).PoI = [0 0 0];
smiData.Solid(16).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(16).color = [0.647 0.620 0.588];
smiData.Solid(16).opacity = 1;
smiData.Solid(16).ID = 'BrasHaut_Micro*:*Un';
smiData.Solid(17).mass = 3.5065801747129073;
smiData.Solid(17).CoM = [-0.36791120657420417 -39.5989800783502 -1.8492196764749032];
smiData.Solid(17).MoI = [123021.09213588048 241616.67862224273 121135.81165159146];
smiData.Solid(17).PoI = [-6.304580461431124 -390.11328139595861 -1.2685138195415793];
smiData.Solid(17).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(17).color = [0.792 0.820 0.933];
smiData.Solid(17).opacity = 1;
smiData.Solid(17).ID = 'Correcteur_Axe*:*Un';
smiData.Solid(18).mass = 124.18540434871731;
smiData.Solid(18).CoM = [-26.582212197447287 -491.717305640884 -0.00033479273697097707];
smiData.Solid(18).MoI = [1.1439333451426933E+7 1.9448243099410776E+7 8.463072074762946E+6];
smiData.Solid(18).PoI = [-1.7523192581664864 -6.3900215026686755 -255511.79057840357];
smiData.Solid(18).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(18).color = [0.792 0.820 0.933];
smiData.Solid(18).opacity = 1;
smiData.Solid(18).ID = 'Plateau_Tilt*:*un';
smiData.Solid(19).mass = 18.458415855194378;
smiData.Solid(19).CoM = [0 0 13];
smiData.Solid(19).MoI = [255564.07397144221 255564.07397144227 509048.49975653266];
smiData.Solid(19).PoI = [0 0 0];
smiData.Solid(19).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(19).color = [0.647 0.620 0.588];
smiData.Solid(19).opacity = 1;
smiData.Solid(19).ID = 'Base_Micro*:*Un';
smiData.Solid(20).mass = 0.056466671366443559;
smiData.Solid(20).CoM = [0 8.7279555168307486 0];
smiData.Solid(20).MoI = [3.6572192052323258 4.3009709954310722 3.6572192052323258];
smiData.Solid(20).PoI = [0 0 0];
smiData.Solid(20).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(20).color = [0.647 0.620 0.588];
smiData.Solid(20).opacity = 1;
smiData.Solid(20).ID = 'Support_BrasBas_Micro*:*Un';
smiData.Solid(21).mass = 2.9002934144923787;
smiData.Solid(21).CoM = [0 0 98.785376811441409];
smiData.Solid(21).MoI = [10370.243452372171 10370.243452372171 898.11547210821311];
smiData.Solid(21).PoI = [0 0 0];
smiData.Solid(21).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(21).color = [0.647 0.620 0.588];
smiData.Solid(21).opacity = 1;
smiData.Solid(21).ID = 'BrasBas_Micro*:*Un';
smiData.Solid(22).mass = 0.15011840299113105;
smiData.Solid(22).CoM = [0 8.2507041715126 0];
smiData.Solid(22).MoI = [26.092169229466947 42.030395201944415 26.092169229466947];
smiData.Solid(22).PoI = [0 0 0];
smiData.Solid(22).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(22).color = [0.647 0.620 0.588];
smiData.Solid(22).opacity = 1;
smiData.Solid(22).ID = 'Support_BrasHaut_Micro*:*Un';
smiData.Solid(23).mass = 9.4068231304355763;
smiData.Solid(23).CoM = [0 0 13];
smiData.Solid(23).MoI = [69256.1674939768 69256.167493976827 137452.49958192455];
smiData.Solid(23).PoI = [0 0 0];
smiData.Solid(23).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(23).color = [0.647 0.620 0.588];
smiData.Solid(23).opacity = 1;
smiData.Solid(23).ID = 'Nacelle_Micro*:*Un';
smiData.Solid(24).mass = 15.126420955757553;
smiData.Solid(24).CoM = [-0.54563849791295038 -19.440722181375406 -102.40329703573914];
smiData.Solid(24).MoI = [45643.718565463234 322252.82258853404 279570.09452022141];
smiData.Solid(24).PoI = [-112.30069985275661 783.83628844540624 -379.06755103452377];
smiData.Solid(24).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(24).color = [0.792 0.820 0.933];
smiData.Solid(24).opacity = 1;
smiData.Solid(24).ID = 'Moteur_Translation_Plateau*:*Un';
smiData.Solid(25).mass = 0.38430863613603045;
smiData.Solid(25).CoM = [-5.266756357647571E-8 0.084038038546028468 -17.259197169539714];
smiData.Solid(25).MoI = [499.37275615442366 499.08493635525451 104.67248848189929];
smiData.Solid(25).PoI = [1.02486741762914 2.3304382287390747E-6 2.3451716786610303E-7];
smiData.Solid(25).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(25).color = [0.792 0.820 0.933];
smiData.Solid(25).opacity = 1;
smiData.Solid(25).ID = 'Moteur_Tilt_Axe*:*Un';
smiData.Solid(26).mass = 52.9776539711868;
smiData.Solid(26).CoM = [122.00377986104328 -0.0056758322482918606 0.076028031715715316];
smiData.Solid(26).MoI = [4.9160628224502634E+6 2.8118491924753189E+6 2.8126349362308397E+6];
smiData.Solid(26).PoI = [-60.988049183057221 574.35593302280927 -42.844438542971233];
smiData.Solid(26).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(26).color = [0.792 0.820 0.933];
smiData.Solid(26).opacity = 1;
smiData.Solid(26).ID = 'Bati_Spindle*:*Un';
smiData.Solid(27).mass = 0.049606255706454994;
smiData.Solid(27).CoM = [0 0 63.222061026372984];
smiData.Solid(27).MoI = [55.699888493314425 55.699888493314425 0.67291987429918709];
smiData.Solid(27).PoI = [0 0 0];
smiData.Solid(27).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(27).color = [0.647 0.620 0.588];
smiData.Solid(27).opacity = 1;
smiData.Solid(27).ID = 'BrasHaut_Nano*:*Un';
smiData.Solid(28).mass = 6.1218480858043582;
smiData.Solid(28).CoM = [18.047333440871935 33.17427256561281 -0.46949496649199368];
smiData.Solid(28).MoI = [31874.700431348381 42897.353029512182 29049.726878808429];
smiData.Solid(28).PoI = [5110.6166623008257 -11188.307260400428 2468.1651805945835];
smiData.Solid(28).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(28).color = [0.792 0.820 0.933];
smiData.Solid(28).opacity = 1;
smiData.Solid(28).ID = 'Moteur_Tilt_Bati*:*un';
smiData.Solid(29).mass = 0.018506900186134712;
smiData.Solid(29).CoM = [-0.56890312150214994 -6.1547991703062257 0];
smiData.Solid(29).MoI = [2.4610504412048715 2.2918706649711496 2.4929637479655558];
smiData.Solid(29).PoI = [0 0 0.16178879894587178];
smiData.Solid(29).color = [0.75294117647058822 0.75294117647058822 0.75294117647058822];
smiData.Solid(29).color = [0.753 0.753 0.753];
smiData.Solid(29).opacity = 1;
smiData.Solid(29).ID = 'HEPCO_RSJ34DE*:*Un';
smiData.Solid(30).mass = 6.90011207232739;
smiData.Solid(30).CoM = [1.0948384390702313E-8 -3.3962123693453816 -1.9754286882626495];
smiData.Solid(30).MoI = [8220.4563154645821 23522.651144994408 16476.625269165881];
smiData.Solid(30).PoI = [-11.548161994462447 -3.0960488486093604E-6 -1.0902039565704146E-6];
smiData.Solid(30).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(30).color = [0.792 0.820 0.933];
smiData.Solid(30).opacity = 1;
smiData.Solid(30).ID = 'Bati_Correcteur_Axe_SansCapteur2*:*Un';
smiData.Solid(31).mass = 6.9287146257909242;
smiData.Solid(31).CoM = [0.20632390729952396 -3.2645678205909472 -1.8073529676898348];
smiData.Solid(31).MoI = [8308.8083458773581 23715.993296597404 16648.639174554883];
smiData.Solid(31).PoI = [-46.22405120432186 -43.7402576006445 -51.305795627548136];
smiData.Solid(31).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(31).color = [0.792 0.820 0.933];
smiData.Solid(31).opacity = 1;
smiData.Solid(31).ID = 'Bati_Correcteur_Axe_Capteurs2*:*Un';
smiData.Solid(32).mass = 0.050211456363892161;
smiData.Solid(32).CoM = [1.755384579522894E-7 0.20971599065599411 7.3676040526265947];
smiData.Solid(32).MoI = [5.6316076354202487 5.5419198739075943 5.1790795543353232];
smiData.Solid(32).PoI = [-0.011944800771315923 9.54415671502239E-8 -4.87066937517102E-7];
smiData.Solid(32).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(32).color = [0.792 0.820 0.933];
smiData.Solid(32).opacity = 1;
smiData.Solid(32).ID = 'Axe_Correcteur_Axe*:*Un';
smiData.Solid(33).mass = 11.048822641144469;
smiData.Solid(33).CoM = [-0.51257668162195469 12.949637144252401 -0.47841218705416116];
smiData.Solid(33).MoI = [61278.329900794888 119755.79362002887 60734.179915747];
smiData.Solid(33).PoI = [-144.84411966602022 -216.33448148869749 -145.02602360828348];
smiData.Solid(33).color = [0.792156862745098 0.81960784313725488 0.93333333333333335];
smiData.Solid(33).color = [0.792 0.820 0.933];
smiData.Solid(33).opacity = 1;
smiData.Solid(33).ID = 'Support_Sample*:*Un';
smiData.Solid(34).mass = 0.003370325364280492;
smiData.Solid(34).CoM = [0 1.5866221650834114 0];
smiData.Solid(34).MoI = [0.057173154927052459 0.10682711031043758 0.057173154927052473];
smiData.Solid(34).PoI = [0 0 0];
smiData.Solid(34).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(34).color = [0.647 0.620 0.588];
smiData.Solid(34).opacity = 1;
smiData.Solid(34).ID = 'SupportBrasHaut*:*Défaut';
smiData.Solid(35).mass = 5.1600659335212322;
smiData.Solid(35).CoM = [0 0 5];
smiData.Solid(35).MoI = [29068.37142550293 29068.37142550293 58050.741752113841];
smiData.Solid(35).PoI = [0 0 0];
smiData.Solid(35).color = [0.6470588235294118 0.61960784313725492 0.58823529411764708];
smiData.Solid(35).color = [0.647 0.620 0.588];
smiData.Solid(35).opacity = 1;
smiData.Solid(35).ID = 'Nacelle*:*Défaut';

6
main.m
View File

@ -11,4 +11,8 @@ run init_perturbations.m
% Initialize all the stages parameters
run init_data.m
%%
%% Run the simulations
run run_simulations.m
%% Demonstration of displacement of all the stages
run init_demonstration.m

4
run_simulations.m
View File

@ -9,7 +9,7 @@ set_param('Assemblage',...
'SaveCompleteFinalSimState','on'...
);
sim('Assemblage')
sim('Assemblage');
save('./data/myOperPoint.mat', 'myOperPoint');
@ -32,7 +32,7 @@ set_param('Assemblage',...
'InitialState','myOperPoint'...
);
sim('Assemblage')
sim('Assemblage');
set_param('Assemblage',...
'LoadInitialState','off' ...

4
test_control.m
View File

@ -1,4 +0,0 @@
%% Open Loop simulation and save the final state
initializeSimConf(struct('Tsim', 2, 'cl_time', 0));
sim('Assemblage')