Add Z-axis accelerometer and geophone subsystems

simscape_subsystems/index.org

@@ -101,15 +101,15 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
 
 *** Initialize Parameters
 #+begin_src matlab
-      %% Set Sampling Time
-      Ts = args.Ts;
-      Tmax = args.Tmax;
+  %% Set Sampling Time
+  Ts = args.Ts;
+  Tmax = args.Tmax;
 
-      %% Low Pass Filter to filter out the references
-      s = zpk('s');
-      w0 = 2*pi*10;
-      xi = 1;
-      H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2);
+  %% Low Pass Filter to filter out the references
+  s = zpk('s');
+  w0 = 2*pi*10;
+  xi = 1;
+  H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2);
 #+end_src
 
 *** Translation Stage
@@ -462,6 +462,66 @@ We define some parameters that will be used in the algorithm.
   save('mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
 #+end_src
 
+** Z-Axis Geophone
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/initializeZAxisGeophone.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:initializeZAxisGeophone>>
+
+This Matlab function is accessible [[file:../src/initializeZAxisGeophone.m][here]].
+
+#+begin_src matlab
+  function [geophone] = initializeZAxisGeophone(args)
+      arguments
+          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1    % [Hz]
+      end
+
+      %%
+      geophone.m = args.mass;
+
+      %% The Stiffness is set to have the damping resonance frequency
+      geophone.k = geophone.m * (2*pi*args.freq)^2;
+
+      %% We set the damping value to have critical damping
+      geophone.c = 2*sqrt(geophone.m * geophone.k);
+
+      %% Save
+      save('./mat/geophone_z_axis.mat', 'geophone');
+  end
+#+end_src
+
+** Z-Axis Accelerometer
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/initializeZAxisAccelerometer.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<<sec:initializeZAxisAccelerometer>>
+
+This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m][here]].
+
+#+begin_src matlab
+  function [accelerometer] = initializeZAxisAccelerometer(args)
+      arguments
+          args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+          args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e2  % [Hz]
+      end
+
+      %%
+      accelerometer.m = args.mass;
+
+      %% The Stiffness is set to have the damping resonance frequency
+      accelerometer.k = accelerometer.m * (2*pi*args.freq)^2;
+
+      %% We set the damping value to have critical damping
+      accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k);
+
+      %% Save
+      save('./mat/accelerometer_z_axis.mat', 'accelerometer');
+  end
+#+end_src
+
 * Initialize Elements
 :PROPERTIES:
 :ID:       a0819dea-8d7a-4d55-b961-2b2ca2312344
@@ -1311,21 +1371,22 @@ This Matlab function is accessible [[file:../src/initializeSample.m][here]].
 #+begin_src matlab
   function [sample] = initializeSample(sample)
       arguments
-          sample.radius (1,1) double {mustBeNumeric, mustBePositive} = 100
-          sample.height (1,1) double {mustBeNumeric, mustBePositive} = 300
-          sample.mass   (1,1) double {mustBeNumeric, mustBePositive} = 50
-          sample.offset (1,1) double {mustBeNumeric} = 0
+          sample.radius (1,1) double {mustBeNumeric, mustBePositive} = 100 % [mm]
+          sample.height (1,1) double {mustBeNumeric, mustBePositive} = 300 % [mm]
+          sample.mass   (1,1) double {mustBeNumeric, mustBePositive} = 50  % [kg]
+          sample.freq   (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz]
+          sample.offset (1,1) double {mustBeNumeric} = 0                   % [mm]
           sample.color  (1,3) double {mustBeNumeric} = [0.45, 0.45, 0.45]
       end
 
       %%
-      sample.k.x = 1e8;
+      sample.k.x = sample.mass * (2*pi * sample.freq)^2;
       sample.c.x = 0.1*sqrt(sample.k.x*sample.mass);
 
-      sample.k.y = 1e8;
+      sample.k.y = sample.mass * (2*pi * sample.freq)^2;
       sample.c.y = 0.1*sqrt(sample.k.y*sample.mass);
 
-      sample.k.z = 1e8;
+      sample.k.z = sample.mass * (2*pi * sample.freq)^2;
       sample.c.z = 0.1*sqrt(sample.k.z*sample.mass);
 
       %% Save

src/initializeZAxisAccelerometer.m

@@ -0,0 +1,18 @@
+function [accelerometer] = initializeZAxisAccelerometer(args)
+    arguments
+        args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+        args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e2  % [Hz]
+    end
+
+    %%
+    accelerometer.m = args.mass;
+
+    %% The Stiffness is set to have the damping resonance frequency
+    accelerometer.k = accelerometer.m * (2*pi*args.freq)^2;
+
+    %% We set the damping value to have critical damping
+    accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k);
+
+    %% Save
+    save('./mat/accelerometer_z_axis.mat', 'accelerometer');
+end

src/initializeZAxisGeophone.m

@@ -0,0 +1,18 @@
+function [geophone] = initializeZAxisGeophone(args)
+    arguments
+        args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
+        args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1    % [Hz]
+    end
+
+    %%
+    geophone.m = args.mass;
+
+    %% The Stiffness is set to have the damping resonance frequency
+    geophone.k = geophone.m * (2*pi*args.freq)^2;
+
+    %% We set the damping value to have critical damping
+    geophone.c = 2*sqrt(geophone.m * geophone.k);
+
+    %% Save
+    save('./mat/geophone_z_axis.mat', 'geophone');
+end