Start the standardize the folder. Add org-mode files.
This commit is contained in:
14
kinematics/demonstration_main.m
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14
kinematics/demonstration_main.m
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%%
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clear; close all; clc;
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%% Demonstration of stroke of each stage
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% Initalize data for demonstration
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run displacement_init.m
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% Run the simulation
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run displacement_sim.m
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%% Test the measurement of sample position
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run sample_pos_init.m
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run sample_pos_sim.m
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98
kinematics/displacement_init.m
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98
kinematics/displacement_init.m
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%%
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clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 30 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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load('./mat/sim_conf.mat', 'sim_conf')
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time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
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% Translation Stage
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T_ty = 4;
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ty = zeros(length(time_vector), 1);
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ty(1:T_ty/sim_conf.Ts) = 10e-3*sin(2*pi*(1/2)*time_vector(1:T_ty/sim_conf.Ts));
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% Tilt Stage
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T_ry = 4;
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ry = zeros(length(time_vector), 1);
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ry((T_ty)/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts) = 2*pi*(3/360)*sin(2*pi*(1/2)*time_vector(T_ty/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts));
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% Spindle
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T_rz = 4;
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rz = zeros(length(time_vector), 1);
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rz((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts) = 2*pi*0.5*(time_vector((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts)-time_vector((T_ty+T_ry)/sim_conf.Ts));
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rz((T_ty+T_ry+T_rz)/sim_conf.Ts:end) = rz((T_ty+T_ry+T_rz)/sim_conf.Ts);
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% Micro Hexapod
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T_u_hexa = 10;
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u_hexa = zeros(length(time_vector), 6);
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% Tz
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u_hexa((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts, 3) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts)));
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% Tx-Ty
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u_hexa((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts, 1) = 10e-3*(time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts));
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u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 1) = 10e-3*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 2) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts, 1) = 10e-3 - 10e-3*(time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts));
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% Theta x Theta y
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u_hexa((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts, 1) = 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts));
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u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 1) = 2*pi*(3/360)*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 2) = 2*pi*(3/360)*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts, 1) = 2*pi*(3/360) - 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts));
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% Gravity Compensator system
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T_mass_start = T_ty+T_ry+T_rz+T_u_hexa;
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mass = zeros(length(time_vector), 2);
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mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 1) = 2*pi*( 20/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
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mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 2) = 2*pi*(-10/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
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mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1);
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mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2);
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1)-2*pi*( 20/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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opts_inputs = struct(...
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'Dy', ty, ...
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'Ry', ry, ...
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'Rz', rz, ...
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'Dh', u_hexa, ...
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'Rm', mass ...
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);
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initializeInputs(opts_inputs);
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%% Initialize SolidWorks Data
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initializeSolids();
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite();
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%% Initialize Translation stage
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initializeTy();
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%% Initialize Tilt Stage
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initializeRy();
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%% Initialize Spindle
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initializeRz();
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%% Initialize Hexapod Sym<EFBFBD>trie
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initializeMicroHexapod();
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%% Initialize Center of Gravity compensation
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initializeAxisc();
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%% Initialize NASS
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initializeNanoHexapod(struct('actuator', 'lorentz'));
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%% Initialize Sample
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initializeSample(struct('mass', 20));
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5
kinematics/displacement_sim.m
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5
kinematics/displacement_sim.m
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%%
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clear; close all; clc;
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%%
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sim('sim_nano_station_disp.slx');
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50
kinematics/error_NASS.m
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50
kinematics/error_NASS.m
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%% Plot all 6 errors expressed in the NASS base
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figure;
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%% Tx
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subaxis(2, 3, 1);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 1), 'k-', 'DisplayName', '$\epsilon_x$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Ty
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subaxis(2, 3, 2);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 2), 'k-', 'DisplayName', '$\epsilon_y$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Tz
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subaxis(2, 3, 3);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 3), 'k-', 'DisplayName', '$\epsilon_z$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Rx
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subaxis(2, 3, 4);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 4), 'k-', 'DisplayName', '$\epsilon_{\theta_x}$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Ry
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subaxis(2, 3, 5);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 5), 'k-', 'DisplayName', '$\epsilon_{\theta_y}$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Rz
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subaxis(2, 3, 6);
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hold on;
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plot(error_nass.Time, error_nass.Data(:, 6), 'k-', 'DisplayName', '$\epsilon_{\theta_z}$');
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legend();
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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68
kinematics/index.org
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68
kinematics/index.org
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#+TITLE: Kinematics of the station
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/LaTeX/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* Introduction :ignore:
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* ZIP file containing the data and matlab files :ignore:
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#+begin_src bash :exports none :results none
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if [ matlab/kinematics.m -nt data/kinematics.zip ]; then
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cp matlab/kinematics.m kinematics.m;
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zip data/kinematics \
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mat/data.mat \
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kinematics.m
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rm kinematics.m;
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fi
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#+end_src
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#+begin_note
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All the files (data and Matlab scripts) are accessible [[file:data/kinematics.zip][here]].
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#+end_note
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* Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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69
kinematics/sample_pos_init.m
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69
kinematics/sample_pos_init.m
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@@ -0,0 +1,69 @@
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%%
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clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 0.001 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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load('./mat/sim_conf.mat', 'sim_conf')
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time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
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% Translation Stage
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Ty = 0*ones(length(time_vector), 1);
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% Tilt Stage
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Ry = 2*pi*(0/360)*ones(length(time_vector), 1);
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% Ry = 2*pi*(3/360)*sin(2*pi*time_vector);
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% Spindle
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Rz = 2*pi*0*(time_vector);
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% Rz = 2*pi*(190/360)*ones(length(time_vector), 1);
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% Micro Hexapod
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Dh = zeros(length(time_vector), 6);
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% Gravity Compensator system
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Dm = zeros(length(time_vector), 2);
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Dm(:, 2) = pi;
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opts_inputs = struct(...
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'Ty', Ty, ...
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'Ry', Ry, ...
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'Rz', Rz, ...
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'Dh', Dh, ...
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'Dm', Dm ...
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);
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initializeInputs(opts_inputs);
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite();
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%% Initialize Translation stage
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initializeTy();
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%% Initialize Tilt Stage
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initializeRy();
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%% Initialize Spindle
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initializeRz();
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%% Initialize Hexapod Sym<EFBFBD>trie
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initializeMicroHexapod();
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%% Initialize Center of Gravity compensation
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initializeAxisc();
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%% Initialize NASS
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initializeNanoHexapod(struct('actuator', 'piezo'));
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%% Initialize Sample
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initializeSample(struct('mass', 20));
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5
kinematics/sample_pos_sim.m
Normal file
5
kinematics/sample_pos_sim.m
Normal file
@@ -0,0 +1,5 @@
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%%
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clear; close all; clc;
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%%
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sim('sim_nano_station_disp.slx');
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56
kinematics/setpoint_vs_position.m
Normal file
56
kinematics/setpoint_vs_position.m
Normal file
@@ -0,0 +1,56 @@
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%%
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figure;
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%% Tx
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subaxis(2, 3, 1);
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hold on;
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plot(pos.Time, pos.Data(:, 1), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 1), 'k--');
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legend({'x - pos', 'x - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Ty
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subaxis(2, 3, 2);
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hold on;
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plot(pos.Time, pos.Data(:, 2), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 2), 'k--');
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legend({'y - pos', 'y - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Tz
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subaxis(2, 3, 3);
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hold on;
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plot(pos.Time, pos.Data(:, 3), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 3), 'k--');
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legend({'z - pos', 'z - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Position (m)');
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%% Rx
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subaxis(2, 3, 4);
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hold on;
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plot(pos.Time, pos.Data(:, 4), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 4), 'k--');
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legend({'$\theta_x$ - pos', '$\theta_x$ - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Ry
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subaxis(2, 3, 5);
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hold on;
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plot(pos.Time, pos.Data(:, 5), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 5), 'k--');
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legend({'$\theta_y$ - pos', '$\theta_y$ - setpoint'});
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hold off;
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xlabel('Time (s)'); ylabel('Rotation (rad)');
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%% Rz
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subaxis(2, 3, 6);
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hold on;
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plot(pos.Time, pos.Data(:, 6), 'k-');
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plot(setpoint.Time, setpoint.Data(:, 6), 'k--');
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legend({'$\theta_z$ - pos', '$\theta_z$ - setpoint'});
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hold off;
|
||||
xlabel('Time (s)'); ylabel('Rotation (rad)');
|
||||
BIN
kinematics/sim_nano_station_disp.slx
Normal file
BIN
kinematics/sim_nano_station_disp.slx
Normal file
Binary file not shown.
71
kinematics/test2.m
Normal file
71
kinematics/test2.m
Normal file
@@ -0,0 +1,71 @@
|
||||
%% Compute position angle from R and Q
|
||||
thetas_R = zeros(length(pos.Time), 3);
|
||||
thetas_Q = zeros(length(pos.Time), 3);
|
||||
|
||||
for i = 1:length(pos.Time)
|
||||
[thetax, thetay, thetaz] = RM2angle(R.Data(:, :, i));
|
||||
thetas_R(i, 1) = thetax; thetas_R(i, 2) = thetay; thetas_R(i, 3) = thetaz;
|
||||
|
||||
[thetax, thetay, thetaz] = quaternionToEulerAngles(Q.Data(i, :));
|
||||
thetas_Q(i, 1) = thetax; thetas_Q(i, 2) = thetay; thetas_Q(i, 3) = thetaz;
|
||||
end
|
||||
|
||||
%% Compute setpoint
|
||||
setpoint_c = zeros(length(pos.Time), 6);
|
||||
|
||||
for i = 1:length(pos.Time)
|
||||
setpoint_c(i, :) = computeSetpoint(ty.Data(i), ry.Data(i), rz.Data(i));
|
||||
end
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 1), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 1), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Translation (m)');
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 2), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 2), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Translation (m)');
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 3), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 3), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Translation (m)');
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 4), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 4), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Rotation (rad)');
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 5), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 5), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Rotation (rad)');
|
||||
|
||||
%%
|
||||
figure;
|
||||
hold on;
|
||||
plot(pos.Time, pos.Data(:, 6), 'k-', 'DisplayName', 'position');
|
||||
plot(pos.Time, setpoint_c(:, 6), '--', 'DisplayName', 'Computed setpoint');
|
||||
hold off;
|
||||
legend();
|
||||
xlabel('Time (s)'); ylabel('Rotation (rad)');
|
||||
Reference in New Issue
Block a user