Start the standardize the folder. Add org-mode files.
This commit is contained in:
parent
56604c28ed
commit
714225ef96
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="Shutdown" Visible="0" Icon="" File="src/project_shutdown.m" Name="project_shutdown" />
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@ -1,2 +0,0 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="Shutdown" Visible="0" Icon="" File="project_shutdown.m" Name="project_shutdown" />
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@ -1,2 +0,0 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="StartUp" Visible="0" Icon="" File="project_startup.m" Name="project_startup" />
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@ -0,0 +1,2 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Type="StartUp" Visible="0" Icon="" File="src/project_startup.m" Name="project_startup" />
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2
.SimulinkProject/Root.type.Files/src.type.File.xml
Normal file
2
.SimulinkProject/Root.type.Files/src.type.File.xml
Normal file
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<?xml version='1.0' encoding='UTF-8'?>
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<Info />
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@ -0,0 +1,2 @@
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<?xml version='1.0' encoding='UTF-8'?>
|
||||
<Info />
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||||
14
.gitignore
vendored
14
.gitignore
vendored
@ -1,3 +1,11 @@
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auto/
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*.tex
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**/figs/*.pdf
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**/figs/*.svg
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**/figs/*.tex
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# Windows default autosave extension
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*.asv
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@ -26,9 +34,3 @@ octave-workspace
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# Simulink Cache
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*.slxc
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# Custom
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Assemblage_grt_rtw/
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Figures/
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data/
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movies/
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42
active_damping/index.org
Normal file
42
active_damping/index.org
Normal file
@ -0,0 +1,42 @@
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#+TITLE:
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||||
: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
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||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
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||||
#+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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
42
analysis/index.org
Normal file
42
analysis/index.org
Normal file
@ -0,0 +1,42 @@
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#+TITLE: Some analysis
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||||
:DRAWER:
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#+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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
30
config.tex
30
config.tex
@ -1,30 +0,0 @@
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% ======================
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% New Commands
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% ======================
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% H Infini
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\newcommand{\hinf}{\mathcal{H}_\infty}
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% H 2
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\newcommand{\htwo}{\mathcal{H}_2}
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% Omega
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\newcommand{\w}{\omega}
|
||||
% H-Infinity Norm
|
||||
\newcommand{\hnorm}[1]{\|#1\|_\infty}
|
||||
% H-2 Norm
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\newcommand{\normtwo}[1]{\|#1\|_2}
|
||||
% Norm
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||||
\newcommand{\abs}[1]{\vert #1 \vert}
|
||||
% Minimum Subscript
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||||
\newcommand{\smin}{_{\text{min}}}
|
||||
% Maximum Subscript
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||||
\newcommand{\smax}{_{\text{max}}}
|
||||
% Power Spectral Density
|
||||
\newcommand{\psd}[1]{\Phi_{#1}}
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||||
% Amplitude Spectral Density
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\newcommand{\asd}[1]{\phi_{#1}}
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||||
% Cumulative Power Spectrum
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||||
\newcommand{\cps}[1]{\Sigma_{#1}}
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||||
% Cumulative Amplitude Spectrum
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\newcommand{\cas}[1]{\sigma_{#1}}
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||||
% Root Mean Square Value
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\newcommand{\rms}[1]{\sigma_{#1}}
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||||
% ======================
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||||
42
control/index.org
Normal file
42
control/index.org
Normal file
@ -0,0 +1,42 @@
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||||
#+TITLE:
|
||||
: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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
Binary file not shown.
42
hac_lac/index.org
Normal file
42
hac_lac/index.org
Normal file
@ -0,0 +1,42 @@
|
||||
#+TITLE:
|
||||
: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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
64
identification/index.org
Normal file
64
identification/index.org
Normal file
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|
||||
#+TITLE: Identification
|
||||
: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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
|
||||
* ZIP file containing the data and matlab files :ignore:
|
||||
#+begin_src bash :exports none :results none
|
||||
if [ matlab/identification_micro_station.m -nt data/identification_micro_station.zip ]; then
|
||||
cp matlab/identification_micro_station.m identification_micro_station.m;
|
||||
zip data/identification_micro_station \
|
||||
mat/data.mat \
|
||||
identification_micro_station.m
|
||||
rm identification_micro_station.m;
|
||||
fi
|
||||
#+end_src
|
||||
|
||||
#+begin_note
|
||||
All the files (data and Matlab scripts) are accessible [[file:data/identification_micro_station.zip][here]].
|
||||
#+end_note
|
||||
|
||||
|
||||
* Identification of the micro-station
|
||||
|
||||
* Plot the obtained transfer functions
|
||||
|
||||
* Compare with the modal measurements
|
||||
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|
||||
function [ground] = initializeGround()
|
||||
%%
|
||||
ground = struct();
|
||||
|
||||
ground.shape = [2, 2, 0.5]; % [m]
|
||||
ground.density = 2800; % [kg/m3]
|
||||
ground.color = [0.5, 0.5, 0.5];
|
||||
|
||||
%% Save
|
||||
save('./mat/stages.mat', 'ground', '-append');
|
||||
end
|
||||
68
kinematics/index.org
Normal file
68
kinematics/index.org
Normal file
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|
||||
#+TITLE: Kinematics of the station
|
||||
: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 matlab/modal_frf_coh.m
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/MEGA/These/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
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+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:
|
||||
|
||||
* ZIP file containing the data and matlab files :ignore:
|
||||
#+begin_src bash :exports none :results none
|
||||
if [ matlab/kinematics.m -nt data/kinematics.zip ]; then
|
||||
cp matlab/kinematics.m kinematics.m;
|
||||
zip data/kinematics \
|
||||
mat/data.mat \
|
||||
kinematics.m
|
||||
rm kinematics.m;
|
||||
fi
|
||||
#+end_src
|
||||
|
||||
#+begin_note
|
||||
All the files (data and Matlab scripts) are accessible [[file:data/kinematics.zip][here]].
|
||||
#+end_note
|
||||
|
||||
* Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none :results silent :noweb yes
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
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)');
|
||||
27
main.m
27
main.m
@ -1,27 +0,0 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Open the project
|
||||
simulinkproject('./');
|
||||
|
||||
%% Initialization
|
||||
% Initialize the perturbations
|
||||
run init_perturbations.m
|
||||
|
||||
% Initialize all the stages parameters
|
||||
run init_data.m
|
||||
|
||||
%% Demonstration of displacement of all the stages
|
||||
run demonstration_main.m
|
||||
|
||||
%% Identification
|
||||
open id_main.m
|
||||
|
||||
%% Active Damping Control
|
||||
open act_damp_main.m
|
||||
|
||||
%% Control With the Undamped System
|
||||
open control_main.m
|
||||
|
||||
%% HAC-LAC Control
|
||||
open hac_lac_main.m
|
||||
Binary file not shown.
|
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Binary file not shown.
|
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|
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Binary file not shown.
|
Before Width: | Height: | Size: 9.8 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 14 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 29 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 38 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 13 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 36 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 20 KiB |
@ -1,85 +0,0 @@
|
||||
#+TITLE: Simscape model - Report
|
||||
#+LATEX_CLASS: cleanreport
|
||||
#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak]
|
||||
#+STARTUP: overview
|
||||
#+DATE: 11-2018
|
||||
#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
|
||||
#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
|
||||
#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
|
||||
#+LaTeX_HEADER: \input{config.tex}
|
||||
|
||||
* Simscape files for identification
|
||||
|------------------------+----+----+----+------+------|
|
||||
| Simscape Name | Ty | Ry | Rz | Hexa | NASS |
|
||||
|------------------------+----+----+----+------+------|
|
||||
| id micro station | F | F | F | F | |
|
||||
| id nano station stages | F | F | F | F | F |
|
||||
| id nano station config | D | D | D | D | F |
|
||||
| control nano station | D | D | D | D | F |
|
||||
|------------------------+----+----+----+------+------|
|
||||
|
||||
* Inputs
|
||||
** Perturbations
|
||||
|----------+--------------------------------------+------+------|
|
||||
| Variable | Meaning | Size | Unit |
|
||||
|----------+--------------------------------------+------+------|
|
||||
| ~Dw~ | Ground motion | 3 | [m] |
|
||||
| ~Fg~ | External force applied on granite | 3 | [N] |
|
||||
| ~Fs~ | External force applied on the Sample | 3 | [N] |
|
||||
|----------+--------------------------------------+------+------|
|
||||
|
||||
** Measurement Noise
|
||||
|----------+---------+------+------|
|
||||
| Variable | Meaning | Size | Unit |
|
||||
|----------+---------+------+------|
|
||||
| | | | |
|
||||
|----------+---------+------+------|
|
||||
|
||||
** Control Inputs
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| Variable | Meaning | Size | Unit |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~Fy~ | Actuation force for Ty | 1 | [N] |
|
||||
| ~Dy~ | Imposed displacement for Ty | 1 | [m] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~My~ | Actuation torque for Ry | 1 | [N.m] |
|
||||
| ~Ry~ | Imposed rotation for Ry | 1 | [rad] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~Mz~ | Actuation torque for Rz | 1 | [N.m] |
|
||||
| ~Rz~ | Imposed rotation for Rz | 1 | [rad] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~Fh~ | Actuation force/torque for hexapod (cart) | 6 | [N, N.m] |
|
||||
| ~Fhl~ | Actuation force/torque for hexapod (legs) | 6 | [N] |
|
||||
| ~Dh~ | Imposed position for hexapod (cart) | 6 | [m, rad] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~Rm~ | Position of the two masses | 2 | [rad] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
| ~Fn~ | Actuation force for the NASS (cart) | 6 | [N, N.m] |
|
||||
| ~Fnl~ | Actuation force for the NASS's legs | 6 | [N] |
|
||||
| ~Dn~ | Imposed position for the NASS (cart) | 6 | [m, rad] |
|
||||
|----------+-------------------------------------------+------+----------|
|
||||
|
||||
* Outputs
|
||||
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| Variable | Meaning | Size | Unit |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Dgm~ | Absolute displacement of the granite | 3 | [m] |
|
||||
| ~Vgm~ | Absolute Velocity of the granite | 3 | [m/s] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Dym~ | Measured displacement of Ty | 1 | [m] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Rym~ | Measured rotation of Ry | 1 | [rad] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Rzm~ | Measured rotation of Rz | 1 | [rad] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Dhm~ | Measured position of hexapod (cart) | 6 | [m, rad] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Fnlm~ | Measured force of NASS's legs | 6 | [N] |
|
||||
| ~Dnlm~ | Measured elongation of NASS's legs | 6 | [m] |
|
||||
| ~Dnm~ | Measured position of NASS w.r.t NASS's base | 6 | [m, rad] |
|
||||
| ~Vnm~ | Measured absolute velocity of NASS platform | 6 | [m/s, rad/s] |
|
||||
| ~Vnlm~ | Measured absolute velocity of NASS's legs | 6 | [m/s] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
| ~Dsm~ | Position of Sample w.r.t. granite frame | 6 | [m, rad] |
|
||||
|----------+---------------------------------------------+------+--------------|
|
||||
@ -1 +0,0 @@
|
||||
Simulink.fileGenControl('reset');
|
||||
@ -1,41 +0,0 @@
|
||||
%% Open Loop simulation and save the final state
|
||||
steady_time = 10;
|
||||
|
||||
initializeSimConf(struct('Tsim', steady_time, 'cl_time', steady_time));
|
||||
|
||||
set_param('sim_nano_station_ctrl',...
|
||||
'SaveFinalState','on',...
|
||||
'FinalStateName','myOperPoint',...
|
||||
'SaveCompleteFinalSimState','on'...
|
||||
);
|
||||
|
||||
sim('sim_nano_station_ctrl');
|
||||
|
||||
save('./data/myOperPoint.mat', 'myOperPoint');
|
||||
|
||||
set_param('sim_nano_station_ctrl',...
|
||||
'SaveFinalState','off',...
|
||||
'SaveCompleteFinalSimState','off'...
|
||||
);
|
||||
|
||||
save('./data/exp_open_loop.mat', 'Dmeas');
|
||||
|
||||
%% Close the Loop and start from steady state
|
||||
sim_time = 10;
|
||||
|
||||
initializeSimConf(struct('Tsim', steady_time+sim_time, 'cl_time', steady_time));
|
||||
|
||||
load('./data/myOperPoint.mat', 'myOperPoint');
|
||||
|
||||
set_param('sim_nano_station_ctrl',...
|
||||
'LoadInitialState','on',...
|
||||
'InitialState','myOperPoint'...
|
||||
);
|
||||
|
||||
sim('sim_nano_station_ctrl');
|
||||
|
||||
set_param('sim_nano_station_ctrl',...
|
||||
'LoadInitialState','off' ...
|
||||
);
|
||||
|
||||
save('./data/exp_close_loop_xyz.mat', 'Dmeas');
|
||||
Binary file not shown.
Binary file not shown.
@ -1,2 +0,0 @@
|
||||
Simulink Coder project marker file. Please don't change it.
|
||||
slprjVersion: 9.0_037
|
||||
@ -1,3 +1,14 @@
|
||||
% computePsdDispl
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/computePsdDispl.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:computePsdDispl>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/computePsdDispl.m][here]].
|
||||
|
||||
|
||||
function [psd_object] = computePsdDispl(sys_data, t_init, n_av)
|
||||
i_init = find(sys_data.time > t_init, 1);
|
||||
|
||||
|
||||
70
src/computeSetpoint.m
Normal file
70
src/computeSetpoint.m
Normal file
@ -0,0 +1,70 @@
|
||||
% computeSetpoint
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/computeSetpoint.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:computeSetpoint>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/computeSetpoint.m][here]].
|
||||
|
||||
|
||||
function setpoint = computeSetpoint(ty, ry, rz)
|
||||
%%
|
||||
setpoint = zeros(6, 1);
|
||||
|
||||
%% Ty
|
||||
Ty = [1 0 0 0 ;
|
||||
0 1 0 ty ;
|
||||
0 0 1 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
% Tyinv = [1 0 0 0 ;
|
||||
% 0 1 0 -ty ;
|
||||
% 0 0 1 0 ;
|
||||
% 0 0 0 1 ];
|
||||
|
||||
%% Ry
|
||||
Ry = [ cos(ry) 0 sin(ry) 0 ;
|
||||
0 1 0 0 ;
|
||||
-sin(ry) 0 cos(ry) 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
% TMry = Ty*Ry*Tyinv;
|
||||
|
||||
%% Rz
|
||||
Rz = [cos(rz) -sin(rz) 0 0 ;
|
||||
sin(rz) cos(rz) 0 0 ;
|
||||
0 0 1 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
% TMrz = Ty*TMry*Rz*TMry'*Tyinv;
|
||||
|
||||
%% All stages
|
||||
% TM = TMrz*TMry*Ty;
|
||||
|
||||
TM = Ty*Ry*Rz;
|
||||
|
||||
[thetax, thetay, thetaz] = RM2angle(TM(1:3, 1:3));
|
||||
|
||||
setpoint(1:3) = TM(1:3, 4);
|
||||
setpoint(4:6) = [thetax, thetay, thetaz];
|
||||
|
||||
%% Custom Functions
|
||||
function [thetax, thetay, thetaz] = RM2angle(R)
|
||||
if abs(abs(R(3, 1)) - 1) > 1e-6 % R31 != 1 and R31 != -1
|
||||
thetay = -asin(R(3, 1));
|
||||
thetax = atan2(R(3, 2)/cos(thetay), R(3, 3)/cos(thetay));
|
||||
thetaz = atan2(R(2, 1)/cos(thetay), R(1, 1)/cos(thetay));
|
||||
else
|
||||
thetaz = 0;
|
||||
if abs(R(3, 1)+1) < 1e-6 % R31 = -1
|
||||
thetay = pi/2;
|
||||
thetax = thetaz + atan2(R(1, 2), R(1, 3));
|
||||
else
|
||||
thetay = -pi/2;
|
||||
thetax = -thetaz + atan2(-R(1, 2), -R(1, 3));
|
||||
end
|
||||
end
|
||||
end
|
||||
end
|
||||
136
src/converErrorBasis.m
Normal file
136
src/converErrorBasis.m
Normal file
@ -0,0 +1,136 @@
|
||||
% converErrorBasis
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/converErrorBasis.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:converErrorBasis>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/converErrorBasis.m][here]].
|
||||
|
||||
|
||||
function error_nass = convertErrorBasis(pos, setpoint, ty, ry, rz)
|
||||
% convertErrorBasis -
|
||||
%
|
||||
% Syntax: convertErrorBasis(p_error, ty, ry, rz)
|
||||
%
|
||||
% Inputs:
|
||||
% - p_error - Position error of the sample w.r.t. the granite [m, rad]
|
||||
% - ty - Measured translation of the Ty stage [m]
|
||||
% - ry - Measured rotation of the Ry stage [rad]
|
||||
% - rz - Measured rotation of the Rz stage [rad]
|
||||
%
|
||||
% Outputs:
|
||||
% - P_nass - Position error of the sample w.r.t. the NASS base [m]
|
||||
% - R_nass - Rotation error of the sample w.r.t. the NASS base [rad]
|
||||
%
|
||||
% Example:
|
||||
%
|
||||
|
||||
%% If line vector => column vector
|
||||
if size(pos, 2) == 6
|
||||
pos = pos';
|
||||
end
|
||||
|
||||
if size(setpoint, 2) == 6
|
||||
setpoint = setpoint';
|
||||
end
|
||||
|
||||
%% Position of the sample in the frame fixed to the Granite
|
||||
P_granite = [pos(1:3); 1]; % Position [m]
|
||||
R_granite = [setpoint(1:3); 1]; % Reference [m]
|
||||
|
||||
%% Transformation matrices of the stages
|
||||
% T-y
|
||||
TMty = [1 0 0 0 ;
|
||||
0 1 0 ty ;
|
||||
0 0 1 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
% R-y
|
||||
TMry = [ cos(ry) 0 sin(ry) 0 ;
|
||||
0 1 0 0 ;
|
||||
-sin(ry) 0 cos(ry) 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
% R-z
|
||||
TMrz = [cos(rz) -sin(rz) 0 0 ;
|
||||
sin(rz) cos(rz) 0 0 ;
|
||||
0 0 1 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
%% Compute Point coordinates in the new reference fixed to the NASS base
|
||||
% P_nass = TMrz*TMry*TMty*P_granite;
|
||||
P_nass = TMrz\TMry\TMty\P_granite;
|
||||
R_nass = TMrz\TMry\TMty\R_granite;
|
||||
|
||||
dx = R_nass(1)-P_nass(1);
|
||||
dy = R_nass(2)-P_nass(2);
|
||||
dz = R_nass(3)-P_nass(3);
|
||||
|
||||
%% Compute new basis vectors linked to the NASS base
|
||||
% ux_nass = TMrz*TMry*TMty*[1; 0; 0; 0];
|
||||
% ux_nass = ux_nass(1:3);
|
||||
% uy_nass = TMrz*TMry*TMty*[0; 1; 0; 0];
|
||||
% uy_nass = uy_nass(1:3);
|
||||
% uz_nass = TMrz*TMry*TMty*[0; 0; 1; 0];
|
||||
% uz_nass = uz_nass(1:3);
|
||||
|
||||
ux_nass = TMrz\TMry\TMty\[1; 0; 0; 0];
|
||||
ux_nass = ux_nass(1:3);
|
||||
uy_nass = TMrz\TMry\TMty\[0; 1; 0; 0];
|
||||
uy_nass = uy_nass(1:3);
|
||||
uz_nass = TMrz\TMry\TMty\[0; 0; 1; 0];
|
||||
uz_nass = uz_nass(1:3);
|
||||
|
||||
%% Rotations error w.r.t. granite Frame
|
||||
% Rotations error w.r.t. granite Frame
|
||||
rx_nass = pos(4);
|
||||
ry_nass = pos(5);
|
||||
rz_nass = pos(6);
|
||||
|
||||
% Rotation matrices of the Sample w.r.t. the Granite
|
||||
Mrx_error = [1 0 0 ;
|
||||
0 cos(-rx_nass) -sin(-rx_nass) ;
|
||||
0 sin(-rx_nass) cos(-rx_nass)];
|
||||
|
||||
Mry_error = [ cos(-ry_nass) 0 sin(-ry_nass) ;
|
||||
0 1 0 ;
|
||||
-sin(-ry_nass) 0 cos(-ry_nass)];
|
||||
|
||||
Mrz_error = [cos(-rz_nass) -sin(-rz_nass) 0 ;
|
||||
sin(-rz_nass) cos(-rz_nass) 0 ;
|
||||
0 0 1];
|
||||
|
||||
% Rotation matrix of the Sample w.r.t. the Granite
|
||||
Mr_error = Mrz_error*Mry_error*Mrx_error;
|
||||
|
||||
%% Use matrix to solve
|
||||
R = Mr_error/[ux_nass, uy_nass, uz_nass]; % Rotation matrix from NASS base to Sample
|
||||
|
||||
[thetax, thetay, thetaz] = RM2angle(R);
|
||||
|
||||
error_nass = [dx; dy; dz; thetax; thetay; thetaz];
|
||||
|
||||
%% Custom Functions
|
||||
function [thetax, thetay, thetaz] = RM2angle(R)
|
||||
if abs(abs(R(3, 1)) - 1) > 1e-6 % R31 != 1 and R31 != -1
|
||||
thetay = -asin(R(3, 1));
|
||||
% thetaybis = pi-thetay;
|
||||
thetax = atan2(R(3, 2)/cos(thetay), R(3, 3)/cos(thetay));
|
||||
% thetaxbis = atan2(R(3, 2)/cos(thetaybis), R(3, 3)/cos(thetaybis));
|
||||
thetaz = atan2(R(2, 1)/cos(thetay), R(1, 1)/cos(thetay));
|
||||
% thetazbis = atan2(R(2, 1)/cos(thetaybis), R(1, 1)/cos(thetaybis));
|
||||
else
|
||||
thetaz = 0;
|
||||
if abs(R(3, 1)+1) < 1e-6 % R31 = -1
|
||||
thetay = pi/2;
|
||||
thetax = thetaz + atan2(R(1, 2), R(1, 3));
|
||||
else
|
||||
thetay = -pi/2;
|
||||
thetax = -thetaz + atan2(-R(1, 2), -R(1, 3));
|
||||
end
|
||||
end
|
||||
end
|
||||
|
||||
end
|
||||
@ -1,3 +1,14 @@
|
||||
% generateDiagPidControl
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/generateDiagPidControl.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:generateDiagPidControl>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/generateDiagPidControl.m][here]].
|
||||
|
||||
|
||||
function [K] = generateDiagPidControl(G, fs)
|
||||
%%
|
||||
pid_opts = pidtuneOptions(...
|
||||
|
||||
@ -1,3 +1,14 @@
|
||||
% identifyPlant
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/identifyPlant.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:identifyPlant>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/identifyPlant.m][here]].
|
||||
|
||||
|
||||
function [sys] = identifyPlant(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct();
|
||||
|
||||
19
src/init_simulation.m
Normal file
19
src/init_simulation.m
Normal file
@ -0,0 +1,19 @@
|
||||
% Simulation Initialization
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/init_simulation.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:init_simulation>>
|
||||
|
||||
% This Matlab script is accessible [[file:src/init_simulation.m][here]].
|
||||
|
||||
% This script runs just before the simulation is started.
|
||||
% It is used to load the simulation configuration and the controllers used for the simulation.
|
||||
|
||||
|
||||
%% Load all the data used for the simulation
|
||||
load('./mat/sim_conf.mat');
|
||||
|
||||
%% Load Controller
|
||||
load('./mat/controllers.mat');
|
||||
@ -1,3 +1,14 @@
|
||||
% Center of gravity compensation
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeAxisc.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeAxisc>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeAxisc.m][here]].
|
||||
|
||||
|
||||
function [axisc] = initializeAxisc()
|
||||
%%
|
||||
axisc = struct();
|
||||
@ -1,3 +1,14 @@
|
||||
% Experiment
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeExperiment.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeExperiment>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeExperiment.m][here]].
|
||||
|
||||
|
||||
function [] = initializeExperiment(exp_name, sys_mass)
|
||||
if strcmp(exp_name, 'tomography')
|
||||
opts_sim = struct(...
|
||||
@ -1,3 +1,14 @@
|
||||
% Granite
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeGranite.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeGranite>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeGranite.m][here]].
|
||||
|
||||
|
||||
function [granite] = initializeGranite()
|
||||
%%
|
||||
granite = struct();
|
||||
22
src/initializeGround.m
Normal file
22
src/initializeGround.m
Normal file
@ -0,0 +1,22 @@
|
||||
% Ground
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeGround.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeGround>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeGround.m][here]].
|
||||
|
||||
|
||||
function [ground] = initializeGround()
|
||||
%%
|
||||
ground = struct();
|
||||
|
||||
ground.shape = [2, 2, 0.5]; % [m]
|
||||
ground.density = 2800; % [kg/m3]
|
||||
ground.color = [0.5, 0.5, 0.5];
|
||||
|
||||
%% Save
|
||||
save('./mat/stages.mat', 'ground', '-append');
|
||||
end
|
||||
@ -1,3 +1,14 @@
|
||||
% Inputs
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeInputs.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeInputs>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeInputs.m][here]].
|
||||
|
||||
|
||||
function [inputs] = initializeInputs(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct( ...
|
||||
@ -136,7 +147,7 @@ function [inputs] = initializeInputs(opts_param)
|
||||
|
||||
%% Ry
|
||||
TMRy = [ cos(ry) 0 sin(ry) 0 ;
|
||||
0 1 0 0 ;
|
||||
0 1 0 0 ;
|
||||
-sin(ry) 0 cos(ry) 0 ;
|
||||
0 0 0 1 ];
|
||||
|
||||
@ -1,3 +1,14 @@
|
||||
% Micro Hexapod
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeMicroHexapod.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeMicroHexapod>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeMicroHexapod.m][here]].
|
||||
|
||||
|
||||
function [micro_hexapod] = initializeMicroHexapod(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct();
|
||||
@ -107,7 +118,7 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
|
||||
stewart.pos_base = zeros(6, 3);
|
||||
stewart.pos_top = zeros(6, 3);
|
||||
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
||||
alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
|
||||
|
||||
height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO
|
||||
@ -145,11 +156,11 @@ function [micro_hexapod] = initializeMicroHexapod(opts_param)
|
||||
|
||||
stewart.Leg.lenght = 1000*leg_length(1)/1.5;
|
||||
stewart.Leg.shape.bot = [0 0; ...
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
|
||||
%% Calculate revolute and cylindrical axes
|
||||
rev1 = zeros(6, 3);
|
||||
@ -1,3 +1,14 @@
|
||||
% Mirror
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeMirror.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeMirror>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeMirror.m][here]].
|
||||
|
||||
|
||||
function [] = initializeMirror(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct(...
|
||||
@ -1,3 +1,14 @@
|
||||
% Nano Hexapod
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeNanoHexapod.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeNanoHexapod>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeNanoHexapod.m][here]].
|
||||
|
||||
|
||||
function [nano_hexapod] = initializeNanoHexapod(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('actuator', 'piezo');
|
||||
@ -114,7 +125,7 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
|
||||
stewart.pos_base = zeros(6, 3);
|
||||
stewart.pos_top = zeros(6, 3);
|
||||
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
||||
alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
|
||||
|
||||
height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO
|
||||
@ -152,11 +163,11 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
|
||||
|
||||
stewart.Leg.lenght = 1000*leg_length(1)/1.5;
|
||||
stewart.Leg.shape.bot = [0 0; ...
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
|
||||
%% Calculate revolute and cylindrical axes
|
||||
rev1 = zeros(6, 3);
|
||||
@ -1,3 +1,14 @@
|
||||
% Tilt Stage
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeRy.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeRy>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeRy.m][here]].
|
||||
|
||||
|
||||
function [ry] = initializeRy(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('rigid', false);
|
||||
@ -1,3 +1,14 @@
|
||||
% Spindle
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeRz.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeRz>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeRz.m][here]].
|
||||
|
||||
|
||||
function [rz] = initializeRz(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('rigid', false);
|
||||
@ -1,3 +1,14 @@
|
||||
% Sample
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeSample.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeSample>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeSample.m][here]].
|
||||
|
||||
|
||||
function [sample] = initializeSample(opts_param)
|
||||
%% Default values for opts
|
||||
sample = struct('radius', 100, ...
|
||||
@ -1,3 +1,14 @@
|
||||
% Simulation Configuration
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeSimConf.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeSimConf>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeSimConf.m][here]].
|
||||
|
||||
|
||||
function [] = initializeSimConf(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('Ts', 1e-4, ... % Sampling time [s]
|
||||
@ -1,3 +1,14 @@
|
||||
% Translation Stage
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/initializeTy.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:initializeTy>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/initializeTy.m][here]].
|
||||
|
||||
|
||||
function [ty] = initializeTy(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('rigid', false);
|
||||
5
src/project_shutdown.m
Normal file
5
src/project_shutdown.m
Normal file
@ -0,0 +1,5 @@
|
||||
|
||||
|
||||
% When the project closes, it runs the =project_shutdown.m= script defined below.
|
||||
|
||||
Simulink.fileGenControl('reset');
|
||||
@ -1,3 +1,8 @@
|
||||
|
||||
|
||||
% When the project opens, a startup script is ran.
|
||||
% The startup script is defined below and is exported to the =project_startup.m= script.
|
||||
|
||||
%%
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
save_fig = false;
|
||||
@ -1,3 +1,14 @@
|
||||
% runSimulation
|
||||
% :PROPERTIES:
|
||||
% :header-args:matlab+: :tangle src/runSimulation.m
|
||||
% :header-args:matlab+: :comments org :mkdirp yes
|
||||
% :header-args:matlab+: :eval no :results none
|
||||
% :END:
|
||||
% <<sec:runSimulation>>
|
||||
|
||||
% This Matlab function is accessible [[file:src/runSimulation.m][here]].
|
||||
|
||||
|
||||
function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
|
||||
%% Load the controller and save it for the simulation
|
||||
if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none')
|
||||
@ -27,7 +38,7 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
|
||||
|
||||
%%
|
||||
if strcmp(sys_name, 'pz')
|
||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
||||
initializeNanoHexapod(struct('actuator', 'piezo'));
|
||||
elseif strcmp(sys_name, 'vc')
|
||||
initializeNanoHexapod(struct('actuator', 'lorentz'));
|
||||
else
|
||||
@ -35,7 +46,7 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
|
||||
end
|
||||
|
||||
if strcmp(sys_mass, 'light')
|
||||
initializeSample(struct('mass', 1));
|
||||
initializeSample(struct('mass', 1));
|
||||
elseif strcmp(sys_mass, 'heavy')
|
||||
initializeSample(struct('mass', 50));
|
||||
else
|
||||
|
||||
Loading…
Reference in New Issue
Block a user