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Add metrology element (change of base, computation of error)

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Lot's of new things:
- try to use less .mat files
- computation of setpoint and error in the cartesian frame fixed to the granite
- change of base to have the errors w.r.t. the NASS base
- add script to plot setpoint, position and error
This commit is contained in:
Thomas Dehaeze 2018-10-24 15:08:23 +02:00
parent baedb9b571
commit 7575aee987
36 changed files with 447 additions and 135 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Analysis/analysis_perturbations.m
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@ -5,7 +5,7 @@ clear; close all; clc;
load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
%% Load shape of the perturbation
load('./mat/weight_Wxg.mat', 'Wxg');
load('./mat/perturbations.mat', 'Wxg');
%% Effect of the perturbation on the output
freqs = logspace(-1, 3, 1000);

4
Analysis/effect_ground_motion.m
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@ -5,7 +5,7 @@ clear; close all; clc;
load('./mat/Gd_ol_cl.mat', 'Gd_ol_20', 'Gd_cl_20');
%%
load('./mat/weight_Wxg.mat', 'Wxg')
load('./mat/perturbations.mat', 'Wxg')
%%
load('./mat/G_gm_to_dh.mat', 'G_gm_to_dh')
@ -44,5 +44,3 @@ set(gca, 'XScale', 'log');
% set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('CAS [m]');
hold off;

2
Analysis/ground_motion_ol_cl.m
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@ -123,7 +123,7 @@ exportFig('gm_control_psd_y', 'normal-normal')
%% Compare OL and CL - PSD
load('./mat/G_xg_to_d.mat', 'G_xg_to_d');
load('./mat/weight_Wxg.mat', 'Wxg');
load('./mat/perturbations.mat', 'Wxg');
load('./mat/T_S.mat', 'S', 'T');
freqs = logspace(-1, 3, 1000);

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Assemblage.slx
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2
active_damping/iff_control.m
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@ -19,4 +19,4 @@ K_iff_heavy_vc = 20/s*tf(eye(6));
K_iff_heavy_pz = 535/s*tf(eye(6));
%%
save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');
save('./mat/K_iff_crit.mat', 'K_iff_light_vc', 'K_iff_light_pz', 'K_iff_heavy_vc', 'K_iff_heavy_pz');

8
active_damping/iff_identification.m
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@ -9,12 +9,12 @@ initializeSample(struct('mass', 1));
initializeNanoHexapod(struct('actuator', 'lorentz'));
K_iff = K_iff_light_vc; %#ok
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff');
G_iff_light_vc = identifyPlant();
initializeNanoHexapod(struct('actuator', 'piezo'));
K_iff = K_iff_light_pz; %#ok
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff');
G_iff_light_pz = identifyPlant();
%% Heavy Sample
@ -22,12 +22,12 @@ initializeSample(struct('mass', 50));
initializeNanoHexapod(struct('actuator', 'lorentz'));
K_iff = K_iff_heavy_vc; %#ok
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff');
G_iff_heavy_vc = identifyPlant();
initializeNanoHexapod(struct('actuator', 'piezo'));
K_iff = K_iff_heavy_pz;
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff', '-append');
G_iff_heavy_pz = identifyPlant();
%% Save the obtained transfer functions

BIN
demonstration/Micro_Station_Displacement.slx
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50
demonstration/error_NASS.m Normal file
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@ -0,0 +1,50 @@
%% Plot all 6 errors expressed in the NASS base
figure;
%% Tx
subaxis(2, 3, 1);
hold on;
plot(error_nass.Time, error_nass.Data(:, 1), 'k-', 'DisplayName', '$\epsilon_x$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Ty
subaxis(2, 3, 2);
hold on;
plot(error_nass.Time, error_nass.Data(:, 2), 'k-', 'DisplayName', '$\epsilon_y$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Tz
subaxis(2, 3, 3);
hold on;
plot(error_nass.Time, error_nass.Data(:, 3), 'k-', 'DisplayName', '$\epsilon_z$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Rx
subaxis(2, 3, 4);
hold on;
plot(error_nass.Time, error_nass.Data(:, 4), 'k-', 'DisplayName', '$\epsilon_{\theta_x}$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');
%% Ry
subaxis(2, 3, 5);
hold on;
plot(error_nass.Time, error_nass.Data(:, 5), 'k-', 'DisplayName', '$\epsilon_{\theta_y}$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');
%% Rz
subaxis(2, 3, 6);
hold on;
plot(error_nass.Time, error_nass.Data(:, 6), 'k-', 'DisplayName', '$\epsilon_{\theta_z}$');
legend();
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');

7
demonstration/sample_pos_init.m
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@ -3,7 +3,7 @@ clear; close all; clc;
%% Initialize simulation configuration
opts_sim = struct(...
'Tsim', 2 ...
'Tsim', 1 ...
);
initializeSimConf(opts_sim);
@ -14,19 +14,22 @@ load('./mat/sim_conf.mat', 'sim_conf')
time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
% Translation Stage
ty = 0*ones(length(time_vector), 1);
ty = 0.05*ones(length(time_vector), 1);
% Tilt Stage
ry = 2*pi*(3/360)*ones(length(time_vector), 1);
% ry = 2*pi*(3/360)*sin(2*pi*time_vector);
% Spindle
rz = 2*pi*1*(time_vector);
% rz = 2*pi*(190/360)*ones(length(time_vector), 1);
% Micro Hexapod
u_hexa = zeros(length(time_vector), 6);
% Gravity Compensator system
mass = zeros(length(time_vector), 2);
mass(:, 2) = pi;
opts_inputs = struct(...
'ty', ty, ...

56
demonstration/setpoint_vs_position.m Normal file
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@ -0,0 +1,56 @@
%%
figure;
%% Tx
subaxis(2, 3, 1);
hold on;
plot(pos.Time, pos.Data(:, 1), 'k-');
plot(setpoint.Time, setpoint.Data(:, 1), 'k--');
legend({'x - pos', 'x - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Ty
subaxis(2, 3, 2);
hold on;
plot(pos.Time, pos.Data(:, 2), 'k-');
plot(setpoint.Time, setpoint.Data(:, 2), 'k--');
legend({'y - pos', 'y - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Tz
subaxis(2, 3, 3);
hold on;
plot(pos.Time, pos.Data(:, 3), 'k-');
plot(setpoint.Time, setpoint.Data(:, 3), 'k--');
legend({'z - pos', 'z - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Position (m)');
%% Rx
subaxis(2, 3, 4);
hold on;
plot(pos.Time, pos.Data(:, 4), 'k-');
plot(setpoint.Time, setpoint.Data(:, 4), 'k--');
legend({'$\theta_x$ - pos', '$\theta_x$ - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');
%% Ry
subaxis(2, 3, 5);
hold on;
plot(pos.Time, pos.Data(:, 5), 'k-');
plot(setpoint.Time, setpoint.Data(:, 5), 'k--');
legend({'$\theta_y$ - pos', '$\theta_y$ - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');
%% Rz
subaxis(2, 3, 6);
hold on;
plot(pos.Time, pos.Data(:, 6), 'k-');
plot(setpoint.Time, setpoint.Data(:, 6), 'k--');
legend({'$\theta_z$ - pos', '$\theta_z$ - setpoint'});
hold off;
xlabel('Time (s)'); ylabel('Rotation (rad)');

55
identification/id_flexible_rigid.m Normal file
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@ -0,0 +1,55 @@
%% Script Description
% Determine if we take into account the flexibilities,
% does that changes a lot
%%
clear; close all; clc;
%% Initialize all the stage by default
run init_data.m
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'simscape_id_micro_station';
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
%% Run the linearization
initializeTy();
G_ms_flexible = linearize(mdl, io, 0);
% Input/Output names
G_ms_flexible.InputName = {'Fmx', 'Fmy', 'Fmz',...
'Fgx', 'Fgy', 'Fgz'};
G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
'Tyx', 'Tyy', 'Tyz', ...
'Ryx', 'Ryy', 'Ryz', ...
'Dgx', 'Dgy', 'Dgz'};
%% Run the linearization
initializeTy(struct('rigid', true));
G_ms_ty_rigid = linearize(mdl, io, 0);
% Input/Output names
G_ms_ty_rigid.InputName = {'Fmx', 'Fmy', 'Fmz',...
'Fgx', 'Fgy', 'Fgz'};
G_ms_ty_rigid.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
'Tyx', 'Tyy', 'Tyz', ...
'Ryx', 'Ryy', 'Ryz', ...
'Dgx', 'Dgy', 'Dgz'};
%% Save the obtained transfer functions
save('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');

99
identification/id_flexible_rigid_plots.m Normal file
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@ -0,0 +1,99 @@
%% Script Description
% Determine if we take into account the flexibilities,
% does that changes a lot
%%
clear; close all; clc;
%% Load Configuration file
load('./mat/config.mat', 'save_fig', 'freqs');
%% Load the obtained transfer functions
load('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');
%% Get Measurement Object
load('2018_01_12.mat', 'm_object');
% Get Measurements Data
opts = struct('freq_min', 10, 'est_backend', 'idfrd');
meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {{'tx', 'tx'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
%%
dir = 'y';
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))), '--');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Flexible', 'Ty - Rigid'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))), '--');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
%%
dir = 'y';
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Flexible', 'Ty - Rigid'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
%%
dir = 'z';
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Flexible', 'Ty - Rigid'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_flexible(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms_ty_rigid(['Dg' dir], ['Fm' dir]), freqs, 'Hz'))), '--');
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');

149
identification/id_micro_station_comp_meas.m
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@ -16,85 +16,90 @@ load('2018_01_12.mat', 'm_object');
%% Get Measurements Data
opts = struct('freq_min', 10, 'est_backend', 'idfrd');
meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {'tx', 'tx'}, opts);
meas_sys = getDynamicTFs(m_object, 'marble', 'hexa', {{'tx', 'tx'},{'ty', 'ty'},{'tz', 'tz'}}, opts);
%% Granite to Granite
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dgx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dgz', 'Fgz'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dmx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
for dir = 'xyz'
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dg' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
linkaxes([ax1,ax2],'x');
if save_fig; exportFig('comp_meas_g_g', 'normal-normal', struct('path', 'identification')); end
if save_fig; exportFig(['comp_meas_g_g_' dir], 'normal-normal', struct('path', 'identification')); end
end
%% Hexapod to Hexapod
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fmx'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fhx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
for dir = 'xyz'
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fm' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fh' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
if save_fig; exportFig('comp_meas_m_m', 'normal-normal', struct('path', 'identification')); end
linkaxes([ax1,ax2],'x');
if save_fig; exportFig(['comp_meas_m_m_' dir], 'normal-normal', struct('path', 'identification')); end
end
%% Hexapod to Granite
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms('Dmx', 'Fgx'), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys('Dhx', 'Fmx'), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
for dir = 'xyz'
figure;
% Amplitude
ax1 = subaxis(2,1,1);
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, abs(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log'); set(gca,'yscale','log');
ylabel('Amplitude [m/N]');
set(gca, 'XTickLabel',[]);
legend({'Model', 'Meas.'});
hold off;
% Phase
ax2 = subaxis(2,1,2);
hold on;
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ms(['Dm' dir], ['Fg' dir]), freqs, 'Hz'))));
plot(freqs, 180/pi*angle(squeeze(freqresp(meas_sys(['Dh' dir], ['Fm' dir]), freqs, 'Hz'))), '.');
set(gca,'xscale','log');
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
linkaxes([ax1,ax2],'x');
linkaxes([ax1,ax2],'x');
if save_fig; exportFig('comp_meas_m_g', 'normal-normal', struct('path', 'identification')); end
if save_fig; exportFig(['comp_meas_m_g_' dir], 'normal-normal', struct('path', 'identification')); end
end

2
identification/id_nano_station.m
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@ -3,7 +3,7 @@ clear; close all; clc;
%%
K_iff = tf(zeros(6));
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff', '-append');
%% Light Sample
initializeSample(struct('mass', 1));

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identification/sim_micro_station.slx
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5
init_data.m
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@ -52,6 +52,7 @@ initializeSample(struct('mass', 20));
%% Controllers
K = tf(zeros(6));
save('./mat/controller.mat', 'K');
K_iff = tf(zeros(6));
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K', 'K_iff');

5
init_perturbations.m
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@ -9,9 +9,8 @@ Wxg = 1e-5*(s/(2e2)^(1/3) + 2*pi*0.1)^3/(s + 2*pi*0.1)^3;
Wxg = Wxg*(s/(0.5e6)^(1/3) + 2*pi*10)^3/(s + 2*pi*10)^3;
Wxg = Wxg/(1+s/(2*pi*2000));
save('./mat/weight_Wxg.mat', 'Wxg');
%% Sensor Noise
Wn = tf(1e-12);
save('./mat/weight_Wn.mat', 'Wn');
%% Save Weights
save('./mat/perturbations.mat', 'Wxg', 'Wn');

14
init_simulation.m
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@ -1,17 +1,17 @@
%% Script that is run just before
% the simulation is started
% Load all the data used for the simulation
load('./mat/sim_conf.mat', 'sim_conf');
%% Load all the data used for the simulation
load('./mat/sim_conf.mat');
%% Load SolidWorks Data
load('./mat/solids.mat', 'solids');
load('./mat/solids.mat');
%% Load data of each stage
load('./mat/stages.mat', 'ground', 'granite', 'ty', 'ry', 'rz', 'micro_hexapod', 'axisc', 'nano_hexapod', 'mirror', 'sample');
load('./mat/stages.mat');
%% Load Signals Applied to the system
load('./mat/inputs.mat', 'inputs');
load('./mat/inputs.mat');
%% Load Controller
load('./mat/controller.mat', 'K');
load('./mat/K_iff.mat', 'K_iff');
load('./mat/controllers.mat');

32
initialize/initializeInputs.m
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@ -28,7 +28,7 @@ function [inputs] = initializeInputs(opts_param)
%% Ground motion
if islogical(opts.Dw) && opts.Dw == true
load('./mat/weight_Wxg.mat', 'Wxg');
load('./mat/perturbations.mat', 'Wxg');
Dw = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
Dw(:, 1) = lsim(Wxg, Dw(:, 1), time_vector);
Dw(:, 2) = lsim(Wxg, Dw(:, 2), time_vector);
@ -64,17 +64,17 @@ function [inputs] = initializeInputs(opts_param)
inputs.ry = timeseries(ry, time_vector);
%% Spindle [rad]
if islogical(opts.Rz) && opts.Rz == true
Rz = 2*pi*0.5*time_vector;
elseif islogical(opts.Rz) && opts.Rz == false
Rz = zeros(length(time_vector), 1);
elseif isnumeric(opts.Rz) && length(opts.Rz) == 1
Rz = 2*pi*(opts.Rz/60)*time_vector;
if islogical(opts.rz) && opts.rz == true
rz = 2*pi*0.5*time_vector;
elseif islogical(opts.rz) && opts.rz == false
rz = zeros(length(time_vector), 1);
elseif isnumeric(opts.rz) && length(opts.rz) == 1
rz = 2*pi*(opts.rz/60)*time_vector;
else
Rz = opts.Rz;
rz = opts.rz;
end
inputs.Rz = timeseries(Rz, time_vector);
inputs.rz = timeseries(rz, time_vector);
%% Micro Hexapod
if islogical(opts.u_hexa) && opts.setpoint == true
@ -85,19 +85,19 @@ function [inputs] = initializeInputs(opts_param)
u_hexa = opts.u_hexa;
end
inputs.micro_hexapod = timeseries(u_hexa, time_vector);
inputs.u_hexa = timeseries(u_hexa, time_vector);
%% Center of gravity compensation
if islogical(opts.mass) && opts.setpoint == true
Rm = zeros(length(time_vector), 2);
axisc = zeros(length(time_vector), 2);
elseif islogical(opts.mass) && opts.setpoint == false
Rm = zeros(length(time_vector), 2);
Rm(:, 2) = pi*ones(length(time_vector), 1);
axisc = zeros(length(time_vector), 2);
axisc(:, 2) = pi*ones(length(time_vector), 1);
else
Rm = opts.mass;
axisc = opts.mass;
end
inputs.Rm = timeseries(Rm, time_vector);
inputs.axisc = timeseries(axisc, time_vector);
%% Nano Hexapod
if islogical(opts.n_hexa) && opts.setpoint == true
@ -108,7 +108,7 @@ function [inputs] = initializeInputs(opts_param)
n_hexa = opts.n_hexa;
end
inputs.nano_hexapod = timeseries(n_hexa, time_vector);
inputs.n_hexa = timeseries(n_hexa, time_vector);
%% Set point [m, rad]
if islogical(opts.setpoint) && opts.setpoint == true

8
initialize/initializeMicroHexapod.m
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@ -12,9 +12,9 @@ function [] = initializeMicroHexapod(opts_param)
%% Stewart Object
micro_hexapod = struct();
micro_hexapod.h = 350; % Total height of the platform [mm]
micro_hexapod.jacobian = 265; % Point where the Jacobian is computed => Center of rotation [mm]
micro_hexapod.jacobian = 265; % Distance from the top platform to the Jacobian point [mm]
%% Bottom Plate
%% Bottom Plate - Mechanical Design
BP = struct();
BP.rad.int = 110; % Internal Radius [mm]
@ -26,7 +26,7 @@ function [] = initializeMicroHexapod(opts_param)
BP.color = [0.6 0.6 0.6]; % Color [rgb]
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
%% Top Plate
%% Top Plate - Mechanical Design
TP = struct();
TP.rad.int = 82; % Internal Radius [mm]
@ -38,7 +38,7 @@ function [] = initializeMicroHexapod(opts_param)
TP.color = [0.6 0.6 0.6]; % Color [rgb]
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
%% Leg
%% Struts
Leg = struct();
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]

18
initialize/initializeRy.m
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@ -1,10 +1,24 @@
function [ry] = initializeRy()
function [ry] = initializeRy(opts_param)
%% Default values for opts
opts = struct('rigid', false);
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
%%
ry = struct();
ry.m = 200; % [kg]
ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
if opts.rigid
ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
else
ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
end
ry.k.h = 357e6/4; % Stiffness in the direction of the guidance [N/m]
ry.k.rad = 555e6/4; % Stiffness in the top direction [N/m]

32
initialize/initializeRz.m
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@ -1,18 +1,36 @@
function [rz] = initializeRz()
function [rz] = initializeRz(opts_param)
%% Default values for opts
opts = struct('rigid', false);
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
%%
rz = struct();
% Estimated mass of the mooving part
rz.m = 250; % [kg]
% Estimated stiffnesses
rz.k.ax = 2e9; % Axial Stiffness [N/m]
rz.k.rad = 7e8; % Radial Stiffness [N/m]
rz.k.rot = 1e2; % Rotational Stiffness [N*m/deg]
rz.k.tilt = 1e2; % TODO [N*m/deg]
rz.k.rot = 100e6*2*pi/360; % Rotational Stiffness [N*m/deg]
rz.c.ax = 10*(1/5)*sqrt(rz.k.ax/rz.m);
rz.c.rad = 10*(1/5)*sqrt(rz.k.rad/rz.m);
rz.c.tilt = 100*(1/1)*sqrt(rz.k.tilt/rz.m);
rz.c.rot = 100*(1/1)*sqrt(rz.k.rot/rz.m);
if opts.rigid
rz.k.tilt = 1e10; % Vertical Rotational Stiffness [N*m/deg]
else
rz.k.tilt = 1e2; % TODO what value should I put? [N*m/deg]
end
% TODO
rz.c.ax = 2*sqrt(rz.k.ax/rz.m);
rz.c.rad = 2*sqrt(rz.k.rad/rz.m);
rz.c.tilt = 100*sqrt(rz.k.tilt/rz.m);
rz.c.rot = 100*sqrt(rz.k.rot/rz.m);
%% Save
save('./mat/stages.mat', 'rz', '-append');

8
initialize/initializeSample.m
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@ -1,9 +1,9 @@
function [] = initializeSample(opts_param)
%% Default values for opts
sample = struct('radius', 100,...
'height', 300,...
'mass', 50,...
'offset', 0,...
sample = struct('radius', 100, ...
'height', 300, ...
'mass', 50, ...
'offset', 0, ...
'color', [0.45, 0.45, 0.45] ...
);

18
initialize/initializeTy.m
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@ -1,10 +1,24 @@
function [ty] = initializeTy()
function [ty] = initializeTy(opts_param)
%% Default values for opts
opts = struct('rigid', false);
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
%%
ty = struct();
ty.m = 250; % [kg]
ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
if opts.rigid
ty.k.ax = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
else
ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
end
ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
ty.c.ax = 100*(1/5)*sqrt(ty.k.ax/ty.m);

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6
src/runSimulation.m
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@ -19,10 +19,10 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
if strcmp(act_damp, 'iff')
K_iff_crit = load('./mat/K_iff_crit.mat');
K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff', '-append');
elseif strcmp(act_damp, 'none')
K_iff = tf(zeros(6)); %#ok
save('./mat/K_iff.mat', 'K_iff');
save('./mat/controllers.mat', 'K_iff', '-append');
end
%%
@ -33,7 +33,7 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
else
error('sys_name should be pz or vc');
end
if strcmp(sys_mass, 'light')
initializeSample(struct('mass', 1));
elseif strcmp(sys_mass, 'heavy')