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

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
2018-10-24 15:08:23 +02:00
parent baedb9b571
commit 7575aee987
36 changed files with 447 additions and 135 deletions
--- a/identification/id_flexible_rigid.m
+++ b/identification/id_flexible_rigid.m
@@ -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');
--- a/identification/id_flexible_rigid_plots.m
+++ b/identification/id_flexible_rigid_plots.m
@@ -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');
--- a/identification/id_micro_station_comp_meas.m
+++ b/identification/id_micro_station_comp_meas.m
@@ -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
--- a/identification/id_nano_station.m
+++ b/identification/id_nano_station.m
@@ -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));
--- a/identification/sim_micro_station.slx
+++ b/identification/sim_micro_station.slx