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

initialize/initializeInputs.m

@@ -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

initialize/initializeMicroHexapod.m

@@ -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]

initialize/initializeRy.m

@@ -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]

initialize/initializeRz.m

@@ -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');

initialize/initializeSample.m

@@ -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] ...
     );
 

initialize/initializeTy.m

@@ -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);