Cedrat Actuator
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+Table of Contents
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+1 Documentation
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- Blocked force: \(1400\ N\) +
- Stiffness: \(10.8\ N/\mu m\) +
- Resonance (free-free): \(6450\ Hz\) +
- Resonance (blocked-free): \(1750\ Hz\) +
- Height: \(45\ mm\) +
- Length: \(80\ mm\) +
- Width: \(22\ mm\) +
- Mass: \(160\ g\) +
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+2 Parameters
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+cedrat.L = 80; % Total Width of the Actuator[mm] +cedrat.H = 45; % Total Height of the Actuator [mm] +cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm] +cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg] +cedrat.mtot = 0.160; % Total mass of the Actuator [kg] +cedrat.m = cedrat.mtot/6; % Mass of each single element [kg] ++
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+cedrat.k = 1e9; % Linear Stiffness of each "blade" [N/m] +cedrat.c = 0.1*sqrt(cedrat.mtot*cedrat.k); % [N/(m/s)] + +cedrat.ka = 5e7; % Linear Stiffness of the stack [N/m] +cedrat.ca = 0.1*sqrt(cedrat.mtot*cedrat.ka); % [N/(m/s)] + +cedrat.kr = 10; % Rotation Stiffness [N*m/(deg)] +cedrat.cr = 0.0001; % Rotation Damping [N*m/(deg/s)] ++
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+K_iff = tf(0); ++
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+% dummy_mass = 140; % [kg] +dummy_mass = 1; % [kg] ++
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+3 Identification
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+%% Options for Linearized +options = linearizeOptions; +options.SampleTime = 0; + +%% Name of the Simulink File +mdl = 'cedrat_piezo'; + +%% Input/Output definition +io(1) = linio([mdl, '/F'], 1, 'input'); +io(2) = linio([mdl, '/Fz'], 1, 'input'); +io(3) = linio([mdl, '/Dw'], 1, 'input'); +io(4) = linio([mdl, '/Dz'], 1, 'output'); +io(5) = linio([mdl, '/Fm'], 1, 'output'); + +%% Run the linearization +G = linearize(mdl, io, options); +G.InputName = {'F', 'Fz', 'Dw'}; +G.OutputName = {'Dz', 'Fm'}; ++
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+4 Integral Force Feedback
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+5 Damped System
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+%% Options for Linearized +options = linearizeOptions; +options.SampleTime = 0; + +%% Name of the Simulink File +mdl = 'cedrat_piezo'; + +%% Input/Output definition +io(1) = linio([mdl, '/F'], 1, 'input'); +io(2) = linio([mdl, '/Fz'], 1, 'input'); +io(3) = linio([mdl, '/Dw'], 1, 'input'); +io(4) = linio([mdl, '/Dz'], 1, 'output'); +io(5) = linio([mdl, '/Fm'], 1, 'output'); + +%% Run the linearization +G_iff = linearize(mdl, io, options); +G_iff.InputName = {'F', 'Fz', 'Dw'}; +G_iff.OutputName = {'Dz', 'Fm'}; ++
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