Delete Smidata and add solids instead

demonstration/displacement_init.m

@@ -68,7 +68,7 @@ opts_inputs = struct(...
 initializeInputs(opts_inputs);
 
 %% Initialize SolidWorks Data
-initializeSmiData();
+initializeSolids();
 
 %% Initialize Ground
 initializeGround();

demonstration/sample_pos_init.m

@@ -39,7 +39,7 @@ opts_inputs = struct(...
 initializeInputs(opts_inputs);
 
 %% Initialize SolidWorks Data
-initializeSmiData();
+initializeSolids();
 
 %% Initialize Ground
 initializeGround();

init_data.m

@@ -17,8 +17,8 @@ opts_inputs = struct(...
 
 initializeInputs(opts_inputs);
 
-%% Initialize SolidWorks Data
+%% Initialize Solids
-initializeSmiData();
+initializeSolids();
 
 %% Initialize Ground
 initializeGround();

init_simulation.m

@@ -4,7 +4,7 @@
 load('./mat/sim_conf.mat', 'sim_conf');
 
 %% Load SolidWorks Data
-load('./mat/smiData.mat', 'smiData');
+load('./mat/solids.mat', 'solids');
 
 %% Load more data
 load('./mat/simscape_data.mat');

initialize/initializeAxisc.m

@@ -1,13 +1,9 @@
 function [] = initializeAxisc()
-    %%
-    load('./mat/smiData.mat', 'smiData');
-
     %%
     axisc = struct();
 
-    axisc.m      = smiData.Solid(30).mass;
+    axisc.m      = 40; % [kg]
     axisc.k.ax   = 1; % TODO [N*m/deg)]
-
     axisc.c.ax   = (1/1)*sqrt(axisc.k.ax/axisc.m);
 
     %% Save

initialize/initializeGranite.m

@@ -1,14 +1,10 @@
 function [] = initializeGranite()
-    %%
-    load('./mat/smiData.mat', 'smiData');
-
     %%
     granite = struct();
 
-    granite.m = smiData.Solid(5).mass;
+    granite.m = 2000; % [kg]
-    granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m]
+    granite.k.ax = 1e8; % [N/m] x-y-z Stiffness of the granite
-
+    granite.c.ax = 1e4; % [N/(m/s)]
-    granite.c.ax = 100*(1/1)*sqrt(granite.k.ax/granite.m);
 
     %% Save
     save('./mat/stages.mat', 'granite', '-append');

initialize/initializeRy.m

@@ -1,11 +1,8 @@
 function [] = initializeRy()
-    %%
-    load('./mat/smiData.mat', 'smiData');
-
     %%
     ry = struct();
 
-    ry.m = smiData.Solid(26).mass+smiData.Solid(18).mass+smiData.Solid(10).mass;
+    ry.m = 200; % [kg]
 
     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

@@ -1,11 +1,8 @@
 function [] = initializeRz()
-    %%
-    load('./mat/smiData.mat', 'smiData');
-
     %%
     rz = struct();
 
-    rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
+    rz.m = 250; % [kg]
 
     rz.k.ax   = 2e9; % Axial Stiffness [N/m]
     rz.k.rad  = 7e8; % Radial Stiffness [N/m]

initialize/initializeSimConf.m

@@ -12,10 +12,10 @@ function [] = initializeSimConf(opts_param)
             opts.(opt{1}) = opts_param.(opt{1});
         end
     end
-    
+
     %%
     sim_conf = struct();
-    
+
     %%
     sim_conf.Ts = opts.Ts;
     sim_conf.Tsim = opts.Tsim;

initialize/initializeSmiData.m

@@ -1,103 +0,0 @@
-function [smiData] = initializeSmiData()
-    %% Initialize the structure
-    smiData = struct();
-
-    %% Solids
-    smiData.Solid = struct();
-
-    %% Granite
-    smiData.Solid.granite.density = 2800; % Granite [kg/m3]
-    smiData.Solid.granite.color = [1 1 1];
-    smiData.Solid.granite.STEP = '.\STEPS\granite\granite.STEP';
-
-    %% Y-Translation
-    % Ty Stator Part
-    smiData.Solid.ty.stator.density = 5400;
-    smiData.Solid.ty.stator.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
-    % Ty Granite frame
-    smiData.Solid.ty.granite_frame.density = 2800;
-    smiData.Solid.ty.granite_frame.color = [0.753 1 0.753];
-    smiData.Solid.ty.granite_frame.STEP = '.\STEPS\Ty\Ty_Granite_Frame.STEP';
-    % Guide Translation Ty
-    smiData.Solid.ty.guide.density = 7800;
-    smiData.Solid.ty.guide.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
-    % Ty Rotor Part
-    smiData.Solid.ty.rotor.density = 7800;
-    smiData.Solid.ty.rotor.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
-    % Ty - Guide_Translation12
-    smiData.Solid.ty.guide12.density = 1450;
-    smiData.Solid.ty.guide12.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.guide12.STEP = '.\STEPS\Ty\Ty_Guide_12.STEP';
-    % Ty - Guide_Translation11
-    smiData.Solid.ty.guide11.density = 1450;
-    smiData.Solid.ty.guide11.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
-    % Ty - Guide_Translation22
-    smiData.Solid.ty.guide22.density = 1450;
-    smiData.Solid.ty.guide22.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
-    % Ty - Guide_Translation21
-    smiData.Solid.ty.guide21.density = 1450;
-    smiData.Solid.ty.guide21.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.guide21.STEP = '.\STEPS\Ty\Ty_Guide_21.STEP';
-    % Ty - Plateau translation
-    smiData.Solid.ty.frame.density = 7800;
-    smiData.Solid.ty.frame.color = [0.792 0.820 0.933];
-    smiData.Solid.ty.frame.STEP = '.\STEPS\ty\Ty_Stage.STEP';
-
-    %% Tilt Stage
-    % Ry - Guide for the tilt stage
-    smiData.Solid.ry.guide.density = 7800;
-    smiData.Solid.ry.guide.color = [0.792 0.820 0.933];
-    smiData.Solid.ry.guide.STEP = '.\STEPS\ry\Tilt_Guide.STEP';
-    % Ry - Plateau Tilt
-    smiData.Solid.ry.stage.density = 7800;
-    smiData.Solid.ry.stage.color = [0.792 0.820 0.933];
-    smiData.Solid.ry.stage.STEP = '.\STEPS\ry\Tilt_Stage.STEP';
-    % Ry - Rotor of the motor
-    smiData.Solid.ry.rotor.density = 2400;
-    smiData.Solid.ry.rotor.color = [0.792 0.820 0.933];
-    smiData.Solid.ry.rotor.STEP = '.\STEPS\ry\Tilt_Motor_Axis.STEP';
-    % Ry - Motor
-    smiData.Solid.ry.motor.density = 3200;
-    smiData.Solid.ry.motor.color = [0.792 0.820 0.933];
-    smiData.Solid.ry.motor.STEP = '.\STEPS\ry\Tilt_Motor.STEP';
-
-    %% Spindle
-    % Spindle - Motor
-    smiData.Solid.rz.slipring.density = 7800;
-    smiData.Solid.rz.slipring.color = [0.792 0.820 0.933];
-    smiData.Solid.rz.slipring.STEP = '.\STEPS\rz\Spindle_Slip_Ring.STEP';
-    % Spindle - Rotor
-    smiData.Solid.rz.rotor.density = 7800;
-    smiData.Solid.rz.rotor.color = [0.792 0.820 0.933];
-    smiData.Solid.rz.rotor.STEP = '.\STEPS\rz\Spindle_Rotor.STEP';
-    % Spindle - Stator
-    smiData.Solid.rz.stator.density = 7800;
-    smiData.Solid.rz.stator.color = [0.792 0.820 0.933];
-    smiData.Solid.rz.stator.STEP = '.\STEPS\rz\Spindle_Stator.STEP';
-
-    %% Axis Compensator
-    % Structure
-    smiData.Solid.axisc.structure.density = 3400;
-    smiData.Solid.axisc.structure.color = [0.792 0.820 0.933];
-    smiData.Solid.axisc.structure.STEP = '.\STEPS\axisc\Disc_Stator.STEP';
-    % Wheel
-    smiData.Solid.axisc.wheel.density = 2700;
-    smiData.Solid.axisc.wheel.color = [0.753 0.753 0.753];
-    smiData.Solid.axisc.wheel.STEP = '.\STEPS\axisc\axisc_guidance.STEP';
-    % Mass
-    smiData.Solid.axisc.masses.density = 7800;
-    smiData.Solid.axisc.masses.color = [0.792 0.820 0.933];
-    smiData.Solid.axisc.masses.STEP = './STEPS/axisc/Axisc_Mass.STEP';
-    % Gear
-    smiData.Solid.axisc.gear.density = 7800;
-    smiData.Solid.axisc.gear.color = [0.792 0.820 0.933];
-    smiData.Solid.axisc.gear.STEP = '.\STEPS\axisc\axisc_gearing.STEP';
-
-    %% Save
-    save('./mat/smiData.mat', 'smiData')
-end

initialize/initializeSolids.m

@@ -0,0 +1,97 @@
+function [solids] = initializeSolids()
+    %% Granite
+    solids.granite.density = 2800; % [kg/m3]
+    solids.granite.color   = [1 1 1];
+    solids.granite.STEP    = './STEPS/granite/granite.STEP';
+
+    %% Y-Translation
+    % Ty Granite frame
+    solids.ty.granite_frame.density = 7800; % [kg/m3]
+    solids.ty.granite_frame.color   = [0.753 1 0.753];
+    solids.ty.granite_frame.STEP    = './STEPS/Ty/Ty_Granite_Frame.STEP';
+    % Guide Translation Ty
+    solids.ty.guide.density         = 7800; % [kg/m3]
+    solids.ty.guide.color           = [0.792 0.820 0.933];
+    solids.ty.guide.STEP            = './STEPS/ty/Ty_Guide.STEP';
+    % Ty - Guide_Translation12
+    solids.ty.guide12.density       = 7800; % [kg/m3]
+    solids.ty.guide12.color         = [0.792 0.820 0.933];
+    solids.ty.guide12.STEP          = './STEPS/Ty/Ty_Guide_12.STEP';
+    % Ty - Guide_Translation11
+    solids.ty.guide11.density       = 7800; % [kg/m3]
+    solids.ty.guide11.color         = [0.792 0.820 0.933];
+    solids.ty.guide11.STEP          = './STEPS/ty/Ty_Guide_11.STEP';
+    % Ty - Guide_Translation22
+    solids.ty.guide22.density       = 7800; % [kg/m3]
+    solids.ty.guide22.color         = [0.792 0.820 0.933];
+    solids.ty.guide22.STEP          = './STEPS/ty/Ty_Guide_22.STEP';
+    % Ty - Guide_Translation21
+    solids.ty.guide21.density       = 7800; % [kg/m3]
+    solids.ty.guide21.color         = [0.792 0.820 0.933];
+    solids.ty.guide21.STEP          = './STEPS/Ty/Ty_Guide_21.STEP';
+    % Ty - Plateau translation
+    solids.ty.frame.density         = 7800; % [kg/m3]
+    solids.ty.frame.color           = [0.792 0.820 0.933];
+    solids.ty.frame.STEP            = './STEPS/ty/Ty_Stage.STEP';
+    % Ty Stator Part
+    solids.ty.stator.density        = 5400; % [kg/m3]
+    solids.ty.stator.color          = [0.792 0.820 0.933];
+    solids.ty.stator.STEP           = './STEPS/ty/Ty_Motor_Stator.STEP';
+    % Ty Rotor Part
+    solids.ty.rotor.density         = 5400; % [kg/m3]
+    solids.ty.rotor.color           = [0.792 0.820 0.933];
+    solids.ty.rotor.STEP            = './STEPS/ty/Ty_Motor_Rotor.STEP';
+
+    %% Tilt Stage
+    % Ry - Guide for the tilt stage
+    solids.ry.guide.density = 7800; % [kg/m3]
+    solids.ry.guide.color   = [0.792 0.820 0.933];
+    solids.ry.guide.STEP    = './STEPS/ry/Tilt_Guide.STEP';
+    % Ry - Rotor of the motor
+    solids.ry.rotor.density = 2400; % [kg/m3]
+    solids.ry.rotor.color   = [0.792 0.820 0.933];
+    solids.ry.rotor.STEP    = './STEPS/ry/Tilt_Motor_Axis.STEP';
+    % Ry - Motor
+    solids.ry.motor.density = 3200; % [kg/m3]
+    solids.ry.motor.color   = [0.792 0.820 0.933];
+    solids.ry.motor.STEP    = './STEPS/ry/Tilt_Motor.STEP';
+    % Ry - Plateau Tilt
+    solids.ry.stage.density = 7800; % [kg/m3]
+    solids.ry.stage.color   = [0.792 0.820 0.933];
+    solids.ry.stage.STEP    = './STEPS/ry/Tilt_Stage.STEP';
+
+    %% Spindle
+    % Spindle - Slip Ring
+    solids.rz.slipring.density = 7800; % [kg/m3]
+    solids.rz.slipring.color   = [0.792 0.820 0.933];
+    solids.rz.slipring.STEP    = './STEPS/rz/Spindle_Slip_Ring.STEP';
+    % Spindle - Rotor
+    solids.rz.rotor.density    = 7800; % [kg/m3]
+    solids.rz.rotor.color      = [0.792 0.820 0.933];
+    solids.rz.rotor.STEP       = './STEPS/rz/Spindle_Rotor.STEP';
+    % Spindle - Stator
+    solids.rz.stator.density   = 7800; % [kg/m3]
+    solids.rz.stator.color     = [0.792 0.820 0.933];
+    solids.rz.stator.STEP      = './STEPS/rz/Spindle_Stator.STEP';
+
+    %% Axis Compensator
+    % Structure
+    solids.axisc.structure.density = 3400; % [kg/m3]
+    solids.axisc.structure.color   = [0.792 0.820 0.933];
+    solids.axisc.structure.STEP    = './STEPS/axisc/axisc_structure.STEP';
+    % Wheel
+    solids.axisc.wheel.density     = 2700; % [kg/m3]
+    solids.axisc.wheel.color       = [0.753 0.753 0.753];
+    solids.axisc.wheel.STEP        = './STEPS/axisc/axisc_wheel.STEP';
+    % Mass
+    solids.axisc.mass.density      = 7800; % [kg/m3]
+    solids.axisc.mass.color        = [0.792 0.820 0.933];
+    solids.axisc.mass.STEP         = './STEPS/axisc/axisc_mass.STEP';
+    % Gear
+    solids.axisc.gear.density      = 7800; % [kg/m3]
+    solids.axisc.gear.color        = [0.792 0.820 0.933];
+    solids.axisc.gear.STEP         = './STEPS/axisc/axisc_gear.STEP';
+
+    %% Save
+    save('./mat/solids.mat', 'solids')
+end

initialize/initializeTy.m

@@ -1,19 +1,8 @@
-function [] = initializeTy()
+function [ty] = initializeTy()
-    %%
-    load('./mat/smiData.mat', 'smiData');
-
     %%
     ty = struct();
 
-    ty.m = smiData.Solid(4).mass+...
+    ty.m = 250; % [kg]
-           smiData.Solid(6).mass+...
-           smiData.Solid(7).mass+...
-           smiData.Solid(8).mass+...
-           smiData.Solid(9).mass+...
-           4*smiData.Solid(11).mass+...
-           smiData.Solid(24).mass+...
-           smiData.Solid(25).mass+...
-           smiData.Solid(28).mass;
 
     ty.k.ax   = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
     ty.k.rad  = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]