Update simscape page
This commit is contained in:
parent
f73becd5c9
commit
7835cdd4dc
File diff suppressed because it is too large
Load Diff
@ -47,7 +47,6 @@ This file is used to explain how this Simscape Model works.
|
||||
- In section [[sec:simscape_model]], an introduction to Simscape Multibody is done
|
||||
- In section [[sec:simulink_files_signal_names]], each simscape files are presented with the associated signal names and joint architectures
|
||||
- In section [[sec:simulink_library]], the list of the Simulink library elements are described
|
||||
- In section [[sec:scripts]], the scripts used for the simulations (initialization for instance) are described
|
||||
- In section [[sec:functions]], a list of Matlab function that will be used are defined here
|
||||
- In section [[sec:initialize_elements]], all the functions that are used to initialize the Simscape Multibody elements are defined here. This includes the mass of all solids for instance.
|
||||
|
||||
@ -86,10 +85,6 @@ The project can be opened using the =simulinkproject= function:
|
||||
When the project opens, a startup script is ran.
|
||||
The startup script is defined below and is exported to the =project_startup.m= script.
|
||||
#+begin_src matlab :eval no :tangle ../src/project_startup.m
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
save_fig = false;
|
||||
save('./mat/config.mat', 'freqs', 'save_fig');
|
||||
|
||||
project = simulinkproject;
|
||||
projectRoot = project.RootFolder;
|
||||
|
||||
@ -322,33 +317,8 @@ A simulink library is developed in order to share elements between the different
|
||||
** =RotationMatrixToAngle=
|
||||
[[../nass_library/RotationMatrixToAngle.slx][RotationMatrixToAngle.slx]]
|
||||
|
||||
* Scripts
|
||||
<<sec:scripts>>
|
||||
|
||||
** Simulation Initialization
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/init_simulation.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:init_simulation>>
|
||||
|
||||
This Matlab script is accessible [[file:../src/init_simulation.m][here]].
|
||||
|
||||
This script runs just before the simulation is started.
|
||||
It is used to load the simulation configuration and the controllers used for the simulation.
|
||||
|
||||
#+begin_src matlab
|
||||
%% Load all the data used for the simulation
|
||||
load('sim_conf.mat');
|
||||
|
||||
%% Load Controller
|
||||
load('controllers.mat');
|
||||
#+end_src
|
||||
|
||||
* Functions
|
||||
<<sec:functions>>
|
||||
|
||||
** computePsdDispl
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/computePsdDispl.m
|
||||
@ -787,71 +757,19 @@ This Matlab function is accessible [[file:../src/runSimulation.m][here]].
|
||||
#+end_src
|
||||
* Initialize Elements
|
||||
<<sec:initialize_elements>>
|
||||
** Simulation Configuration
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeSimConf.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeSimConf>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeSimConf.m][here]].
|
||||
|
||||
#+begin_src matlab
|
||||
function [] = initializeSimConf(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct('Ts', 1e-4, ... % Sampling time [s]
|
||||
'Tsim', 10, ... % Simulation time [s]
|
||||
'cl_time', 0, ... % Close Loop time [s]
|
||||
'gravity', false ... % Gravity along the z axis
|
||||
);
|
||||
|
||||
%% Populate opts with input parameters
|
||||
if exist('opts_param','var')
|
||||
for opt = fieldnames(opts_param)'
|
||||
opts.(opt{1}) = opts_param.(opt{1});
|
||||
end
|
||||
end
|
||||
|
||||
%%
|
||||
sim_conf = struct();
|
||||
|
||||
%%
|
||||
sim_conf.Ts = opts.Ts;
|
||||
sim_conf.Tsim = opts.Tsim;
|
||||
sim_conf.cl_time = opts.cl_time;
|
||||
|
||||
%% Gravity
|
||||
if opts.gravity
|
||||
sim_conf.g = -9.8; %#ok
|
||||
else
|
||||
sim_conf.g = 0; %#ok
|
||||
end
|
||||
|
||||
%% Save
|
||||
save('./mat/sim_conf.mat', 'sim_conf');
|
||||
end
|
||||
#+end_src
|
||||
|
||||
** Experiment
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeExperiment.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeExperiment>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeExperiment.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeExperiment>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
|
||||
|
||||
#+begin_src matlab
|
||||
function [] = initializeExperiment(exp_name, sys_mass)
|
||||
if strcmp(exp_name, 'tomography')
|
||||
opts_sim = struct(...
|
||||
'Tsim', 5, ...
|
||||
'cl_time', 5 ...
|
||||
);
|
||||
initializeSimConf(opts_sim);
|
||||
|
||||
if strcmp(sys_mass, 'light')
|
||||
opts_inputs = struct(...
|
||||
'Dw', true, ...
|
||||
@ -873,13 +791,145 @@ This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
|
||||
end
|
||||
#+end_src
|
||||
|
||||
** Inputs
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeInputs.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeInputs>>
|
||||
** Generate Reference Signals
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeReferences.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeReferences>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
|
||||
|
||||
#+begin_src matlab
|
||||
function [ref] = initializeReferences(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct( ...
|
||||
'Ts', 1e-3, ... % Sampling Frequency [s]
|
||||
'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
|
||||
'Dy_amplitude', 0, ... % Amplitude of the displacement [m]
|
||||
'Dy_period', 1, ... % Period of the displacement [s]
|
||||
'Ry_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
|
||||
'Ry_amplitude', 0, ... % Amplitude [deg]
|
||||
'Ry_period', 10, ... % Period of the displacement [s]
|
||||
'Rz_type', 'constant', ... % Either "constant" / "rotating"
|
||||
'Rz_amplitude', 0, ... % Initial angle [deg]
|
||||
'Rz_period', 1, ... % Period of the rotating [s]
|
||||
'Dh_type', 'constant', ... % For now, only constant is implemented
|
||||
'Dh_pos', [0; 0; 0; 0; 0; 0], ... % Initial position [m,m,m,rad,rad,rad] of the top platform
|
||||
'Rm_type', 'constant', ... % For now, only constant is implemented
|
||||
'Rm_pos', [0; pi], ... % Initial position of the two masses
|
||||
'Dn_type', 'constant', ... % For now, only constant is implemented
|
||||
'Dn_pos', [0; 0; 0; 0; 0; 0] ... % Initial position [m,m,m,rad,rad,rad] of the top platform
|
||||
);
|
||||
|
||||
%% Populate opts with input parameters
|
||||
if exist('opts_param','var')
|
||||
for opt = fieldnames(opts_param)'
|
||||
opts.(opt{1}) = opts_param.(opt{1});
|
||||
end
|
||||
end
|
||||
|
||||
%% Set Sampling Time
|
||||
Ts = opts.Ts;
|
||||
|
||||
%% Translation stage - Dy
|
||||
t = 0:Ts:opts.Dy_period-Ts; % Time Vector [s]
|
||||
Dy = zeros(length(t), 1);
|
||||
switch opts.Dy_type
|
||||
case 'constant'
|
||||
Dy(:) = opts.Dy_amplitude;
|
||||
case 'triangular'
|
||||
Dy(:) = -4*opts.Dy_amplitude + 4*opts.Dy_amplitude/opts.Dy_period*t;
|
||||
Dy(t<0.75*opts.Dy_period) = 2*opts.Dy_amplitude - 4*opts.Dy_amplitude/opts.Dy_period*t(t<0.75*opts.Dy_period);
|
||||
Dy(t<0.25*opts.Dy_period) = 4*opts.Dy_amplitude/opts.Dy_period*t(t<0.25*opts.Dy_period);
|
||||
case 'sinusoidal'
|
||||
Dy(:) = opts.Dy_amplitude*sin(2*pi/opts.Dy_period*t);
|
||||
otherwise
|
||||
warning('Dy_type is not set correctly');
|
||||
end
|
||||
Dy = struct('time', t, 'signals', struct('values', Dy));
|
||||
|
||||
|
||||
%% Tilt Stage - Ry
|
||||
t = 0:Ts:opts.Ry_period-Ts;
|
||||
Ry = zeros(length(t), 1);
|
||||
|
||||
switch opts.Ry_type
|
||||
case 'constant'
|
||||
Ry(:) = pi/180*opts.Ry_amplitude;
|
||||
case 'triangular'
|
||||
Ry(:) = -4*(pi/180*opts.Ry_amplitude) + 4*(pi/180*opts.Ry_amplitude)/opts.Ry_period*t;
|
||||
Ry(t<0.75*opts.Ry_period) = 2*(pi/180*opts.Ry_amplitude) - 4*(pi/180*opts.Ry_amplitude)/opts.Ry_period*t(t<0.75*opts.Ry_period);
|
||||
Ry(t<0.25*opts.Ry_period) = 4*(pi/180*opts.Ry_amplitude)/opts.Ry_period*t(t<0.25*opts.Ry_period);
|
||||
case 'sinusoidal'
|
||||
Ry(:) = opts.Ry_amplitude*sin(2*pi/opts.Ry_period*t);
|
||||
otherwise
|
||||
warning('Ry_type is not set correctly');
|
||||
end
|
||||
Ry = struct('time', t, 'signals', struct('values', Ry));
|
||||
|
||||
%% Spindle - Rz
|
||||
t = 0:Ts:opts.Rz_period-Ts;
|
||||
Rz = zeros(length(t), 1);
|
||||
|
||||
switch opts.Rz_type
|
||||
case 'constant'
|
||||
Rz(:) = pi/180*opts.Rz_amplitude;
|
||||
case 'rotating'
|
||||
Rz(:) = pi/180*opts.Rz_amplitude+2*pi/opts.Rz_period*t;
|
||||
otherwise
|
||||
warning('Rz_type is not set correctly');
|
||||
end
|
||||
Rz = struct('time', t, 'signals', struct('values', Rz));
|
||||
|
||||
%% Micro-Hexapod
|
||||
t = [0, Ts];
|
||||
Dh = zeros(length(t), 6);
|
||||
|
||||
opts.Dh_pos(4:6) = pi/180*opts.Dh_pos(4:6); % convert from [deg] to [rad]
|
||||
|
||||
switch opts.Dh_type
|
||||
case 'constant'
|
||||
Dh = [opts.Dh_pos, opts.Dh_pos];
|
||||
otherwise
|
||||
warning('Dh_type is not set correctly');
|
||||
end
|
||||
Dh = struct('time', t, 'signals', struct('values', Dh));
|
||||
|
||||
%% Axis Compensation - Rm
|
||||
t = [0, Ts];
|
||||
Rm = [opts.Rm_pos, opts.Rm_pos];
|
||||
Rm = struct('time', t, 'signals', struct('values', Rm));
|
||||
|
||||
%% Nano-Hexapod
|
||||
t = [0, Ts];
|
||||
Dn = zeros(length(t), 6);
|
||||
|
||||
opts.Dn_pos(4:6) = pi/180*opts.Dn_pos(4:6); % convert from [deg] to [rad]
|
||||
|
||||
switch opts.Dn_type
|
||||
case 'constant'
|
||||
Dn = [opts.Dn_pos, opts.Dn_pos];
|
||||
otherwise
|
||||
warning('Dn_type is not set correctly');
|
||||
end
|
||||
Dn = struct('time', t, 'signals', struct('values', Dn));
|
||||
|
||||
%% Save
|
||||
save('./mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Rm', 'Dn', 'Ts');
|
||||
end
|
||||
#+end_src
|
||||
|
||||
** TODO Inputs
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeInputs.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeInputs>>
|
||||
|
||||
- [ ] *This function should not be used anymore*. Now there are two functions to initialize disturbances and references.
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
|
||||
|
||||
@ -1062,12 +1112,12 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Ground
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeGround.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeGround>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeGround.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeGround>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeGround.m][here]].
|
||||
|
||||
@ -1086,12 +1136,12 @@ end
|
||||
#+end_src
|
||||
|
||||
** Granite
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeGranite.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeGranite>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeGranite.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeGranite>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
|
||||
|
||||
@ -1152,12 +1202,12 @@ This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Translation Stage
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeTy.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeTy>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeTy.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeTy>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeTy.m][here]].
|
||||
|
||||
@ -1234,12 +1284,12 @@ This Matlab function is accessible [[file:../src/initializeTy.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Tilt Stage
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeRy.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeRy>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeRy.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeRy>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeRy.m][here]].
|
||||
|
||||
@ -1305,12 +1355,12 @@ This Matlab function is accessible [[file:../src/initializeRy.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Spindle
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeRz.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeRz>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeRz.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeRz>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeRz.m][here]].
|
||||
|
||||
@ -1372,12 +1422,12 @@ This Matlab function is accessible [[file:../src/initializeRz.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Micro Hexapod
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeMicroHexapod>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeMicroHexapod>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]].
|
||||
|
||||
@ -1581,12 +1631,12 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
|
||||
#+end_src
|
||||
|
||||
** Center of gravity compensation
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeAxisc.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeAxisc>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeAxisc.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeAxisc>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
|
||||
|
||||
@ -1625,12 +1675,12 @@ This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Mirror
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeMirror.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeMirror>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeMirror.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeMirror>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeMirror.m][here]].
|
||||
|
||||
@ -1691,12 +1741,12 @@ This Matlab function is accessible [[file:../src/initializeMirror.m][here]].
|
||||
#+end_src
|
||||
|
||||
** Nano Hexapod
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeNanoHexapod>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeNanoHexapod>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]].
|
||||
|
||||
@ -1908,12 +1958,12 @@ This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]]
|
||||
#+end_src
|
||||
|
||||
** Cedrat Actuator
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeCedratPiezo>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeCedratPiezo>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]].
|
||||
|
||||
@ -1948,12 +1998,12 @@ This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]]
|
||||
#+end_src
|
||||
|
||||
** Sample
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeSample.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeSample>>
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeSample.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:header-args:matlab+: :eval no :results none
|
||||
:END:
|
||||
<<sec:initializeSample>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeSample.m][here]].
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user