Add time domain disturbances plots and comparisons
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@ -4,7 +4,7 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-03-17 mar. 11:21 -->
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<!-- 2020-03-17 mar. 17:31 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Identification of the disturbances</title>
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@ -254,6 +254,14 @@
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<li><a href="#Compute-the-Power-Spectral-Density-of-the-disturbance-force">5. Compute the Power Spectral Density of the disturbance force</a></li>
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<li><a href="#Noise-Budget">6. Noise Budget</a></li>
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<li><a href="#Save">7. Save</a></li>
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<li><a href="#orgd564a58">8. Time Domain Disturbances</a></li>
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<li><a href="#org8212830">9. Time Domain Effect of Disturbances</a>
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<ul>
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<li><a href="#org76c96f4">9.1. Initialization of the Experiment</a></li>
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<li><a href="#orgf9c1ad9">9.2. Simulations</a></li>
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<li><a href="#org8107e0b">9.3. Comparison</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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@ -623,10 +631,144 @@ save(<span class="org-string">'./mat/dist_psd.mat'</span>, <span class="org-stri
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</div>
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</div>
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</div>
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<div id="outline-container-orgd564a58" class="outline-2">
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<h2 id="orgd564a58"><span class="section-number-2">8</span> Time Domain Disturbances</h2>
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<div class="outline-text-2" id="text-8">
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<p>
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Let’s initialize the time domain disturbances and load them.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeDisturbances();
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dist = load(<span class="org-string">'nass_disturbances.mat'</span>);
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</pre>
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</div>
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<p>
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The time domain disturbance signals are shown in Figure <a href="#org3ff859b">10</a>.
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</p>
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<div id="org3ff859b" class="figure">
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<p><img src="figs/disturbances_time_domain.png" alt="disturbances_time_domain.png" />
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</p>
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<p><span class="figure-number">Figure 10: </span>Disturbances in the Time Domain (<a href="./figs/disturbances_time_domain.png">png</a>, <a href="./figs/disturbances_time_domain.pdf">pdf</a>)</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org8212830" class="outline-2">
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<h2 id="org8212830"><span class="section-number-2">9</span> Time Domain Effect of Disturbances</h2>
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<div class="outline-text-2" id="text-9">
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</div>
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<div id="outline-container-org76c96f4" class="outline-3">
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<h3 id="org76c96f4"><span class="section-number-3">9.1</span> Initialization of the Experiment</h3>
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<div class="outline-text-3" id="text-9-1">
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<p>
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We initialize all the stages with the default parameters.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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</pre>
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</div>
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<p>
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The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
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initializeSample(<span class="org-string">'mass'</span>, 1);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeReferences();
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initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
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initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
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initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
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<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'2'</span>);
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-orgf9c1ad9" class="outline-3">
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<h3 id="orgf9c1ad9"><span class="section-number-3">9.2</span> Simulations</h3>
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<div class="outline-text-3" id="text-9-2">
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<p>
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No disturbances:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
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<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
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sim_no = simout;
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</pre>
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</div>
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<p>
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Ground Motion:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, <span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span>);
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<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
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sim_gm = simout;
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</pre>
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</div>
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<p>
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Translation Stage Vibrations:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, <span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span>);
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<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
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sim_ty = simout;
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</pre>
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</div>
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<p>
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Rotation Stage Vibrations:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">initializeDisturbances(<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, <span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, <span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>);
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<span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
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sim_rz = simout;
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-org8107e0b" class="outline-3">
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<h3 id="org8107e0b"><span class="section-number-3">9.3</span> Comparison</h3>
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<div class="outline-text-3" id="text-9-3">
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<p>
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Let’s now compare the effect of those perturbations on the position error of the sample (Figure <a href="#orgee898d4">11</a>)
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</p>
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<div id="orgee898d4" class="figure">
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<p><img src="figs/effect_disturbances_position_error.png" alt="effect_disturbances_position_error.png" />
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</p>
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<p><span class="figure-number">Figure 11: </span>Effect of Perturbations on the position error (<a href="./figs/effect_disturbances_position_error.png">png</a>, <a href="./figs/effect_disturbances_position_error.pdf">pdf</a>)</p>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-03-17 mar. 11:21</p>
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<p class="date">Created: 2020-03-17 mar. 17:31</p>
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</div>
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</body>
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</html>
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docs/figs/disturbances_time_domain.pdf
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docs/figs/disturbances_time_domain.pdf
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docs/figs/disturbances_time_domain.png
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docs/figs/disturbances_time_domain.png
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docs/figs/effect_disturbances_position_error.pdf
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docs/figs/effect_disturbances_position_error.pdf
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docs/figs/effect_disturbances_position_error.png
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docs/figs/effect_disturbances_position_error.png
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@ -568,3 +568,201 @@ The PSD of the disturbance force are now saved for further analysis.
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save('./mat/dist_psd.mat', 'dist_f');
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#+end_src
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* Time Domain Disturbances
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Let's initialize the time domain disturbances and load them.
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#+begin_src matlab
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initializeDisturbances();
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dist = load('nass_disturbances.mat');
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#+end_src
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The time domain disturbance signals are shown in Figure [[fig:disturbances_time_domain]].
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#+begin_src matlab :exports none
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figure;
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ax1 = subplot(2, 2, 1);
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hold on;
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plot(dist.t, dist.Dwx, 'DisplayName', '$D_{w,x}$')
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plot(dist.t, dist.Dwy, 'DisplayName', '$D_{w,y}$')
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plot(dist.t, dist.Dwz, 'DisplayName', '$D_{w,z}$')
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hold off;
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xlabel('Time [s]');
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ylabel('Ground Motion [m]');
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legend();
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ax2 = subplot(2, 2, 2);
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hold on;
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plot(dist.t, dist.Fty_x, 'DisplayName', '$F_{ty,x}$')
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hold off;
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xlabel('Time [s]');
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ylabel('Ty Forces [N]');
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legend();
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ax3 = subplot(2, 2, 3);
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hold on;
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plot(dist.t, dist.Fty_z, 'DisplayName', '$F_{ty,z}$')
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hold off;
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xlabel('Time [s]');
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ylabel('Ty Forces [N]');
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legend();
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ax4 = subplot(2, 2, 4);
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hold on;
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plot(dist.t, dist.Frz_z, 'DisplayName', '$F_{rz,z}$')
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hold off;
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xlabel('Time [s]');
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ylabel('Rz Forces [N]');
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legend();
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linkaxes([ax1,ax2,ax3,ax4], 'x');
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xlim([0, dist.t(end)]);
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#+end_src
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#+header: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/disturbances_time_domain.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+name: fig:disturbances_time_domain
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#+caption: Disturbances in the Time Domain ([[./figs/disturbances_time_domain.png][png]], [[./figs/disturbances_time_domain.pdf][pdf]])
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[[file:figs/disturbances_time_domain.png]]
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* Time Domain Effect of Disturbances
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** Initialization of the Experiment
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We initialize all the stages with the default parameters.
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#+begin_src matlab
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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#+end_src
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The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
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#+begin_src matlab
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initializeNanoHexapod('type', 'rigid');
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initializeSample('mass', 1);
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#+end_src
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#+begin_src matlab
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initializeReferences();
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initializeController('type', 'open-loop');
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initializeSimscapeConfiguration('gravity', false);
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initializeLoggingConfiguration('log', 'all');
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#+end_src
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#+begin_src matlab
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load('mat/conf_simulink.mat');
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set_param(conf_simulink, 'StopTime', '2');
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#+end_src
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** Simulations
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No disturbances:
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#+begin_src matlab
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initializeDisturbances('enable', false);
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sim('nass_model');
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sim_no = simout;
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#+end_src
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Ground Motion:
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#+begin_src matlab
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initializeDisturbances('Fty_x', false, 'Fty_z', false, 'Frz_z', false);
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sim('nass_model');
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sim_gm = simout;
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#+end_src
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Translation Stage Vibrations:
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#+begin_src matlab
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initializeDisturbances('Dwx', false, 'Dwy', false, 'Dwz', false, 'Frz_z', false);
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sim('nass_model');
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sim_ty = simout;
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#+end_src
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Rotation Stage Vibrations:
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#+begin_src matlab
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initializeDisturbances('Dwx', false, 'Dwy', false, 'Dwz', false, 'Fty_x', false, 'Fty_z', false);
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sim('nass_model');
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sim_rz = simout;
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#+end_src
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** Comparison
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Let's now compare the effect of those perturbations on the position error of the sample (Figure [[fig:effect_disturbances_position_error]])
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#+begin_src matlab :exports none
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figure;
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ax1 = subplot(2, 3, 1);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 1))
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 1))
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 1))
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 1))
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hold off;
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xlabel('Time [s]');
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ylabel('Dx [m]');
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ax2 = subplot(2, 3, 2);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 2))
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 2))
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 2))
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 2))
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hold off;
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xlabel('Time [s]');
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ylabel('Dy [m]');
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ax3 = subplot(2, 3, 3);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 3))
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 3))
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 3))
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 3))
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hold off;
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xlabel('Time [s]');
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ylabel('Dz [m]');
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ax4 = subplot(2, 3, 4);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 4))
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 4))
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 4))
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 4))
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hold off;
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xlabel('Time [s]');
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ylabel('Rx [rad]');
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ax5 = subplot(2, 3, 5);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 5))
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 5))
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 5))
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 5))
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hold off;
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xlabel('Time [s]');
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ylabel('Ry [rad]');
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ax6 = subplot(2, 3, 6);
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hold on;
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plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 6), 'DisplayName', 'No')
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plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 6), 'DisplayName', 'Dw')
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plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 6), 'DisplayName', 'Ty')
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plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 6), 'DisplayName', 'Rz')
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hold off;
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xlabel('Time [s]');
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ylabel('Rz [rad]');
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legend();
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linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
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#+end_src
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#+header: :tangle no :exports results :results none :noweb yes
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#+begin_src matlab :var filepath="figs/effect_disturbances_position_error.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+name: fig:effect_disturbances_position_error
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#+caption: Effect of Perturbations on the position error ([[./figs/effect_disturbances_position_error.png][png]], [[./figs/effect_disturbances_position_error.pdf][pdf]])
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[[file:figs/effect_disturbances_position_error.png]]
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