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Add time domain disturbances plots and comparisons

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Thomas Dehaeze
2020-03-17 17:33:43 +01:00
parent 1c342403c2
commit 7b36f0129a
6 changed files with 342 additions and 2 deletions
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org/disturbances.org
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@@ -568,3 +568,201 @@ The PSD of the disturbance force are now saved for further analysis.
save('./mat/dist_psd.mat', 'dist_f');
#+end_src
* Time Domain Disturbances
Let's initialize the time domain disturbances and load them.
#+begin_src matlab
initializeDisturbances();
dist = load('nass_disturbances.mat');
#+end_src
The time domain disturbance signals are shown in Figure [[fig:disturbances_time_domain]].
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 2, 1);
hold on;
plot(dist.t, dist.Dwx, 'DisplayName', '$D_{w,x}$')
plot(dist.t, dist.Dwy, 'DisplayName', '$D_{w,y}$')
plot(dist.t, dist.Dwz, 'DisplayName', '$D_{w,z}$')
hold off;
xlabel('Time [s]');
ylabel('Ground Motion [m]');
legend();
ax2 = subplot(2, 2, 2);
hold on;
plot(dist.t, dist.Fty_x, 'DisplayName', '$F_{ty,x}$')
hold off;
xlabel('Time [s]');
ylabel('Ty Forces [N]');
legend();
ax3 = subplot(2, 2, 3);
hold on;
plot(dist.t, dist.Fty_z, 'DisplayName', '$F_{ty,z}$')
hold off;
xlabel('Time [s]');
ylabel('Ty Forces [N]');
legend();
ax4 = subplot(2, 2, 4);
hold on;
plot(dist.t, dist.Frz_z, 'DisplayName', '$F_{rz,z}$')
hold off;
xlabel('Time [s]');
ylabel('Rz Forces [N]');
legend();
linkaxes([ax1,ax2,ax3,ax4], 'x');
xlim([0, dist.t(end)]);
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/disturbances_time_domain.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:disturbances_time_domain
#+caption: Disturbances in the Time Domain ([[./figs/disturbances_time_domain.png][png]], [[./figs/disturbances_time_domain.pdf][pdf]])
[[file:figs/disturbances_time_domain.png]]
* Time Domain Effect of Disturbances
** Initialization of the Experiment
We initialize all the stages with the default parameters.
#+begin_src matlab
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
#+end_src
The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
#+begin_src matlab
initializeNanoHexapod('type', 'rigid');
initializeSample('mass', 1);
#+end_src
#+begin_src matlab
initializeReferences();
initializeController('type', 'open-loop');
initializeSimscapeConfiguration('gravity', false);
initializeLoggingConfiguration('log', 'all');
#+end_src
#+begin_src matlab
load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '2');
#+end_src
** Simulations
No disturbances:
#+begin_src matlab
initializeDisturbances('enable', false);
sim('nass_model');
sim_no = simout;
#+end_src
Ground Motion:
#+begin_src matlab
initializeDisturbances('Fty_x', false, 'Fty_z', false, 'Frz_z', false);
sim('nass_model');
sim_gm = simout;
#+end_src
Translation Stage Vibrations:
#+begin_src matlab
initializeDisturbances('Dwx', false, 'Dwy', false, 'Dwz', false, 'Frz_z', false);
sim('nass_model');
sim_ty = simout;
#+end_src
Rotation Stage Vibrations:
#+begin_src matlab
initializeDisturbances('Dwx', false, 'Dwy', false, 'Dwz', false, 'Fty_x', false, 'Fty_z', false);
sim('nass_model');
sim_rz = simout;
#+end_src
** Comparison
Let's now compare the effect of those perturbations on the position error of the sample (Figure [[fig:effect_disturbances_position_error]])
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 3, 1);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 1))
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 1))
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 1))
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 1))
hold off;
xlabel('Time [s]');
ylabel('Dx [m]');
ax2 = subplot(2, 3, 2);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 2))
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 2))
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 2))
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 2))
hold off;
xlabel('Time [s]');
ylabel('Dy [m]');
ax3 = subplot(2, 3, 3);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 3))
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 3))
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 3))
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 3))
hold off;
xlabel('Time [s]');
ylabel('Dz [m]');
ax4 = subplot(2, 3, 4);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 4))
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 4))
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 4))
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 4))
hold off;
xlabel('Time [s]');
ylabel('Rx [rad]');
ax5 = subplot(2, 3, 5);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 5))
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 5))
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 5))
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 5))
hold off;
xlabel('Time [s]');
ylabel('Ry [rad]');
ax6 = subplot(2, 3, 6);
hold on;
plot(sim_no.Em.En.Time, sim_no.Em.En.Data(:, 6), 'DisplayName', 'No')
plot(sim_gm.Em.En.Time, sim_gm.Em.En.Data(:, 6), 'DisplayName', 'Dw')
plot(sim_ty.Em.En.Time, sim_ty.Em.En.Data(:, 6), 'DisplayName', 'Ty')
plot(sim_rz.Em.En.Time, sim_rz.Em.En.Data(:, 6), 'DisplayName', 'Rz')
hold off;
xlabel('Time [s]');
ylabel('Rz [rad]');
legend();
linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
#+end_src
#+header: :tangle no :exports results :results none :noweb yes
#+begin_src matlab :var filepath="figs/effect_disturbances_position_error.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
<<plt-matlab>>
#+end_src
#+name: fig:effect_disturbances_position_error
#+caption: Effect of Perturbations on the position error ([[./figs/effect_disturbances_position_error.png][png]], [[./figs/effect_disturbances_position_error.pdf][pdf]])
[[file:figs/effect_disturbances_position_error.png]]