Add script for showing all the possible displacement
This commit is contained in:
Thomas Dehaeze
parent
9a2102b5db
commit
80f3774166
@ -9,8 +9,24 @@ load('./mat/sim_conf.mat', 'sim_conf');
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exp_without_nass.Dmeas.Data(:, 3) = exp_without_nass.Dmeas.Data(:, 3) - exp_without_nass.Dmeas.Data(end, 3);
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Fs = ceil((length(exp_without_nass.Dmeas.Time(:))-1)/exp_without_nass.Dmeas.Time(end));
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%%
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N = length(exp_without_nass.Dmeas.Data(:, 1));
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figure;
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hold on;
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% plot(exp_without_nass.Dmeas.Data(end-6300:end, 1),exp_without_nass.Dmeas.Data(end-6300:end, 2))
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plot(exp_without_nass.Dmeas.Data(N-6600:N-6200, 1),exp_without_nass.Dmeas.Data(N-6600:N-6200, 2))
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plot(exp_cl.Dmeas.Data(6:end, 1),exp_cl.Dmeas.Data(6:end, 2))
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xlim([-1e-6, 1e-6]);
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ylim([-1e-6, 1e-6]);
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hold off;
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xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
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%% With and without NASS
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steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
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steady_i = 6;
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figure;
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hold on;
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@ -23,6 +39,99 @@ xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
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exportFig('exp_w_wo_nass_xy', 'half-short')
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%% Video of the simulation
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close all;
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figure(1);
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hold on;
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grid;
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xlim([-1e-6, 1e-6]);
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ylim([-1e-6, 1e-6]);
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xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
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% Set up the movie.
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writerObj = VideoWriter('open_loop.avi'); % Name it.
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writerObj.FrameRate = 30; % How many frames per second.
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open(writerObj);
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% Open Loop
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N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
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step_i = ceil(Fs/writerObj.FrameRate);
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for i=1:step_i:N
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% We just use pause but pretend you have some really complicated thing here...
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pause(0.01);
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figure(1);
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plot(exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 1),exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0 0.4470 0.7410])
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frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
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writeVideo(writerObj, frame);
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end
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% Close Loop
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N = length(exp_cl.Dmeas.Data(:, 1));
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step_i = ceil(Fs/writerObj.FrameRate);
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first_i = 6;
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for i=first_i:step_i:N
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% We just use pause but pretend you have some really complicated thing here...
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pause(0.01);
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figure(1);
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plot(exp_cl.Dmeas.Data(i:min(i+step_i, N), 1),exp_cl.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0.8500 0.3250 0.0980])
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frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
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writeVideo(writerObj, frame);
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end
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hold off
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close(writerObj); % Saves the movie.
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%% Video of the simulation
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close all;
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figure(1);
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hold on;
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xlim([-40, 40]);
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ylim([-40, 40]);
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yticks([-40 -20 0 20 40])
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xticks([-40 -20 0 20 40])
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grid on;
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xlabel('Displacement - $x$ [nm]'); ylabel('Displacement - $y$ [nm]');
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set(gcf, 'pos', [20 20 300 300]);
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% Set up the movie.
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writerObj = VideoWriter('close_loop_zoom.avi'); % Name it.
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writerObj.FrameRate = 30; % How many frames per second.
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open(writerObj);
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% Open Loop
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N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
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step_i = ceil(Fs/writerObj.FrameRate);
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for i=1:step_i:N
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% We just use pause but pretend you have some really complicated thing here...
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pause(0.01);
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figure(1);
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plot(1e9*exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 1),1e9*exp_without_nass.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0 0.4470 0.7410])
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frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
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writeVideo(writerObj, frame);
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end
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% Close Loop
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N = length(exp_cl.Dmeas.Data(:, 1));
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step_i = ceil(Fs/writerObj.FrameRate);
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first_i = 6;
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for i=first_i:step_i:N
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% We just use pause but pretend you have some really complicated thing here...
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pause(0.01);
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figure(1);
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plot(1e9*exp_cl.Dmeas.Data(i:min(i+step_i, N), 1),1e9*exp_cl.Dmeas.Data(i:min(i+step_i, N), 2), 'color', [0.8500 0.3250 0.0980])
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frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
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writeVideo(writerObj, frame);
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end
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hold off
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close(writerObj); % Saves the movie.
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%%
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figure;
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hold on;
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plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_without_nass.Dmeas.Data(steady_i:end, 2));
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BIN
Assemblage.slx
BIN
Assemblage.slx
Binary file not shown.
BIN
Micro_Station_Displacement.slx
Normal file
BIN
Micro_Station_Displacement.slx
Normal file
Binary file not shown.
@ -3,14 +3,14 @@ clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 60 ...
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'Tsim', 10 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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opts_inputs = struct(...
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'ground_motion', true, ...
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'ground_motion', false, ...
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'rz', true ...
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);
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103
init_demonstration.m
Normal file
103
init_demonstration.m
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@ -0,0 +1,103 @@
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%%
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clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 30 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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load('./mat/sim_conf.mat', 'sim_conf')
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time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
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% Translation Stage
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T_ty = 4;
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ty = zeros(length(time_vector), 1);
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ty(1:T_ty/sim_conf.Ts) = 10e-3*sin(2*pi*(1/2)*time_vector(1:T_ty/sim_conf.Ts));
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% Tilt Stage
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T_ry = 4;
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ry = zeros(length(time_vector), 1);
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ry((T_ty)/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts) = 2*pi*(3/360)*sin(2*pi*(1/2)*time_vector(T_ty/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts));
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% Spindle
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T_rz = 4;
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rz = zeros(length(time_vector), 1);
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rz((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts) = 2*pi*0.5*(time_vector((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts)-time_vector((T_ty+T_ry)/sim_conf.Ts));
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rz((T_ty+T_ry+T_rz)/sim_conf.Ts:end) = rz((T_ty+T_ry+T_rz)/sim_conf.Ts);
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% Micro Hexapod
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T_u_hexa = 10;
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u_hexa = zeros(length(time_vector), 6);
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% Tz
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u_hexa((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts, 3) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts)));
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% Tx-Ty
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u_hexa((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts, 1) = 10e-3*(time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts));
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u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 1) = 10e-3*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 2) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts, 1) = 10e-3 - 10e-3*(time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts));
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% Theta x Theta y
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u_hexa((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts, 1) = 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts));
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u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 1) = 2*pi*(3/360)*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 2) = 2*pi*(3/360)*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
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u_hexa((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts, 1) = 2*pi*(3/360) - 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts));
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% Gravity Compensator system
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T_mass_start = T_ty+T_ry+T_rz+T_u_hexa;
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mass = zeros(length(time_vector), 2);
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mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 1) = 2*pi*( 20/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
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mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 2) = 2*pi*(-10/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
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mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1);
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mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2);
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1)-2*pi*( 20/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
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% opts_inputs = struct(...
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% 'ty', ty, ...
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% 'ry', ry, ...
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% 'rz', rz, ...
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% 'u_hexa', u_hexa, ...
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% 'mass', mass ...
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% );
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% initializeInputs(opts_inputs);
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initializeInputs();
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%% Initialize SolidWorks Data
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initializeSmiData();
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite();
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%% Initialize Translation stage
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initializeTy();
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%% Initialize Tilt Stage
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initializeRy();
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%% Initialize Spindle
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initializeRz();
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%% Initialize Hexapod Symétrie
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initializeMicroHexapod();
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%% Initialize Center of Gravity compensation
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initializeAxisc();
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%% Initialize NASS
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opts_nano_hexapod = struct('actuator', 'lorentz');
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initializeNanoHexapod(opts_nano_hexapod);
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%% Initialize Sample
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opts_sample = struct('mass', 20);
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initializeSample(opts_sample);
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@ -4,7 +4,7 @@ function [inputs] = initializeInputs(opts_param)
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'ground_motion', false, ...
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'ty', false, ...
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'ry', false, ...
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'rz', false, ...
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'rz', false, ... % If numerical value, rpm speed of the spindle
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'u_hexa', false, ...
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'mass', false, ...
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'n_hexa', false ...
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@ -27,13 +27,13 @@ function [inputs] = initializeInputs(opts_param)
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inputs = struct();
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%% Ground motion
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if opts.ground_motion == true
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if islogical(opts.ground_motion) && opts.ground_motion == true
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load('./mat/weight_Wxg.mat', 'Wxg');
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ground_motion = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
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ground_motion(:, 1) = lsim(Wxg, ground_motion(:, 1), time_vector);
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ground_motion(:, 2) = lsim(Wxg, ground_motion(:, 2), time_vector);
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ground_motion(:, 3) = lsim(Wxg, ground_motion(:, 3), time_vector);
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elseif opts.ground_motion == false
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elseif islogical(opts.ground_motion) && opts.ground_motion == false
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ground_motion = zeros(length(time_vector), 3);
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else
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ground_motion = opts.ground_motion;
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@ -42,9 +42,9 @@ function [inputs] = initializeInputs(opts_param)
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inputs.ground_motion = timeseries(ground_motion, time_vector);
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%% Translation stage [m]
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if opts.ty == true
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if islogical(opts.ty) && opts.ty == true
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ty = zeros(length(time_vector), 1);
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elseif opts.ty == false
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elseif islogical(opts.ty) && opts.ty == false
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ty = zeros(length(time_vector), 1);
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else
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ty = opts.ty;
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@ -53,9 +53,9 @@ function [inputs] = initializeInputs(opts_param)
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inputs.ty = timeseries(ty, time_vector);
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%% Tilt Stage [rad]
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if opts.ry == true
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if islogical(opts.ry) && opts.ry == true
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ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
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elseif opts.ry == false
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elseif islogical(opts.ry) && opts.ry == false
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ry = zeros(length(time_vector), 1);
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else
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ry = opts.ry;
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@ -64,10 +64,12 @@ function [inputs] = initializeInputs(opts_param)
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inputs.ry = timeseries(ry, time_vector);
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%% Spindle [rad]
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if opts.rz == true
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if islogical(opts.rz) && opts.rz == true
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rz = 2*pi*0.5*time_vector;
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elseif opts.rz == true
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elseif islogical(opts.rz) && opts.rz == false
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rz = zeros(length(time_vector), 1);
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elseif isnumeric(opts.rz) && length(opts.rz) == 1
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rz = 2*pi*(opts.rz/60)*time_vector;
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else
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rz = opts.rz;
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end
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@ -75,9 +77,9 @@ function [inputs] = initializeInputs(opts_param)
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inputs.rz = timeseries(rz, time_vector);
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%% Micro Hexapod
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if opts.setpoint == true
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if islogical(opts.u_hexa) && opts.setpoint == true
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u_hexa = zeros(length(time_vector), 6);
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elseif opts.setpoint == false
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elseif islogical(opts.u_hexa) && opts.setpoint == false
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u_hexa = zeros(length(time_vector), 6);
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else
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u_hexa = opts.u_hexa;
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@ -86,9 +88,9 @@ function [inputs] = initializeInputs(opts_param)
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inputs.micro_hexapod = timeseries(u_hexa, time_vector);
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%% Center of gravity compensation
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if opts.setpoint == true
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if islogical(opts.mass) && opts.setpoint == true
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mass = zeros(length(time_vector), 2);
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elseif opts.setpoint == false
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elseif islogical(opts.mass) && opts.setpoint == false
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mass = zeros(length(time_vector), 2);
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else
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mass = opts.mass;
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@ -97,9 +99,9 @@ function [inputs] = initializeInputs(opts_param)
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inputs.axisc = timeseries(mass, time_vector);
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%% Nano Hexapod
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if opts.setpoint == true
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if islogical(opts.n_hexa) && opts.setpoint == true
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n_hexa = zeros(length(time_vector), 6);
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elseif opts.setpoint == false
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elseif islogical(opts.n_hexa) && opts.setpoint == false
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n_hexa = zeros(length(time_vector), 6);
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else
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n_hexa = opts.n_hexa;
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@ -108,10 +110,10 @@ function [inputs] = initializeInputs(opts_param)
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inputs.nano_hexapod = timeseries(n_hexa, time_vector);
|
||||
|
||||
%% Set point [m, rad]
|
||||
if opts.setpoint == true
|
||||
if islogical(opts.setpoint) && opts.setpoint == true
|
||||
setpoint = zeros(length(time_vector), 6);
|
||||
setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
|
||||
elseif opts.setpoint == false
|
||||
elseif islogical(opts.setpoint) && opts.setpoint == false
|
||||
setpoint = zeros(length(time_vector), 6);
|
||||
else
|
||||
setpoint = opts.setpoint;
|
||||
|
||||
@ -4,7 +4,7 @@ function [] = initializeSample(opts_param)
|
||||
'height', 300,...
|
||||
'mass', 50,...
|
||||
'offset', 0,...
|
||||
'color', [0.9 0.1 0.1] ...
|
||||
'color', [0.45, 0.45, 0.45] ...
|
||||
);
|
||||
|
||||
%% Populate opts with input parameters
|
||||
|
||||
Loading…
Reference in New Issue
Block a user