Add script for showing all the possible displacement

Analysis/simulation_analysis.m

@@ -9,8 +9,24 @@ load('./mat/sim_conf.mat', 'sim_conf');
 
 exp_without_nass.Dmeas.Data(:, 3) = exp_without_nass.Dmeas.Data(:, 3) - exp_without_nass.Dmeas.Data(end, 3);
 
+Fs = ceil((length(exp_without_nass.Dmeas.Time(:))-1)/exp_without_nass.Dmeas.Time(end));
+
+%%
+N = length(exp_without_nass.Dmeas.Data(:, 1));
+figure;
+hold on;
+% plot(exp_without_nass.Dmeas.Data(end-6300:end, 1),exp_without_nass.Dmeas.Data(end-6300:end, 2))
+plot(exp_without_nass.Dmeas.Data(N-6600:N-6200, 1),exp_without_nass.Dmeas.Data(N-6600:N-6200, 2))
+plot(exp_cl.Dmeas.Data(6:end, 1),exp_cl.Dmeas.Data(6:end, 2))
+xlim([-1e-6, 1e-6]);
+ylim([-1e-6, 1e-6]);
+hold off;
+xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
+
+
 %% With and without NASS
 steady_i = ceil(length(exp_ol.Dmeas.Time)/2);
+steady_i = 6;
 
 figure;
 hold on;
@@ -23,6 +39,99 @@ xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
 
 exportFig('exp_w_wo_nass_xy', 'half-short')
 
+%% Video of the simulation
+close all;
+
+figure(1);
+hold on;
+grid;
+xlim([-1e-6, 1e-6]);
+ylim([-1e-6, 1e-6]);
+xlabel('Displacement - $x$ [m]'); ylabel('Displacement - $y$ [m]');
+
+% Set up the movie.
+writerObj = VideoWriter('open_loop.avi'); % Name it.
+writerObj.FrameRate = 30; % How many frames per second.
+open(writerObj); 
+
+% Open Loop
+N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
+step_i = ceil(Fs/writerObj.FrameRate);
+for i=1:step_i:N
+    % We just use pause but pretend you have some really complicated thing here...
+    pause(0.01);
+    figure(1);
+    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])
+    frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
+    writeVideo(writerObj, frame);
+end
+
+% Close Loop
+N = length(exp_cl.Dmeas.Data(:, 1));
+step_i = ceil(Fs/writerObj.FrameRate);
+first_i = 6;
+for i=first_i:step_i:N
+    % We just use pause but pretend you have some really complicated thing here...
+    pause(0.01);
+    figure(1);
+    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])
+    frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
+    writeVideo(writerObj, frame);
+end
+
+hold off
+close(writerObj); % Saves the movie.
+
+
+%% Video of the simulation
+close all;
+
+figure(1);
+hold on;
+xlim([-40, 40]);
+ylim([-40, 40]);
+yticks([-40 -20 0 20 40])
+xticks([-40 -20 0 20 40])
+grid on;
+xlabel('Displacement - $x$ [nm]'); ylabel('Displacement - $y$ [nm]');
+
+set(gcf, 'pos', [20 20 300 300]);
+
+% Set up the movie.
+writerObj = VideoWriter('close_loop_zoom.avi'); % Name it.
+writerObj.FrameRate = 30; % How many frames per second.
+open(writerObj);
+
+% Open Loop
+N = length(exp_without_nass.Dmeas.Data(:, 1))-6300;
+step_i = ceil(Fs/writerObj.FrameRate);
+for i=1:step_i:N
+    % We just use pause but pretend you have some really complicated thing here...
+    pause(0.01);
+    figure(1);
+    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])
+    frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
+    writeVideo(writerObj, frame);
+end
+
+% Close Loop
+N = length(exp_cl.Dmeas.Data(:, 1));
+step_i = ceil(Fs/writerObj.FrameRate);
+first_i = 6;
+for i=first_i:step_i:N
+    % We just use pause but pretend you have some really complicated thing here...
+    pause(0.01);
+    figure(1);
+    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])
+    frame = getframe(gcf); % 'gcf' can handle if you zoom in to take a movie.
+    writeVideo(writerObj, frame);
+end
+
+hold off
+close(writerObj); % Saves the movie.
+
+
+%%
 figure;
 hold on;
 plot(exp_without_nass.Dmeas.Time(steady_i:end), exp_without_nass.Dmeas.Data(steady_i:end, 2));

init_data.m

@@ -3,14 +3,14 @@ clear; close all; clc;
 
 %% Initialize simulation configuration
 opts_sim = struct(...
-    'Tsim', 60 ...
+    'Tsim', 10 ...
 );
 
 initializeSimConf(opts_sim);
 
 %% Initialize Inputs
 opts_inputs = struct(...
-    'ground_motion', true, ...
+    'ground_motion', false, ...
     'rz', true ...
 );
 

init_demonstration.m

@@ -0,0 +1,103 @@
+%%
+clear; close all; clc;
+
+%% Initialize simulation configuration
+opts_sim = struct(...
+    'Tsim', 30 ...
+);
+
+initializeSimConf(opts_sim);
+
+%% Initialize Inputs
+load('./mat/sim_conf.mat', 'sim_conf')
+
+time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
+
+% Translation Stage
+T_ty = 4;
+ty = zeros(length(time_vector), 1);
+ty(1:T_ty/sim_conf.Ts) = 10e-3*sin(2*pi*(1/2)*time_vector(1:T_ty/sim_conf.Ts));
+
+% Tilt Stage
+T_ry = 4;
+ry = zeros(length(time_vector), 1);
+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));
+
+% Spindle
+T_rz = 4;
+
+rz = zeros(length(time_vector), 1);
+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));
+rz((T_ty+T_ry+T_rz)/sim_conf.Ts:end) = rz((T_ty+T_ry+T_rz)/sim_conf.Ts);
+
+% Micro Hexapod
+T_u_hexa = 10;
+u_hexa = zeros(length(time_vector), 6);
+% Tz
+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)));
+% Tx-Ty
+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));
+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)));
+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)));
+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));
+% Theta x Theta y
+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));
+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)));
+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)));
+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));
+
+% Gravity Compensator system
+T_mass_start = T_ty+T_ry+T_rz+T_u_hexa;
+mass = zeros(length(time_vector), 2);
+
+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));
+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));
+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);
+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);
+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));
+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));
+
+% opts_inputs = struct(...
+%     'ty', ty, ...
+%     'ry', ry, ...
+%     'rz', rz, ...
+%     'u_hexa', u_hexa, ...
+%     'mass', mass ...
+% );
+
+% initializeInputs(opts_inputs);
+initializeInputs();
+
+%% Initialize SolidWorks Data
+initializeSmiData();
+
+%% Initialize Ground
+initializeGround();
+
+%% Initialize Granite
+initializeGranite();
+
+%% Initialize Translation stage
+initializeTy();
+
+%% Initialize Tilt Stage
+initializeRy();
+
+%% Initialize Spindle
+initializeRz();
+
+%% Initialize Hexapod Symétrie
+initializeMicroHexapod();
+
+%% Initialize Center of Gravity compensation
+initializeAxisc();
+
+%% Initialize NASS
+opts_nano_hexapod = struct('actuator', 'lorentz');
+
+initializeNanoHexapod(opts_nano_hexapod);
+
+%% Initialize Sample
+opts_sample = struct('mass', 20);
+
+initializeSample(opts_sample);

initialize/initializeInputs.m

@@ -4,7 +4,7 @@ function [inputs] = initializeInputs(opts_param)
                   'ground_motion', false, ...
                   'ty', false, ...
                   'ry', false, ...
-                  'rz', false, ...
+                  'rz', false, ... % If numerical value, rpm speed of the spindle
                   'u_hexa', false, ...
                   'mass', false, ...
                   'n_hexa', false  ...
@@ -27,13 +27,13 @@ function [inputs] = initializeInputs(opts_param)
     inputs = struct();
 
     %% Ground motion
-    if opts.ground_motion == true
+    if islogical(opts.ground_motion) && opts.ground_motion == true
         load('./mat/weight_Wxg.mat', 'Wxg');
         ground_motion = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
         ground_motion(:, 1) = lsim(Wxg, ground_motion(:, 1), time_vector);
         ground_motion(:, 2) = lsim(Wxg, ground_motion(:, 2), time_vector);
         ground_motion(:, 3) = lsim(Wxg, ground_motion(:, 3), time_vector);
-    elseif opts.ground_motion == false
+    elseif islogical(opts.ground_motion) && opts.ground_motion == false
         ground_motion = zeros(length(time_vector), 3);
     else
         ground_motion = opts.ground_motion;
@@ -42,9 +42,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ground_motion = timeseries(ground_motion, time_vector);
 
     %% Translation stage [m]
-    if opts.ty == true
+    if islogical(opts.ty) && opts.ty == true
         ty = zeros(length(time_vector), 1);
-    elseif opts.ty == false
+    elseif islogical(opts.ty) && opts.ty == false
         ty = zeros(length(time_vector), 1);
     else
         ty = opts.ty;
@@ -53,9 +53,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ty = timeseries(ty, time_vector);
 
     %% Tilt Stage [rad]
-    if opts.ry == true
+    if islogical(opts.ry) && opts.ry == true
         ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
-    elseif opts.ry == false
+    elseif islogical(opts.ry) && opts.ry == false
         ry = zeros(length(time_vector), 1);
     else
         ry = opts.ry;
@@ -64,10 +64,12 @@ function [inputs] = initializeInputs(opts_param)
     inputs.ry = timeseries(ry, time_vector);
 
     %% Spindle [rad]
-    if opts.rz == true
+    if islogical(opts.rz) && opts.rz == true
         rz = 2*pi*0.5*time_vector;
-    elseif opts.rz == true
+    elseif islogical(opts.rz) && opts.rz == false
         rz = zeros(length(time_vector), 1);
+    elseif isnumeric(opts.rz) && length(opts.rz) == 1
+        rz = 2*pi*(opts.rz/60)*time_vector;
     else
         rz = opts.rz;
     end
@@ -75,9 +77,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.rz = timeseries(rz, time_vector);
 
     %% Micro Hexapod
-    if opts.setpoint == true
+    if islogical(opts.u_hexa) && opts.setpoint == true
         u_hexa = zeros(length(time_vector), 6);
-    elseif opts.setpoint == false
+    elseif islogical(opts.u_hexa) && opts.setpoint == false
         u_hexa = zeros(length(time_vector), 6);
     else
         u_hexa = opts.u_hexa;
@@ -86,9 +88,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.micro_hexapod = timeseries(u_hexa, time_vector);
 
     %% Center of gravity compensation
-    if opts.setpoint == true
+    if islogical(opts.mass) && opts.setpoint == true
         mass = zeros(length(time_vector), 2);
-    elseif opts.setpoint == false
+    elseif islogical(opts.mass) && opts.setpoint == false
         mass = zeros(length(time_vector), 2);
     else
         mass = opts.mass;
@@ -97,9 +99,9 @@ function [inputs] = initializeInputs(opts_param)
     inputs.axisc = timeseries(mass, time_vector);
 
     %% Nano Hexapod
-    if opts.setpoint == true
+    if islogical(opts.n_hexa) && opts.setpoint == true
         n_hexa = zeros(length(time_vector), 6);
-    elseif opts.setpoint == false
+    elseif islogical(opts.n_hexa) && opts.setpoint == false
         n_hexa = zeros(length(time_vector), 6);
     else
         n_hexa = opts.n_hexa;
@@ -108,10 +110,10 @@ function [inputs] = initializeInputs(opts_param)
     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;

initialize/initializeSample.m

@@ -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