Change the way simulation is initialized.

Add script to define input vectors.
Add script to plot curves.

Analysis/analyze_setpoint.m

@@ -0,0 +1,13 @@
+%%
+Dmeas.Data = Dmeas.Data - Dmeas.Data(1, :);
+
+%%
+figure;
+hold on;
+plot(r_setpoint.Time, r_setpoint.Data(:, 2));
+plot(Dmeas.Time, Dmeas.Data(:, 2));
+legend({'Setpoint', 'Ty'})
+hold off;
+xlabel('Time [s]'); ylabel('Displacement [m]');
+
+exportFig('set_time_translations', 'normal-normal')

init_data.m

@@ -1,13 +1,6 @@
 %%
 run init_solidworks_data.m
 
-%% Solver Configuration
-Ts   = 1e-4; % Sampling time [s]
-Tsim = 5;    % Simulation time [s]
-
-%% Gravity
-g = 0 ; % Gravity along the z axis [m/s^2]
-
 %% Ground
 ground = struct();
 
@@ -98,13 +91,6 @@ sample.mass   = 50; % Sample mass [kg]
 sample.offset = 0; % Decentralization offset [mm]
 sample.color  = [0.9 0.1 0.1]; % Sample color
 
-%% Signals Applied to the system
-% load('./mat/inputs_ground_motion.mat');
-load('./mat/inputs_spindle.mat');
-
-%%
-load('./mat/controller.mat', 'K');
-
 %%
 function element = updateDamping(element)
     field = fieldnames(element.k);

init_inputs.m

@@ -1,8 +1,19 @@
+%%
+run init_sim_configuration.m
+run init_data.m
+
 %%
 time_vector = 0:Ts:Tsim;
 
+%% Set point [m, rad]
+setpoint = zeros(length(time_vector), 6);
+
+setpoint(ceil(1/Ts):end, 2) = 1e-6;
+
+r_setpoint = timeseries(setpoint, time_vector);
+
 %% Ground motion
-r_Gm = timeseries(zeros(length(time_vector), 3), time_vector);
+xg = zeros(length(time_vector), 3);
 
 % Wxg = 1e-5*(s/(2e2)^(1/3) + 2*pi*0.1)^3/(s + 2*pi*0.1)^3;
 % Wxg = Wxg*(s/(0.5e6)^(1/3) + 2*pi*10)^3/(s + 2*pi*10)^3;
@@ -12,9 +23,9 @@ r_Gm = timeseries(zeros(length(time_vector), 3), time_vector);
 % xg(:, 1) = lsim(Wxg, xg(:, 1), time_vector);
 % xg(:, 2) = lsim(Wxg, xg(:, 2), time_vector);
 % xg(:, 3) = lsim(Wxg, xg(:, 3), time_vector);
-% 
-% r_Gm = timeseries(xg, time_vector);
-% 
+
+r_Gm = timeseries(xg, time_vector);
+
 % figure;
 % plot(r_Gm)
 
@@ -25,9 +36,9 @@ r_Ty = timeseries(zeros(length(time_vector), 1), time_vector);
 r_My = timeseries(zeros(length(time_vector), 1), time_vector);
 
 %% Spindle
-% r_Mz = timeseries(zeros(length(time_vector), 1), time_vector);
+r_Mz = timeseries(zeros(length(time_vector), 1), time_vector);
 
-r_Mz = timeseries(360*time_vector*rz.k.rot', time_vector);
+% r_Mz = timeseries(360*time_vector*rz.k.rot', time_vector);
 
 %% Micro Hexapod
 r_u_hexa = timeseries(zeros(length(time_vector), 6), time_vector);
@@ -39,4 +50,4 @@ r_mass = timeseries(zeros(length(time_vector), 2), time_vector);
 r_n_hexa = timeseries(zeros(length(time_vector), 6), time_vector);
 
 %%
-save('./mat/inputs_spindle.mat', 'r_Gm', 'r_Ty', 'r_My', 'r_u_hexa', 'r_mass', 'r_n_hexa');
+save('./mat/inputs_setpoint.mat', 'r_setpoint', 'r_Gm', 'r_Ty', 'r_My', 'r_u_hexa', 'r_mass', 'r_n_hexa');

init_sim_configuration.m

@@ -0,0 +1,6 @@
+%% Solver Configuration
+Ts   = 1e-4; % Sampling time [s]
+Tsim = 5;    % Simulation time [s]
+
+%% Gravity
+g = 0 ; % Gravity along the z axis [m/s^2]

init_simulation.m

@@ -0,0 +1,11 @@
+%%
+run init_sim_configuration.m
+run init_data.m
+
+%% Signals Applied to the system
+% load('./mat/inputs_ground_motion.mat');
+% load('./mat/inputs_spindle.mat');
+load('./mat/inputs_setpoint.mat');
+
+%%
+load('./mat/controller.mat', 'K');