The system is now quite well tuned

This commit is contained in:
Thomas Dehaeze 2019-10-16 14:57:03 +02:00
parent b5353745e0
commit 84f1cc7f76
3 changed files with 31 additions and 4 deletions

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@ -385,6 +385,29 @@ initializeAxisc();
#+end_src #+end_src
** Bis ** Bis
#+begin_src matlab :results none
%% Initialize Ground
initializeGround();
%% Initialize Granite
initializeGranite(struct('rigid', false));
%% Initialize Translation stage
initializeTy(struct('rigid', false));
%% Initialize Tilt Stage
initializeRy(struct('rigid', false));
%% Initialize Spindle
initializeRz(struct('rigid', false));
%% Initialize Hexapod Symétrie
initializeMicroHexapod(struct('rigid', false));
%% Initialize Center of gravity compensation
initializeAxisc();
#+end_src
For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
#+begin_src matlab #+begin_src matlab
dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'}; dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};

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@ -1069,7 +1069,7 @@ end
This Matlab function is accessible [[file:../src/initializeGranite.m][here]]. This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
#+begin_src matlab #+begin_src matlab
function [granite] = initializeGranite() function [granite] = initializeGranite(opts_param)
%% Default values for opts %% Default values for opts
opts = struct('rigid', false); opts = struct('rigid', false);
@ -1399,7 +1399,11 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
Leg = struct(); Leg = struct();
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
Leg.k.ax = 5e7; % Stiffness of each leg [N/m] if opts.rigid
Leg.k.ax = 1e12; % Stiffness of each leg [N/m]
else
Leg.k.ax = 2e7; % Stiffness of each leg [N/m]
end
Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) [] Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) []
Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
Leg.rad.top = 17; % Radius of the cylinder of the top part [mm] Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
@ -1585,8 +1589,8 @@ This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
axisc.m = 40; % TODO [kg] axisc.m = 40; % TODO [kg]
%% Axis Compensator - Dynamical Properties %% Axis Compensator - Dynamical Properties
axisc.k.ax = 1; % TODO [N*m/deg)] % axisc.k.ax = 1; % TODO [N*m/deg)]
axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m); % axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
%% Save %% Save
save('./mat/stages.mat', 'axisc', '-append'); save('./mat/stages.mat', 'axisc', '-append');