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Update sensor/actuator constants

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This commit is contained in:
Thomas Dehaeze
2021-06-09 11:05:14 +02:00
parent 2a6e6bab27
commit 90d6582c7c
3 changed files with 109 additions and 20 deletions
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45
src/initializeNanoHexapodFinal.m
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@@ -27,20 +27,20 @@ arguments
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
% For 2DoF
args.actuator_Ga (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
% For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e0 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e0 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e0 % [N/(m/s)]
args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
% For Flexible Frame
% For Flexible Frame
args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% For Flexible
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
%% Controller
args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none'
@@ -114,8 +114,33 @@ switch args.actuator_type
nano_hexapod.actuator.type = 3;
end
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
%% Actuator gain [N/V]
if all(args.actuator_Ga == 0)
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.Ga = ones(6,1)*(-46.4);
case 'flexible frame'
nano_hexapod.actuator.Ga = ones(6,1); % TODO
case 'flexible'
nano_hexapod.actuator.Ga = ones(6,1)*23.4;
end
else
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
end
%% Sensor gain [V/m]
if all(args.actuator_Gs == 0)
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.Gs = ones(6,1)*0.098;
case 'flexible frame'
nano_hexapod.actuator.Gs = ones(6,1); % TODO
case 'flexible'
nano_hexapod.actuator.Gs = ones(6,1)*(-4674824);
end
else
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
end
nano_hexapod.actuator.k = args.actuator_k; % [N/m]
nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]