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Update sensor/actuator constants

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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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matlab/nano_hexapod/nano_hexapod.slx
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org/nano_hexapod.org
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@ -602,18 +602,18 @@ Also, the off diagonal terms are quite small compared to the diagonal terms.
The bode plot is shown in Figure [[fig:nano_hexapod_struts_2dof_iff_plant]]. The bode plot is shown in Figure [[fig:nano_hexapod_struts_2dof_iff_plant]].
#+begin_src matlab :exports none #+begin_src matlab :exports none
freqs = 5*logspace(0, 2, 1000); freqs = 2*logspace(1, 3, 1000);
figure; figure;
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None'); tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
ax1 = nexttile([2,1]); ax1 = nexttile([2,1]);
hold on; hold on;
plot(freqs, abs(squeeze(freqresp(Giff(1,1), freqs, 'Hz'))), '-', ... plot(freqs, 20*abs(squeeze(freqresp(Giff(1,1), freqs, 'Hz'))), '-', ...
'DisplayName', '$F_{m,i}/\tau_i$') 'DisplayName', '$F_{m,i}/\tau_i$')
for i = 1:6 for i = 1:6
set(gca,'ColorOrderIndex',1); set(gca,'ColorOrderIndex',1);
plot(freqs, abs(squeeze(freqresp(Giff(i,i), freqs, 'Hz'))), '-', ... plot(freqs, 20*abs(squeeze(freqresp(Giff(i,i), freqs, 'Hz'))), '-', ...
'HandleVisibility', 'off'); 'HandleVisibility', 'off');
end end
% Off diagonal terms % Off diagonal terms
@ -1502,6 +1502,10 @@ exportFig('figs/nano_hexapod_iff_root_locus.pdf', 'width', 'wide', 'height', 'ta
#+RESULTS: #+RESULTS:
[[file:figs/nano_hexapod_iff_root_locus.png]] [[file:figs/nano_hexapod_iff_root_locus.png]]
#+begin_question
Are the zeros shown in the Root Locus (Figure [[fig:nano_hexapod_iff_root_locus]]) are the poles of the nano-hexapod when the active part of the strut ($k_e$ and $k_a$) is removed?
This will be checked in the next section.
#+end_question
The obtained controller is then: The obtained controller is then:
#+begin_src matlab #+begin_src matlab
@ -1553,6 +1557,41 @@ exportFig('figs/nano_hexapod_iff_loop_gain.pdf', 'width', 'wide', 'height', 'tal
#+RESULTS: #+RESULTS:
[[file:figs/nano_hexapod_iff_loop_gain.png]] [[file:figs/nano_hexapod_iff_loop_gain.png]]
** Frequency of the zeros of the IFF plant
In order to find the zeros of the IFF plant, the hexapod is initialized with quasi null actuator stiffness and the system is identified.
#+begin_src matlab
n_hexapod = initializeNanoHexapodFinal('flex_bot_type', '4dof', ...
'flex_top_type', '4dof', ...
'motion_sensor_type', 'struts', ...
'actuator_type', '2dof', ...
'actuator_ke', ones(6,1)*1e-1, ...
'actuator_ka', ones(6,1)*1e-1);
Giff_z = linearize(mdl, io, 0.0, options);
Giff_z.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
Giff_z.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
#+end_src
Then, we can look at the frequency of the poles.
#+begin_src matlab :results value replace :exports results :tangle no
G_z = pole(Giff_z);
ans = sort(imag(G_z(imag(G_z)>0)))
#+end_src
#+name: tab:iff_frequency_zero
#+caption: Frequency of the poles corresponding to the IFF zeros (Hz).
#+attr_latex: :environment tabularx :width 0.2\linewidth :align c
#+attr_latex: :center t :booktabs t :float t
| 50.750 |
| 51.483 |
| 117.94 |
| 157.79 |
| 197.21 |
| 198.47 |
And we indeed find the frequency of the zeros for the IFF plant.
** Effect of IFF on the plant ** Effect of IFF on the plant
<<sec:iff_effect_plant>> <<sec:iff_effect_plant>>
@ -3421,15 +3460,15 @@ arguments
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts' args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators %% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible' 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_Ga (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m] args.actuator_Gs (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
% For 2DoF % For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m] 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_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_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_c (6,1) double {mustBeNumeric} = ones(6,1)*3e0 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [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)*1e1 % [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] 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_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
@ -3545,8 +3584,33 @@ end
#+end_src #+end_src
#+begin_src matlab #+begin_src matlab
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V] %% Actuator gain [N/V]
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m] 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
#+end_src #+end_src
2dof 2dof

41
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' args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators %% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible' 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_Ga (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m] args.actuator_Gs (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
% For 2DoF % For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m] 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_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_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_c (6,1) double {mustBeNumeric} = ones(6,1)*3e0 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [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)*1e1 % [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] 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_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] 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 args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
%% Controller %% Controller
args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none' 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; nano_hexapod.actuator.type = 3;
end end
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V] %% Actuator gain [N/V]
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m] 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.k = args.actuator_k; % [N/m]
nano_hexapod.actuator.ke = args.actuator_ke; % [N/m] nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]