Change initialization of simulation configuration
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14
init_data.m
14
init_data.m
@ -1,9 +1,17 @@
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%%
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clear; close all; clc;
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%% Initialize simulation configuration
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opts_sim = struct(...
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'Tsim', 60 ...
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);
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initializeSimConf(opts_sim);
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%% Initialize Inputs
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opts_inputs = struct(...
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'ground_motion', true ...
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'ground_motion', true, ...
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'rz', true ...
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);
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initializeInputs(opts_inputs);
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@ -33,7 +41,9 @@ initializeMicroHexapod();
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initializeAxisc();
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%% Initialize NASS
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initializeNanoHexapod();
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opts_nano_hexapod = struct('actuator', 'lorentz');
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initializeNanoHexapod(opts_nano_hexapod);
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%% Initialize Sample
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opts_sample = struct('mass', 20);
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@ -1,6 +0,0 @@
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%% Solver Configuration
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Ts = 1e-3; % Sampling time [s]
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Tsim = 1; % Simulation time [s]
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%% Gravity
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g = 0 ; % Gravity along the z axis [m/s^2]
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@ -1,5 +1,5 @@
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%% Load Simulation configuration
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run init_sim_configuration.m
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load('./mat/sim_conf.mat', 'sim_conf');
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%% Load SolidWorks Data
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% load('./mat/smiData.mat', 'smiData');
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@ -8,7 +8,7 @@ function [axisc] = initializeAxisc()
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axisc.m = smiData.Solid(30).mass;
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axisc.k.ax = 1; % TODO [N*m/deg)]
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axisc.c.ax = axisc.k.ax/1000;
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axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
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%% Save if no output argument
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if nargout == 0
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@ -8,8 +8,8 @@ function [granite] = initializeGranite()
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granite.m = smiData.Solid(5).mass;
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granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m]
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granite.c.ax = granite.k.ax/1000;
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granite.c.ax = 100*(1/1)*sqrt(granite.k.ax/granite.m);
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%% Save if no output argument
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if nargout == 0
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save('./mat/granite.mat', 'granite');
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@ -15,24 +15,14 @@ function [inputs] = initializeInputs(opts_param)
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end
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%% Load Sampling Time and Simulation Time
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run init_sim_configuration.m
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load('./mat/sim_conf.mat', 'sim_conf');
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%% Define the time vector
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time_vector = 0:Ts:Tsim;
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time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
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%% Create the input Structure that will contain all the inputs
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inputs = struct();
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%% Set point [m, rad]
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if opts.setpoint
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setpoint = zeros(length(time_vector), 6);
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setpoint(ceil(10/Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
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else
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setpoint = zeros(length(time_vector), 6);
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end
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inputs.setpoint = timeseries(setpoint, time_vector);
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%% Ground motion
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if opts.ground_motion
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load('./mat/weight_Wxg.mat', 'Wxg');
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@ -56,7 +46,7 @@ function [inputs] = initializeInputs(opts_param)
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inputs.ty = timeseries(ty, time_vector);
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%% Tilt Stage [rad]
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if opts.ty
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if opts.ry
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ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
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else
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ry = zeros(length(time_vector), 1);
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@ -65,7 +55,7 @@ function [inputs] = initializeInputs(opts_param)
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inputs.ry = timeseries(ry, time_vector);
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%% Spindle [rad]
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if opts.ty
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if opts.rz
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rz = 2*pi*0.5*time_vector;
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else
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rz = zeros(length(time_vector), 1);
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@ -88,9 +78,20 @@ function [inputs] = initializeInputs(opts_param)
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inputs.nano_hexapod = timeseries(n_hexa, time_vector);
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%% Set point [m, rad]
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if opts.setpoint
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setpoint = zeros(length(time_vector), 6);
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setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
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else
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setpoint = zeros(length(time_vector), 6);
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end
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setpoint(:, 6) = rz;
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inputs.setpoint = timeseries(setpoint, time_vector);
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%% Save if no output argument
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if nargout == 0
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save('./mat/inputs.mat', 'inputs');
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end
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end
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@ -1,6 +1,6 @@
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function [nano_hexapod] = initializeNanoHexapod(opts_param)
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%% Default values for opts
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opts = struct();
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opts = struct('actuator', 'piezo');
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%% Populate opts with input parameters
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if exist('opts_param','var')
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@ -42,7 +42,11 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
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Leg = struct();
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Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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if strcmp(opts.actuator, 'piezo')
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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else
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Leg.k.ax = 1e5; % Stiffness of each leg [N/m]
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end
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Leg.ksi.ax = 10; % Maximum amplification at resonance []
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Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
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@ -12,10 +12,10 @@ function [ry] = initializeRy()
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ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
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ry.k.tilt = 1e4 ; % Rotation stiffness around y [N*m/deg]
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ry.c.h = ry.k.h/1000;
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ry.c.rad = ry.k.rad/1000;
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ry.c.rrad = ry.k.rrad/1000;
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ry.c.tilt = ry.k.tilt/1000;
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ry.c.h = 10*(1/5)*sqrt(ry.k.h/ry.m);
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ry.c.rad = 10*(1/5)*sqrt(ry.k.rad/ry.m);
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ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
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ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m);
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%% Save if no output argument
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if nargout == 0
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@ -9,17 +9,16 @@ function [rz] = initializeRz()
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rz.k.ax = 2e9; % Axial Stiffness [N/m]
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rz.k.rad = 7e8; % Radial Stiffness [N/m]
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rz.k.tilt = 1e5; % TODO
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rz.k.rot = 1e5; % Rotational Stiffness [N*m/deg]
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rz.k.tilt = 1e2; % TODO [N*m/deg]
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rz.k.rot = 1e2; % Rotational Stiffness [N*m/deg]
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rz.c.ax = rz.k.ax/1000;
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rz.c.rad = rz.k.rad/1000;
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rz.c.tilt = rz.k.tilt/1000;
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rz.c.rot = rz.k.rot/1000;
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rz.c.ax = 10*(1/5)*sqrt(rz.k.ax/rz.m);
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rz.c.rad = 10*(1/5)*sqrt(rz.k.rad/rz.m);
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rz.c.tilt = 100*(1/1)*sqrt(rz.k.tilt/rz.m);
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rz.c.rot = 100*(1/1)*sqrt(rz.k.rot/rz.m);
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%% Save if no output argument
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if nargout == 0
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save('./mat/rz.mat', 'rz');
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end
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end
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35
initialize/initializeSimConf.m
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35
initialize/initializeSimConf.m
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@ -0,0 +1,35 @@
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function [] = initializeSimConf(opts_param)
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%% Default values for opts
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opts = struct('Ts', 1e-4, ... % Sampling time [s]
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'Tsim', 10, ... % Simulation time [s]
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'cl_time', 0, ... % Close Loop time [s]
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'gravity', false ... % Gravity along the z axis [m/s^2]
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);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%%
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sim_conf = struct();
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%%
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sim_conf.Ts = opts.Ts;
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sim_conf.Tsim = opts.Tsim;
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sim_conf.cl_time = opts.cl_time;
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%% Gravity
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if opts.gravity
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sim_conf.g = -9.8;
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else
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sim_conf.g = 0;
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end
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%% Save
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save('./mat/sim_conf.mat', 'sim_conf');
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end
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@ -18,8 +18,8 @@ function [ty] = initializeTy()
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ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
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ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
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ty.c.ax = ty.k.ax/1000;
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ty.c.rad = ty.k.rad/1000;
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ty.c.ax = 100*(1/5)*sqrt(ty.k.ax/ty.m);
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ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);
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%% Save if no output argument
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if nargout == 0
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BIN
mat/sim_conf.mat
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BIN
mat/sim_conf.mat
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@ -25,8 +25,8 @@ function [G, G_raw] = identifyG(opts_param)
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% Run the linearization
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G_raw = linearize(mdl,io, 0);
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G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
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G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
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G_raw.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
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G_raw.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
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G = preprocessIdTf(G_raw, opts.f_low, opts.f_high);
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G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
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