From 91ab166b3e2d5bae921e24b15a410bdc4b3b283d Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 21 Jun 2018 11:42:46 +0200 Subject: [PATCH] Change initialization of simulation configuration --- Micro_Station_Identification.slx | Bin 148601 -> 148679 bytes init_data.m | 14 ++++++++++-- init_sim_configuration.m | 6 ----- init_simulation.m | 2 +- initialize/initializeAxisc.m | 2 +- initialize/initializeGranite.m | 4 ++-- initialize/initializeInputs.m | 33 ++++++++++++++------------- initialize/initializeNanoHexapod.m | 8 +++++-- initialize/initializeRy.m | 8 +++---- initialize/initializeRz.m | 13 +++++------ initialize/initializeSimConf.m | 35 +++++++++++++++++++++++++++++ initialize/initializeTy.m | 4 ++-- mat/sim_conf.mat | Bin 0 -> 242 bytes src/identifyG.m | 4 ++-- 14 files changed, 88 insertions(+), 45 deletions(-) delete mode 100644 init_sim_configuration.m create mode 100644 initialize/initializeSimConf.m create mode 100644 mat/sim_conf.mat diff --git 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+ 'ground_motion', true, ... + 'rz', true ... ); initializeInputs(opts_inputs); @@ -33,7 +41,9 @@ initializeMicroHexapod(); initializeAxisc(); %% Initialize NASS -initializeNanoHexapod(); +opts_nano_hexapod = struct('actuator', 'lorentz'); + +initializeNanoHexapod(opts_nano_hexapod); %% Initialize Sample opts_sample = struct('mass', 20); diff --git a/init_sim_configuration.m b/init_sim_configuration.m deleted file mode 100644 index c3da98f..0000000 --- a/init_sim_configuration.m +++ /dev/null @@ -1,6 +0,0 @@ -%% Solver Configuration -Ts = 1e-3; % Sampling time [s] -Tsim = 1; % Simulation time [s] - -%% Gravity -g = 0 ; % Gravity along the z axis [m/s^2] diff --git a/init_simulation.m b/init_simulation.m index 5078b6b..0ed59f2 100644 --- a/init_simulation.m +++ b/init_simulation.m @@ -1,5 +1,5 @@ %% Load Simulation configuration -run init_sim_configuration.m +load('./mat/sim_conf.mat', 'sim_conf'); %% Load SolidWorks Data % load('./mat/smiData.mat', 'smiData'); diff --git a/initialize/initializeAxisc.m b/initialize/initializeAxisc.m index 66d5ccf..b0821f8 100644 --- a/initialize/initializeAxisc.m +++ b/initialize/initializeAxisc.m @@ -8,7 +8,7 @@ function [axisc] = initializeAxisc() axisc.m = smiData.Solid(30).mass; axisc.k.ax = 1; % TODO [N*m/deg)] - axisc.c.ax = axisc.k.ax/1000; + axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m); %% Save if no output argument if nargout == 0 diff --git a/initialize/initializeGranite.m b/initialize/initializeGranite.m index a313b3b..4ac008f 100644 --- a/initialize/initializeGranite.m +++ b/initialize/initializeGranite.m @@ -8,8 +8,8 @@ function [granite] = initializeGranite() granite.m = smiData.Solid(5).mass; granite.k.ax = 1e8; % x-y-z Stiffness of the granite [N/m] - granite.c.ax = granite.k.ax/1000; - + granite.c.ax = 100*(1/1)*sqrt(granite.k.ax/granite.m); + %% Save if no output argument if nargout == 0 save('./mat/granite.mat', 'granite'); diff --git a/initialize/initializeInputs.m b/initialize/initializeInputs.m index 7cc353f..6873ca8 100644 --- a/initialize/initializeInputs.m +++ b/initialize/initializeInputs.m @@ -15,24 +15,14 @@ function [inputs] = initializeInputs(opts_param) end %% Load Sampling Time and Simulation Time - run init_sim_configuration.m + load('./mat/sim_conf.mat', 'sim_conf'); %% Define the time vector - time_vector = 0:Ts:Tsim; - + time_vector = 0:sim_conf.Ts:sim_conf.Tsim; + %% Create the input Structure that will contain all the inputs inputs = struct(); - %% Set point [m, rad] - if opts.setpoint - setpoint = zeros(length(time_vector), 6); - setpoint(ceil(10/Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction - else - setpoint = zeros(length(time_vector), 6); - end - - inputs.setpoint = timeseries(setpoint, time_vector); - %% Ground motion if opts.ground_motion load('./mat/weight_Wxg.mat', 'Wxg'); @@ -56,7 +46,7 @@ function [inputs] = initializeInputs(opts_param) inputs.ty = timeseries(ty, time_vector); %% Tilt Stage [rad] - if opts.ty + if opts.ry ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector); else ry = zeros(length(time_vector), 1); @@ -65,7 +55,7 @@ function [inputs] = initializeInputs(opts_param) inputs.ry = timeseries(ry, time_vector); %% Spindle [rad] - if opts.ty + if opts.rz rz = 2*pi*0.5*time_vector; else rz = zeros(length(time_vector), 1); @@ -88,9 +78,20 @@ function [inputs] = initializeInputs(opts_param) inputs.nano_hexapod = timeseries(n_hexa, time_vector); + %% Set point [m, rad] + if opts.setpoint + setpoint = zeros(length(time_vector), 6); + setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction + else + setpoint = zeros(length(time_vector), 6); + end + + setpoint(:, 6) = rz; + + inputs.setpoint = timeseries(setpoint, time_vector); + %% Save if no output argument if nargout == 0 save('./mat/inputs.mat', 'inputs'); end end - diff --git a/initialize/initializeNanoHexapod.m b/initialize/initializeNanoHexapod.m index 6a8eda0..28b7a62 100644 --- a/initialize/initializeNanoHexapod.m +++ b/initialize/initializeNanoHexapod.m @@ -1,6 +1,6 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param) %% Default values for opts - opts = struct(); + opts = struct('actuator', 'piezo'); %% Populate opts with input parameters if exist('opts_param','var') @@ -42,7 +42,11 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param) Leg = struct(); Leg.stroke = 80e-6; % Maximum Stroke of each leg [m] - Leg.k.ax = 5e7; % Stiffness of each leg [N/m] + if strcmp(opts.actuator, 'piezo') + Leg.k.ax = 5e7; % Stiffness of each leg [N/m] + else + Leg.k.ax = 1e5; % Stiffness of each leg [N/m] + end Leg.ksi.ax = 10; % Maximum amplification at resonance [] Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm] Leg.rad.top = 10; % Radius of the cylinder of the top part [mm] diff --git a/initialize/initializeRy.m b/initialize/initializeRy.m index b67fbd1..7c922c0 100644 --- a/initialize/initializeRy.m +++ b/initialize/initializeRy.m @@ -12,10 +12,10 @@ function [ry] = initializeRy() ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m] ry.k.tilt = 1e4 ; % Rotation stiffness around y [N*m/deg] - ry.c.h = ry.k.h/1000; - ry.c.rad = ry.k.rad/1000; - ry.c.rrad = ry.k.rrad/1000; - ry.c.tilt = ry.k.tilt/1000; + ry.c.h = 10*(1/5)*sqrt(ry.k.h/ry.m); + ry.c.rad = 10*(1/5)*sqrt(ry.k.rad/ry.m); + ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m); + ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m); %% Save if no output argument if nargout == 0 diff --git a/initialize/initializeRz.m b/initialize/initializeRz.m index 464913f..1887f84 100644 --- a/initialize/initializeRz.m +++ b/initialize/initializeRz.m @@ -9,17 +9,16 @@ function [rz] = initializeRz() rz.k.ax = 2e9; % Axial Stiffness [N/m] rz.k.rad = 7e8; % Radial Stiffness [N/m] - rz.k.tilt = 1e5; % TODO - rz.k.rot = 1e5; % Rotational Stiffness [N*m/deg] + rz.k.tilt = 1e2; % TODO [N*m/deg] + rz.k.rot = 1e2; % Rotational Stiffness [N*m/deg] - rz.c.ax = rz.k.ax/1000; - rz.c.rad = rz.k.rad/1000; - rz.c.tilt = rz.k.tilt/1000; - rz.c.rot = rz.k.rot/1000; + rz.c.ax = 10*(1/5)*sqrt(rz.k.ax/rz.m); + rz.c.rad = 10*(1/5)*sqrt(rz.k.rad/rz.m); + rz.c.tilt = 100*(1/1)*sqrt(rz.k.tilt/rz.m); + rz.c.rot = 100*(1/1)*sqrt(rz.k.rot/rz.m); %% Save if no output argument if nargout == 0 save('./mat/rz.mat', 'rz'); end end - diff --git a/initialize/initializeSimConf.m b/initialize/initializeSimConf.m new file mode 100644 index 0000000..e8352e4 --- /dev/null +++ b/initialize/initializeSimConf.m @@ -0,0 +1,35 @@ +function [] = initializeSimConf(opts_param) + %% Default values for opts + opts = struct('Ts', 1e-4, ... % Sampling time [s] + 'Tsim', 10, ... % Simulation time [s] + 'cl_time', 0, ... % Close Loop time [s] + 'gravity', false ... % Gravity along the z axis [m/s^2] + ); + + %% Populate opts with input parameters + if exist('opts_param','var') + for opt = fieldnames(opts_param)' + opts.(opt{1}) = opts_param.(opt{1}); + end + end + + %% + sim_conf = struct(); + + %% + sim_conf.Ts = opts.Ts; + sim_conf.Tsim = opts.Tsim; + sim_conf.cl_time = opts.cl_time; + + %% Gravity + if opts.gravity + sim_conf.g = -9.8; + else + sim_conf.g = 0; + end + + %% Save + save('./mat/sim_conf.mat', 'sim_conf'); + +end + diff --git a/initialize/initializeTy.m b/initialize/initializeTy.m index ecf302f..d23578c 100644 --- a/initialize/initializeTy.m +++ b/initialize/initializeTy.m @@ -18,8 +18,8 @@ function [ty] = initializeTy() ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m] ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m] - ty.c.ax = ty.k.ax/1000; - ty.c.rad = ty.k.rad/1000; + ty.c.ax = 100*(1/5)*sqrt(ty.k.ax/ty.m); + ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m); %% Save if no output argument if nargout == 0 diff --git a/mat/sim_conf.mat b/mat/sim_conf.mat new file mode 100644 index 0000000000000000000000000000000000000000..5d80932c8d2771ba83ea7ae9113404c3e03afe7e GIT binary patch literal 242 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQV4Jk_w+L}(NSk4V4(1B{-&{6KaV5Le83oScyGAt5Cpf%%e* z!IrqsLSKv-BVz)pJ+B^jXtZN^YRKmT0PuK6g#Z8m literal 0 HcmV?d00001 diff --git a/src/identifyG.m b/src/identifyG.m index f3f6225..3687a0a 100644 --- a/src/identifyG.m +++ b/src/identifyG.m @@ -25,8 +25,8 @@ function [G, G_raw] = identifyG(opts_param) % Run the linearization G_raw = linearize(mdl,io, 0); - G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}; - G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}; + G_raw.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}; + G_raw.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}; G = preprocessIdTf(G_raw, opts.f_low, opts.f_high); G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};