Change initialization of simulation configuration

init_data.m

@@ -1,9 +1,17 @@
 %%
 clear; close all; clc;
 
+%% Initialize simulation configuration
+opts_sim = struct(...
+    'Tsim', 60 ...
+);
+
+initializeSimConf(opts_sim);
+
 %% Initialize Inputs
 opts_inputs = struct(...
-    'ground_motion', true ...
+    '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);

init_sim_configuration.m

@@ -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]

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');

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

initialize/initializeGranite.m

@@ -8,7 +8,7 @@ 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

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
-

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]
+    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]

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.h    = 10*(1/5)*sqrt(ry.k.h/ry.m);
-    ry.c.rad  = ry.k.rad/1000;
+    ry.c.rad  = 10*(1/5)*sqrt(ry.k.rad/ry.m);
-    ry.c.rrad = ry.k.rrad/1000;
+    ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
-    ry.c.tilt  = ry.k.tilt/1000;
+    ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m);
 
     %% Save if no output argument
     if nargout == 0

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.tilt = 1e2; % TODO [N*m/deg]
-    rz.k.rot  = 1e5; % Rotational Stiffness [N*m/deg]
+    rz.k.rot  = 1e2; % Rotational Stiffness [N*m/deg]
 
-    rz.c.ax   = rz.k.ax/1000;
+    rz.c.ax   = 10*(1/5)*sqrt(rz.k.ax/rz.m);
-    rz.c.rad  = rz.k.rad/1000;
+    rz.c.rad  = 10*(1/5)*sqrt(rz.k.rad/rz.m);
-    rz.c.tilt = rz.k.tilt/1000;
+    rz.c.tilt = 100*(1/1)*sqrt(rz.k.tilt/rz.m);
-    rz.c.rot  = rz.k.rot/1000;
+    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
-

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
+

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.ax  = 100*(1/5)*sqrt(ty.k.ax/ty.m);
-    ty.c.rad = ty.k.rad/1000;
+    ty.c.rad = 100*(1/5)*sqrt(ty.k.rad/ty.m);
 
     %% Save if no output argument
     if nargout == 0

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_raw.InputName  = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
-    G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+    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'};