tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

[REFACTORING] Huge changes, WIP.

Browse Source
This commit is contained in:
Thomas Dehaeze
2018-06-16 22:57:54 +02:00
parent 971a520edd
commit 92b66cb8bb
67 changed files with 3313 additions and 2421 deletions
Download Patch File Download Diff File Expand all files Collapse all files

80
Identification/compare_measurements.m
View File

@@ -1,5 +1,6 @@
%% Script Description
%
% Compare identification from the Simscape model
% with the identification on the real system.
%%
clear;
@@ -23,12 +24,12 @@ measure_dirs = {{'tx', 'tx'}, {'ty', 'ty'}, {'tz', 'tz'}};
measures = getAllMeasure(m_object, 'marble', 'hexa', measure_dirs, meas_opts);
%%
load('../mat/id_G_h_h.mat', 'G_h_h');
load('../mat/id_G_g_g.mat', 'G_g_g');
load('../mat/id_G_h_g.mat', 'G_h_g');
load('./mat/id_G_h_h.mat', 'G_h_h');
load('./mat/id_G_g_g.mat', 'G_g_g');
load('./mat/id_G_h_g.mat', 'G_h_g');
%%
freqs = logspace(-1, 3, 2000);
freqs = logspace(1, 3, 2000);
%% Granite to Granite
figure;
@@ -40,7 +41,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(Granite)_x \rightarrow D(granite)_x$');
exportFig('comp_model_meas_Fmx_Dmx');
exportFig('comp_model_meas_Fmx_Dmx', struct('path', 'Identification'));
%
figure;
@@ -52,7 +53,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(Granite)_y \rightarrow D(granite)_y$');
exportFig('comp_model_meas_Fmy_Dmy');
exportFig('comp_model_meas_Fmy_Dmy', struct('path', 'Identification'));
%
figure;
@@ -64,7 +65,24 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(Granite)_z \rightarrow D(granite)_z$');
exportFig('comp_model_meas_Fmz_Dmz');
exportFig('comp_model_meas_Fmz_Dmz', struct('path', 'Identification'));
% All together
figure;
hold on;
plot(measures.Fmx.Dmx.freq_filt, abs(measures.Fmx.Dmx.resp_filt), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{m_x} \rightarrow D_{m_x}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_g_g(1, 1), freqs, 'Hz'))), '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{m_x} \rightarrow D_{m_x}$ - model');
plot(measures.Fmy.Dmy.freq_filt, abs(measures.Fmy.Dmy.resp_filt), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{m_y} \rightarrow D_{m_y}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_g_g(2, 2), freqs, 'Hz'))), '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{m_y} \rightarrow D_{m_y}$ - model');
plot(measures.Fmz.Dmz.freq_filt, abs(measures.Fmz.Dmz.resp_filt), '-', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{m_z} \rightarrow D_{m_z}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_g_g(3, 3), freqs, 'Hz'))), '--', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{m_z} \rightarrow D_{m_z}$ - model');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
legend('location', 'northeast');
exportFig('comp_model_meas_Fm_Dm', 'wide-tall', struct('path', 'Identification'));
%% Hexapod to Hexapod
figure;
@@ -76,7 +94,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(\mu Hexapod)_x$');
exportFig('comp_model_meas_Fhx_Dhx');
exportFig('comp_model_meas_Fhx_Dhx', struct('path', 'Identification'));
%
figure;
@@ -88,7 +106,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(\mu Hexapod)_y$');
exportFig('comp_model_meas_Fhy_Dhy');
exportFig('comp_model_meas_Fhy_Dhy', struct('path', 'Identification'));
%
figure;
@@ -100,7 +118,24 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(\mu Hexapod)_z$');
exportFig('comp_model_meas_Fhz_Dhz');
exportFig('comp_model_meas_Fhz_Dhz', struct('path', 'Identification'));
% All together
figure;
hold on;
plot(measures.Fhx.Dhx.freq_filt, abs(measures.Fhx.Dhx.resp_filt), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{h_x} \rightarrow D_{h_x}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_h(1, 1), freqs, 'Hz'))), '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{h_x} \rightarrow D_{h_x}$ - model');
plot(measures.Fhy.Dhy.freq_filt, abs(measures.Fhy.Dhy.resp_filt), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{h_y} \rightarrow D_{h_y}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_h(2, 2), freqs, 'Hz'))), '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{h_y} \rightarrow D_{h_y}$ - model');
plot(measures.Fhz.Dhz.freq_filt, abs(measures.Fhz.Dhz.resp_filt), '-', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{h_z} \rightarrow D_{h_z}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_h(3, 3), freqs, 'Hz'))), '--', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{h_z} \rightarrow D_{h_z}$ - model');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
legend('location', 'southwest');
exportFig('comp_model_meas_Fh_Dh', 'wide-tall', struct('path', 'Identification'));
%% Hexapod to Granite
figure;
@@ -112,7 +147,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_x \rightarrow D(Granite)_x$');
exportFig('comp_model_meas_Fhx_Dmx');
exportFig('comp_model_meas_Fhx_Dmx', struct('path', 'Identification'));
%
figure;
@@ -124,7 +159,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_y \rightarrow D(Granite)_y$');
exportFig('comp_model_meas_Fhy_Dmy');
exportFig('comp_model_meas_Fhy_Dmy', struct('path', 'Identification'));
%
figure;
@@ -136,4 +171,21 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [$Hz$]'); ylabel('Amplitude [$m/N$]');
legend({'meas.', 'id.'}, 'location', 'northwest');
title('Transfer function: $F(\mu Hexapod)_z \rightarrow D(Granite)_z$');
exportFig('comp_model_meas_Fhz_Dmz');
exportFig('comp_model_meas_Fhz_Dmz', struct('path', 'Identification'));
% All together
figure;
hold on;
plot(measures.Fhx.Dmx.freq_filt, abs(measures.Fhx.Dmx.resp_filt), '-', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{h_x} \rightarrow D_{m_x}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_g(1, 1), freqs, 'Hz'))), '--', 'Color', [0 0.4470 0.7410], 'DisplayName', '$F_{h_x} \rightarrow D_{m_x}$ - model');
plot(measures.Fhy.Dmy.freq_filt, abs(measures.Fhy.Dmy.resp_filt), '-', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{h_y} \rightarrow D_{m_y}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_g(2, 2), freqs, 'Hz'))), '--', 'Color', [0.8500 0.3250 0.0980], 'DisplayName', '$F_{h_y} \rightarrow D_{m_y}$ - model');
plot(measures.Fhz.Dmz.freq_filt, abs(measures.Fhz.Dmz.resp_filt), '-', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{h_z} \rightarrow D_{m_z}$ - meas.')
plot(freqs, abs(squeeze(freqresp(G_h_g(3, 3), freqs, 'Hz'))), '--', 'Color', [0.9290 0.6940 0.1250], 'DisplayName', '$F_{h_z} \rightarrow D_{m_z}$ - model');
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
legend('location', 'southwest');
exportFig('comp_model_meas_Fh_Dm', 'wide-tall', struct('path', 'Identification'));

41
Identification/compare_nass_micro_station.m Normal file
View File

@@ -0,0 +1,41 @@
%% Script Description
% Compare the plan when on top of a rigid support
% and on top of the micro-station (flexible support)
%%
clear; close all; clc;
%% Load Transfer Functions
load('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');
load('./stewart-simscape/mat/G_cart.mat', 'G_cart_1', 'G_cart_20', 'G_cart_50')
load('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50')
%% Compare NASS alone and NASS on top of the Station
freqs = logspace(1, 4, 1000);
bodeFig({G_nass_50(1, 1), G_cart_50(1, 1)}, freqs, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $\mu$-station', '$F_{n_x} \rightarrow D_{n_x}$ - Rigid support'})
legend('location', 'southwest')
bodeFig({G_nass_50(2, 2), G_cart_50(2, 2)}, freqs, struct('phase', true))
legend({'$F_{n_y} \rightarrow D_{n_y}$ - $\mu$-station', '$F_{n_y} \rightarrow D_{n_y}$ - rigid support'})
legend('location', 'southwest')
bodeFig({G_nass_50(3, 3), G_cart_50(3, 3)}, freqs, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{n_z}$ - $\mu$-station', '$F_{n_z} \rightarrow D_{n_z}$ - rigid support'})
legend('location', 'southwest')
%% Compare Displacement of the NASS with Displacement of the Sample
freqs = logspace(1, 3, 1000);
bodeFig({G_nass_50(1, 1), G_50(1, 1)}, freqs, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{s_x}$'})
legend('location', 'southwest')
bodeFig({G_nass_50(2, 2), G_50(2, 2)}, freqs, struct('phase', true))
legend({'$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_y} \rightarrow D_{s_y}$'})
legend('location', 'southwest')
bodeFig({G_nass_50(3, 3), G_50(3, 3)}, freqs, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{n_z}$', '$F_{n_z} \rightarrow D_{s_z}$'})
legend('location', 'southwest')

56
Identification/identification_G.m Normal file
View File

@@ -0,0 +1,56 @@
%% Script Description
% Identification of a force injected into the NASS (in cartesian
% coordinates) to the relative displacement of the sample
% and granite.
%%
clear; close all; clc;
%%
initializeSample(struct('mass', 1));
[G_1, G_1_raw] = identifyG();
%%
initializeSample(struct('mass', 20));
[G_20, G_20_raw] = identifyG();
%%
initializeSample(struct('mass', 50));
[G_50, G_50_raw] = identifyG();
%%
freqs = logspace(1, 4, 1000);
bodeFig({G_1(1, 1), G_1(2, 2), G_1(3, 3)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$'})
legend('location', 'southwest')
exportFig('G_xyz', 'normal-normal')
bodeFig({G_1(1, 1), G_20(1, 1), G_50(1, 1)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{x}$ - $M = 1Kg$', ...
'$F_{n_x} \rightarrow D_{x}$ - $M = 20Kg$', ...
'$F_{n_x} \rightarrow D_{x}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('G_x_mass', 'normal-normal')
bodeFig({G_1(2, 2), G_20(2, 2), G_50(2, 2)}, struct('phase', true))
legend({'$F_{n_y} \rightarrow D_{y}$ - $M = 1Kg$', ...
'$F_{n_y} \rightarrow D_{y}$ - $M = 20Kg$', ...
'$F_{n_y} \rightarrow D_{y}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('G_y_mass', 'normal-normal')
bodeFig({G_1(3, 3), G_20(3, 3), G_50(3, 3)}, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{z}$ - $M = 1Kg$', ...
'$F_{n_z} \rightarrow D_{z}$ - $M = 20Kg$', ...
'$F_{n_z} \rightarrow D_{z}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('G_z_mass', 'normal-normal')
%%
save('./mat/G_f_to_d.mat', 'G_1', 'G_20', 'G_50');

38
Identification/identification_Gd.m Normal file
View File

@@ -0,0 +1,38 @@
%% Script Description
% Identification of the transfer function
% from Ground Motion to sample displacement.
%%
clear; close all; clc;
%% Options for preprocessing the identified transfer functions
f_low = 10;
f_high = 10000;
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'Assemblage';
%% NASS
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Gm'],1,'input');
io(2) = linio([mdl, '/Micro-Station/Sample'],1,'output');
% Run the linearization
Gd_xg_to_d_raw = linearize(mdl,io, 0);
Gd_xg_to_d = preprocessIdTf(Gd_xg_to_d_raw, f_low, f_high);
% Input/Output names
Gd_xg_to_d.InputName = {'Dgx', 'Dgy', 'Dgz'};
Gd_xg_to_d.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
% Bode Plot of the linearized function
bodeFig({Gd_xg_to_d(1, 1), Gd_xg_to_d(2, 2), Gd_xg_to_d(3, 3)}, struct('phase', true))
legend({'$Dg_{x} \rightarrow D_{x}$', '$Dg_{y} \rightarrow D_{y}$', '$Dg_{z} \rightarrow D_{z}$'})
%%
save('./mat/Gd_xg_to_d.mat', 'Gd_xg_to_d');

55
Identification/identification_NASS.m Normal file
View File

@@ -0,0 +1,55 @@
%% Script Description
% Identification of the NASS from cartesian actuation
% to cartesian displacement.
%%
clear; close all; clc;
%%
initializeSample(struct('mass', 0));
G_nass_1 = identifyNass();
%%
initializeSample(struct('mass', 10));
G_nass_20 = identifyNass();
%%
initializeSample(struct('mass', 50));
G_nass_50 = identifyNass();
%%
freqs = logspace(1, 4, 1000);
bodeFig({G_nass_1(1, 1), G_nass_1(2, 2), G_nass_1(3, 3)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
'$F_{n_y} \rightarrow D_{n_y}$ - $M = 1Kg$', ...
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$'})
legend('location', 'southwest')
exportFig('nass_cart_xyz', 'normal-normal')
bodeFig({G_nass_1(1, 1), G_nass_20(1, 1), G_nass_50(1, 1)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('nass_cart_x_mass', 'normal-normal')
bodeFig({G_nass_1(2, 2), G_nass_20(2, 2), G_nass_50(2, 2)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$ - $M = 1Kg$', ...
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 20Kg$', ...
'$F_{n_x} \rightarrow D_{n_x}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('nass_cart_y_mass', 'normal-normal')
bodeFig({G_nass_1(3, 3), G_nass_20(3, 3), G_nass_50(3, 3)}, struct('phase', true))
legend({'$F_{n_z} \rightarrow D_{n_z}$ - $M = 1Kg$', ...
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 20Kg$', ...
'$F_{n_z} \rightarrow D_{n_z}$ - $M = 50Kg$'})
legend('location', 'southwest')
exportFig('nass_cart_z_mass', 'normal-normal')
%% Save Transfer Functions
save('./mat/G_nass.mat', 'G_nass_1', 'G_nass_20', 'G_nass_50');

36
Identification/identification_control.m
View File

@@ -1,36 +0,0 @@
%% Script Description
%
%%
clear; close all; clc;
%% Options for preprocessing the identified transfer functions
f_low = 10;
f_high = 10000;
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'Assemblage';
%% NASS
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fn'],1,'input');
io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
% Run the linearization
G_f_to_d = linearize(mdl,io, 0);
G_f_to_d = preprocessIdTf(G_f_to_d, 10, 10000);
% Input/Output names
G_f_to_d.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
G_f_to_d.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
% Bode Plot of the linearized function
bodeFig({G_f_to_d(1, 1), G_f_to_d(2, 2), G_f_to_d(3, 3)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{x}$', '$F_{n_y} \rightarrow D_{y}$', '$F_{n_z} \rightarrow D_{z}$'})
%%
save('./mat/G_f_to_d.mat', 'G_f_to_d');

75
Identification/identification_marc.m
View File

@@ -1,85 +1,78 @@
%% Script Description
% Run an identification of each stage from input to output
% Save all computed transfer functions into one .mat file
% Make the same identification as Marc did
% Should comment out the nano-hexapod and sample before
% runing this script.
%%
clear;
close all;
clc
%% Define options for bode plots
bode_opts = bodeoptions;
bode_opts.Title.FontSize = 12;
bode_opts.XLabel.FontSize = 12;
bode_opts.YLabel.FontSize = 12;
bode_opts.FreqUnits = 'Hz';
bode_opts.MagUnits = 'abs';
bode_opts.MagScale = 'log';
bode_opts.PhaseWrapping = 'on';
bode_opts.PhaseVisible = 'on';
clear; close all; clc;
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'Assemblage';
mdl = 'Micro_Station_Identification';
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
io(2) = linio([mdl, '/meas_micro_hexapod'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod_Inertial_Sensor'],1,'output');
% Run the linearization
G_h_h = linearize(mdl,io, 0);
G_h_h = G_h_h(1:3, 1:3);
G_h_h = minreal(G_h_h);
G_h_h_raw = linearize(mdl,io, 0);
G_h_h_raw = G_h_h_raw(1:3, 1:3);
G_h_h = preprocessIdTf(G_h_h_raw, 10, 10000);
% Input/Output names
G_h_h.InputName = {'Fux', 'Fuy', 'Fuz'};
G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
% Bode Plot of the linearized function
figure;
bode(G_h_h(1, 1), bode_opts)
bodeFig({G_h_h(1, 1), G_h_h(2, 2), G_h_h(3, 3)})
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
legend('location', 'southwest')
exportFig('id_marc_h_to_h', 'normal-normal', struct('path', 'Identification'))
%% Granite
% Input/Output definition
io(1) = linio([mdl, '/Granite_F'],1,'input');
io(2) = linio([mdl, '/meas_granite'],1,'output');
io(1) = linio([mdl, '/Micro-Station/F_granite'],1,'input');
io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
% Run the linearization
G_g_g = linearize(mdl,io, 0);
G_g_g = minreal(G_g_g);
G_g_g_raw = linearize(mdl,io, 0);
G_g_g = preprocessIdTf(G_g_g_raw, 10, 10000);
% Input/Output names
G_g_g.InputName = {'Fgx', 'Fgy', 'Fgz'};
G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
% Bode Plot of the linearized function
figure;
bode(G_h_h(2, 2), bode_opts)
bodeFig({G_g_g(1, 1), G_g_g(2, 2), G_g_g(3, 3)})
legend({'$F_{g_x} \rightarrow D_{g_x}$', '$F_{g_y} \rightarrow D_{g_y}$', '$F_{g_z} \rightarrow D_{g_z}$'})
legend('location', 'southwest')
exportFig('id_marc_g_to_g', 'normal-normal', struct('path', 'Identification'))
%% Micro Hexapod to Granite
% Input/Output definition
io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
io(2) = linio([mdl, '/meas_granite'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
% Run the linearization
G_h_g = linearize(mdl,io, 0);
G_h_g = G_h_g(1:3, 1:3);
G_h_g = minreal(G_h_g);
G_h_g_raw = linearize(mdl,io, 0);
G_h_g_raw = G_h_g_raw(1:3, 1:3);
G_h_g = preprocessIdTf(G_h_g_raw, 10, 10000);
% Input/Output names
G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
% Bode Plot of the linearized function
figure;
bode(G_h_g(2, 2), bode_opts)
bodeFig({G_h_g(1, 1), G_h_g(2, 2), G_h_g(3, 3)})
legend({'$F_{h_x} \rightarrow D_{g_x}$', '$F_{h_y} \rightarrow D_{g_y}$', '$F_{h_z} \rightarrow D_{g_z}$'})
legend('location', 'southwest')
exportFig('id_marc_h_to_g', 'normal-normal', struct('path', 'Identification'))
%%
save('../mat/id_G_h_h.mat', 'G_h_h');
save('../mat/id_G_g_g.mat', 'G_g_g');
save('../mat/id_G_h_g.mat', 'G_h_g');
save('./mat/id_G_h_h.mat', 'G_h_h');
save('./mat/id_G_g_g.mat', 'G_g_g');
save('./mat/id_G_h_g.mat', 'G_h_g');

62
Identification/identification_stages_plot.m
View File

@@ -1,42 +1,50 @@
%% Script Description
%
% From the identification, plot all the
% transfer funcions.
%%
clear;
close all;
clc
%% Define options for bode plots
bode_opts = bodeoptions;
bode_opts.Title.FontSize = 12;
bode_opts.XLabel.FontSize = 12;
bode_opts.YLabel.FontSize = 12;
bode_opts.FreqUnits = 'Hz';
bode_opts.MagUnits = 'abs';
bode_opts.MagScale = 'log';
bode_opts.PhaseWrapping = 'on';
bode_opts.PhaseVisible = 'off';
clear; close all; clc
%% Load Data
load('../mat/identified_tf.mat');
load('./mat/identified_tf.mat');
%% Y-Translation Stage
figure;
bode(G_ty, bode_opts)
bodeFig({G_ty}, struct('phase', true))
legend({'$F_{y} \rightarrow D_{y}$'})
exportFig('id_ty', 'normal-normal')
%% Tilt Stage
figure;
bode(G_ry, bode_opts)
bodeFig({G_ry}, struct('phase', true))
legend({'$M_{y} \rightarrow R_{y}$'})
exportFig('id_ry', 'normal-normal')
%% Spindle
figure;
bode(G_rz, bode_opts)
bodeFig({G_rz}, struct('phase', true))
legend({'$M_{z} \rightarrow R_{z}$'})
exportFig('id_ry', 'normal-normal')
%% Hexapod Symetrie
figure;
bode(G_hexa, bode_opts)
bodeFig({G_hexa(1, 1), G_hexa(2, 2), G_hexa(3, 3)}, struct('phase', true))
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
exportFig('id_hexapod_trans', 'normal-normal')
bodeFig({G_hexa(4, 4), G_hexa(5, 5), G_hexa(6, 6)}, struct('phase', true))
legend({'$M_{h_x} \rightarrow R_{h_x}$', '$M_{h_y} \rightarrow R_{h_y}$', '$M_{h_z} \rightarrow R_{h_z}$'})
exportFig('id_hexapod_rot', 'normal-normal')
bodeFig({G_hexa(1, 1), G_hexa(2, 1), G_hexa(3, 1)}, struct('phase', true))
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_x} \rightarrow D_{h_y}$', '$F_{h_x} \rightarrow D_{h_z}$'})
exportFig('id_hexapod_coupling', 'normal-normal')
%% NASS
figure;
bode(G_nass(1:3, 1:3), bode_opts)
bodeFig({G_nass(1, 1), G_nass(2, 2), G_nass(3, 3)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_z} \rightarrow D_{n_z}$'})
exportFig('id_nass_trans', 'normal-normal')
bodeFig({G_nass(4, 4), G_nass(5, 5), G_nass(6, 6)}, struct('phase', true))
legend({'$M_{n_x} \rightarrow R_{n_x}$', '$M_{n_y} \rightarrow R_{n_y}$', '$M_{n_z} \rightarrow R_{n_z}$'})
exportFig('id_nass_rot', 'normal-normal')
bodeFig({G_nass(1, 1), G_nass(2, 1), G_nass(3, 1)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{n_y}$', '$F_{n_x} \rightarrow D_{n_z}$'})
exportFig('id_nass_coupling', 'normal-normal')

73
Identification/identification_stages_run.m
View File

@@ -5,6 +5,9 @@
%%
clear; close all; clc;
%%
initializeSample(struct('mass', 10));
%% Options for preprocessing the identified transfer functions
f_low = 10; % [Hz]
f_high = 10000; % [Hz]
@@ -14,12 +17,12 @@ options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'Assemblage';
mdl = 'Micro_Station_Identification';
%% Y-Translation Stage
% Input/Output definition
io(1) = linio([mdl, '/Fy'],1,'input');
io(2) = linio([mdl, '/Dy_meas'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Fy'], 1,'input');
io(2) = linio([mdl, '/Micro-Station/Translation y'],1,'output');
% Run the linearization
G_ty_raw = linearize(mdl,io, 0);
@@ -31,15 +34,10 @@ G_ty = preprocessIdTf(G_ty_raw, f_low, f_high);
G_ty.InputName = {'Fy'};
G_ty.OutputName = {'Dy'};
% Bode Plot of the linearized function
bodeFig({G_ty}, struct('phase', true))
legend({'$F_{y} \rightarrow D_{y}$'})
exportFig('id_ty', 'normal-normal')
%% Tilt Stage
% Input/Output definition
io(1) = linio([mdl, '/My'],1,'input');
io(2) = linio([mdl, '/Ry_meas'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Ry'], 1,'input');
io(2) = linio([mdl, '/Micro-Station/Tilt'],1,'output');
% Run the linearization
G_ry_raw = linearize(mdl,io, 0);
@@ -51,15 +49,10 @@ G_ry = preprocessIdTf(G_ry_raw, f_low, f_high);
G_ry.InputName = {'My'};
G_ry.OutputName = {'Ry'};
% Bode Plot of the linearized function
bodeFig({G_ry}, struct('phase', true))
legend({'$M_{y} \rightarrow R_{y}$'})
exportFig('id_ry', 'normal-normal')
%% Spindle
% Input/Output definition
io(1) = linio([mdl, '/Mz'],1,'input');
io(2) = linio([mdl, '/Rz_meas'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Rz'], 1,'input');
io(2) = linio([mdl, '/Micro-Station/Spindle'],1,'output');
% Run the linearization
G_rz_raw = linearize(mdl,io, 0);
@@ -71,15 +64,10 @@ G_rz = preprocessIdTf(G_rz_raw, f_low, f_high);
G_rz.InputName = {'Mz'};
G_rz.OutputName = {'Rz'};
% Bode Plot of the linearized function
bodeFig({G_rz}, struct('phase', true))
legend({'$M_{z} \rightarrow R_{z}$'})
exportFig('id_ry', 'normal-normal')
%% Hexapod Symetrie
% Input/Output definition
io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
io(2) = linio([mdl, '/Dm_meas'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Fm'], 1,'input');
io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod'],1,'output');
% Run the linearization
G_hexa_raw = linearize(mdl,io, 0);
@@ -91,23 +79,10 @@ G_hexa = preprocessIdTf(G_hexa_raw, f_low, f_high);
G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Rhexa_x', 'Rhexa_y', 'Rhexa_z'};
% Bode Plot of the linearized function
bodeFig({G_hexa(1, 1), G_hexa(2, 2), G_hexa(3, 3)}, struct('phase', true))
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_y} \rightarrow D_{h_y}$', '$F_{h_z} \rightarrow D_{h_z}$'})
exportFig('id_hexapod_trans', 'normal-normal')
bodeFig({G_hexa(4, 4), G_hexa(5, 5), G_hexa(6, 6)}, struct('phase', true))
legend({'$M_{h_x} \rightarrow R_{h_x}$', '$M_{h_y} \rightarrow R_{h_y}$', '$M_{h_z} \rightarrow R_{h_z}$'})
exportFig('id_hexapod_rot', 'normal-normal')
bodeFig({G_hexa(1, 1), G_hexa(2, 1), G_hexa(3, 1)}, struct('phase', true))
legend({'$F_{h_x} \rightarrow D_{h_x}$', '$F_{h_x} \rightarrow D_{h_y}$', '$F_{h_x} \rightarrow D_{h_z}$'})
exportFig('id_hexapod_coupling', 'normal-normal')
%% NASS
% Input/Output definition
io(1) = linio([mdl, '/Fnass_cart'],1,'input');
io(2) = linio([mdl, '/Dn_meas'],1,'output');
io(1) = linio([mdl, '/Micro-Station/Fn'], 1,'input');
io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
% Run the linearization
c = linearize(mdl,io, 0);
@@ -119,25 +94,5 @@ G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
G_nass.InputName = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Dnass_x', 'Dnass_y', 'Dnass_z'};
% Bode Plot of the linearized function
bodeFig({G_nass(1, 1), G_nass(2, 2), G_nass(3, 3)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_y} \rightarrow D_{n_y}$', '$F_{n_z} \rightarrow D_{n_z}$'})
exportFig('id_nass_trans', 'normal-normal')
bodeFig({G_nass(4, 4), G_nass(5, 5), G_nass(6, 6)}, struct('phase', true))
legend({'$M_{n_x} \rightarrow R_{n_x}$', '$M_{n_y} \rightarrow R_{n_y}$', '$M_{n_z} \rightarrow R_{n_z}$'})
exportFig('id_nass_rot', 'normal-normal')
bodeFig({G_nass(1, 1), G_nass(2, 1), G_nass(3, 1)}, struct('phase', true))
legend({'$F_{n_x} \rightarrow D_{n_x}$', '$F_{n_x} \rightarrow D_{n_y}$', '$F_{n_x} \rightarrow D_{n_z}$'})
exportFig('id_nass_coupling', 'normal-normal')
%% Save all transfer function
save('../mat/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
%% Functions
function G = preprocessIdTf(G0, f_low, f_high)
[~,G1] = freqsep(G0, 2*pi*f_low);
[G2,~] = freqsep(G1, 2*pi*f_high);
G = minreal(G2);
end