Re-run tomography experiments
This commit is contained in:
@@ -126,4 +126,4 @@ Fty_x = Fty_x - Fty_x(1);
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Fty_z = Fty_z - Fty_z(1);
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Frz_z = Frz_z - Frz_z(1);
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save('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
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save('mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
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@@ -1,6 +1,10 @@
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function [nano_hexapod] = initializeNanoHexapod(opts_param)
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%% Default values for opts
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opts = struct('actuator', 'piezo');
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opts = struct(...
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'actuator', 'piezo', ...
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'AP', zeros(3, 1), ... % Wanted position in [m] of OB with respect to frame {A}
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'ARB', eye(3) ... % Rotation Matrix that represent the wanted orientation of frame {B} with respect to frame {A}
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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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@@ -13,7 +17,6 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
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nano_hexapod = struct();
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nano_hexapod.h = 90; % Total height of the platform [mm]
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nano_hexapod.jacobian = 175; % Point where the Jacobian is computed => Center of rotation [mm]
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% nano_hexapod.jacobian = 174.26; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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@@ -97,6 +100,9 @@ function [nano_hexapod] = initializeNanoHexapod(opts_param)
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%%
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nano_hexapod = initializeParameters(nano_hexapod);
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%% Setup equilibrium position of each leg
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nano_hexapod.L0 = inverseKinematicsHexapod(nano_hexapod, opts.AP, opts.ARB);
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%% Save
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save('./mat/stages.mat', 'nano_hexapod', '-append');
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@@ -1,184 +1,185 @@
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function [ref] = initializeReferences(opts_param)
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%% Default values for opts
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opts = struct( ...
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'Ts', 1e-3, ... % Sampling Frequency [s]
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'Tmax', 100, ... % Maximum simulation time [s]
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'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Dy_amplitude', 0, ... % Amplitude of the displacement [m]
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'Dy_period', 1, ... % Period of the displacement [s]
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'Ry_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Ry_amplitude', 0, ... % Amplitude [rad]
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'Ry_period', 1, ... % Period of the displacement [s]
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'Rz_type', 'constant', ... % Either "constant" / "rotating"
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'Rz_amplitude', 0, ... % Initial angle [rad]
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'Rz_period', 1, ... % Period of the rotating [s]
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'Dh_type', 'constant', ... % For now, only constant is implemented
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'Dh_pos', zeros(6, 1), ... % Initial position [m,m,m,rad,rad,rad] of the top platform (Pitch-Roll-Yaw Euler angles)
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'Rm_type', 'constant', ... % For now, only constant is implemented
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'Rm_pos', [0; pi], ... % Initial position of the two masses
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'Dn_type', 'constant', ... % For now, only constant is implemented
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'Dn_pos', zeros(6,1) ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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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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%% Default values for opts
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opts = struct( ...
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'Ts', 1e-3, ... % Sampling Frequency [s]
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'Tmax', 100, ... % Maximum simulation time [s]
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'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Dy_amplitude', 0, ... % Amplitude of the displacement [m]
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'Dy_period', 1, ... % Period of the displacement [s]
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'Ry_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Ry_amplitude', 0, ... % Amplitude [rad]
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'Ry_period', 1, ... % Period of the displacement [s]
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'Rz_type', 'constant', ... % Either "constant" / "rotating"
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'Rz_amplitude', 0, ... % Initial angle [rad]
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'Rz_period', 1, ... % Period of the rotating [s]
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'Dh_type', 'constant', ... % For now, only constant is implemented
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'Dh_pos', zeros(6, 1), ... % Initial position [m,m,m,rad,rad,rad] of the top platform (Pitch-Roll-Yaw Euler angles)
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'Rm_type', 'constant', ... % For now, only constant is implemented
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'Rm_pos', [0; pi], ... % Initial position of the two masses
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'Dn_type', 'constant', ... % For now, only constant is implemented
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'Dn_pos', zeros(6,1) ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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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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%% Set Sampling Time
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Ts = opts.Ts;
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Tmax = opts.Tmax;
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%% Low Pass Filter to filter out the references
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s = zpk('s');
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w0 = 2*pi*100;
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xi = 1;
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H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2);
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%% Translation stage - Dy
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t = 0:Ts:Tmax; % Time Vector [s]
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Dy = zeros(length(t), 1);
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Dyd = zeros(length(t), 1);
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Dydd = zeros(length(t), 1);
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switch opts.Dy_type
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case 'constant'
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Dy(:) = opts.Dy_amplitude;
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Dyd(:) = 0;
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Dydd(:) = 0;
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case 'triangular'
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% This is done to unsure that we start with no displacement
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Dy_raw = opts.Dy_amplitude*sawtooth(2*pi*t/opts.Dy_period,1/2);
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i0 = find(t>=opts.Dy_period/4,1);
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Dy(1:end-i0+1) = Dy_raw(i0:end);
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Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value
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% The signal is filtered out
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Dy = lsim(H_lpf, Dy, t);
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Dyd = lsim(H_lpf*s, Dy, t);
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Dydd = lsim(H_lpf*s^2, Dy, t);
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case 'sinusoidal'
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Dy(:) = opts.Dy_amplitude*sin(2*pi/opts.Dy_period*t);
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Dyd = opts.Dy_amplitude*2*pi/opts.Dy_period*cos(2*pi/opts.Dy_period*t);
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Dydd = -opts.Dy_amplitude*(2*pi/opts.Dy_period)^2*sin(2*pi/opts.Dy_period*t);
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otherwise
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warning('Dy_type is not set correctly');
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end
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Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd);
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%% Tilt Stage - Ry
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t = 0:Ts:Tmax; % Time Vector [s]
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Ry = zeros(length(t), 1);
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Ryd = zeros(length(t), 1);
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Rydd = zeros(length(t), 1);
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switch opts.Ry_type
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case 'constant'
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Ry(:) = opts.Ry_amplitude;
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Ryd(:) = 0;
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Rydd(:) = 0;
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case 'triangular'
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Ry_raw = opts.Ry_amplitude*sawtooth(2*pi*t/opts.Ry_period,1/2);
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i0 = find(t>=opts.Ry_period/4,1);
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Ry(1:end-i0+1) = Ry_raw(i0:end);
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Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value
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% The signal is filtered out
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Ry = lsim(H_lpf, Ry, t);
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Ryd = lsim(H_lpf*s, Ry, t);
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Rydd = lsim(H_lpf*s^2, Ry, t);
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case 'sinusoidal'
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Ry(:) = opts.Ry_amplitude*sin(2*pi/opts.Ry_period*t);
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Ryd = opts.Ry_amplitude*2*pi/opts.Ry_period*cos(2*pi/opts.Ry_period*t);
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Rydd = -opts.Ry_amplitude*(2*pi/opts.Ry_period)^2*sin(2*pi/opts.Ry_period*t);
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otherwise
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warning('Ry_type is not set correctly');
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end
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Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd);
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%% Spindle - Rz
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t = 0:Ts:Tmax; % Time Vector [s]
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Rz = zeros(length(t), 1);
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Rzd = zeros(length(t), 1);
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Rzdd = zeros(length(t), 1);
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switch opts.Rz_type
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case 'constant'
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Rz(:) = opts.Rz_amplitude;
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Rzd(:) = 0;
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Rzdd(:) = 0;
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case 'rotating'
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Rz(:) = opts.Rz_amplitude+2*pi/opts.Rz_period*t;
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% The signal is filtered out
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Rz = lsim(H_lpf, Rz, t);
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Rzd = lsim(H_lpf*s, Rz, t);
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Rzdd = lsim(H_lpf*s^2, Rz, t);
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otherwise
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warning('Rz_type is not set correctly');
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end
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Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
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%% Micro-Hexapod
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t = [0, Ts];
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Dh = zeros(length(t), 6);
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Dhl = zeros(length(t), 6);
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switch opts.Dh_type
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case 'constant'
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Dh = [opts.Dh_pos, opts.Dh_pos];
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load('./mat/stages.mat', 'micro_hexapod');
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AP = [opts.Dh_pos(1) ; opts.Dh_pos(2) ; opts.Dh_pos(3)];
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tx = opts.Dh_pos(4);
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ty = opts.Dh_pos(5);
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tz = opts.Dh_pos(6);
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ARB = [cos(tz) -sin(tz) 0;
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sin(tz) cos(tz) 0;
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0 0 1]*...
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[ cos(ty) 0 sin(ty);
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0 1 0;
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-sin(ty) 0 cos(ty)]*...
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[1 0 0;
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0 cos(tx) -sin(tx);
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0 sin(tx) cos(tx)];
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[Dhl] = inverseKinematicsHexapod(micro_hexapod, AP, ARB);
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Dhl = [Dhl, Dhl];
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otherwise
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warning('Dh_type is not set correctly');
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end
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Dh = struct('time', t, 'signals', struct('values', Dh));
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Dhl = struct('time', t, 'signals', struct('values', Dhl));
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%% Axis Compensation - Rm
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t = [0, Ts];
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Rm = [opts.Rm_pos, opts.Rm_pos];
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Rm = struct('time', t, 'signals', struct('values', Rm));
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%% Nano-Hexapod
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t = [0, Ts];
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Dn = zeros(length(t), 6);
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switch opts.Dn_type
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case 'constant'
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Dn = [opts.Dn_pos, opts.Dn_pos];
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otherwise
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warning('Dn_type is not set correctly');
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end
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Dn = struct('time', t, 'signals', struct('values', Dn));
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%% Save
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save('./mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Ts');
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end
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%% Set Sampling Time
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Ts = opts.Ts;
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Tmax = opts.Tmax;
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%% Low Pass Filter to filter out the references
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s = zpk('s');
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w0 = 2*pi*100;
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xi = 1;
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H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2);
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%% Translation stage - Dy
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t = 0:Ts:Tmax; % Time Vector [s]
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Dy = zeros(length(t), 1);
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Dyd = zeros(length(t), 1);
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Dydd = zeros(length(t), 1);
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switch opts.Dy_type
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case 'constant'
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Dy(:) = opts.Dy_amplitude;
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Dyd(:) = 0;
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Dydd(:) = 0;
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case 'triangular'
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% This is done to unsure that we start with no displacement
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Dy_raw = opts.Dy_amplitude*sawtooth(2*pi*t/opts.Dy_period,1/2);
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i0 = find(t>=opts.Dy_period/4,1);
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Dy(1:end-i0+1) = Dy_raw(i0:end);
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Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value
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% The signal is filtered out
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Dy = lsim(H_lpf, Dy, t);
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Dyd = lsim(H_lpf*s, Dy, t);
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Dydd = lsim(H_lpf*s^2, Dy, t);
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case 'sinusoidal'
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Dy(:) = opts.Dy_amplitude*sin(2*pi/opts.Dy_period*t);
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Dyd = opts.Dy_amplitude*2*pi/opts.Dy_period*cos(2*pi/opts.Dy_period*t);
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Dydd = -opts.Dy_amplitude*(2*pi/opts.Dy_period)^2*sin(2*pi/opts.Dy_period*t);
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otherwise
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warning('Dy_type is not set correctly');
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end
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Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd);
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%% Tilt Stage - Ry
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t = 0:Ts:Tmax; % Time Vector [s]
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Ry = zeros(length(t), 1);
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Ryd = zeros(length(t), 1);
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Rydd = zeros(length(t), 1);
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switch opts.Ry_type
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case 'constant'
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Ry(:) = opts.Ry_amplitude;
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Ryd(:) = 0;
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Rydd(:) = 0;
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case 'triangular'
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Ry_raw = opts.Ry_amplitude*sawtooth(2*pi*t/opts.Ry_period,1/2);
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i0 = find(t>=opts.Ry_period/4,1);
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Ry(1:end-i0+1) = Ry_raw(i0:end);
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Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value
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% The signal is filtered out
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Ry = lsim(H_lpf, Ry, t);
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Ryd = lsim(H_lpf*s, Ry, t);
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Rydd = lsim(H_lpf*s^2, Ry, t);
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case 'sinusoidal'
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Ry(:) = opts.Ry_amplitude*sin(2*pi/opts.Ry_period*t);
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Ryd = opts.Ry_amplitude*2*pi/opts.Ry_period*cos(2*pi/opts.Ry_period*t);
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Rydd = -opts.Ry_amplitude*(2*pi/opts.Ry_period)^2*sin(2*pi/opts.Ry_period*t);
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otherwise
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warning('Ry_type is not set correctly');
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end
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Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd);
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%% Spindle - Rz
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t = 0:Ts:Tmax; % Time Vector [s]
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Rz = zeros(length(t), 1);
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Rzd = zeros(length(t), 1);
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Rzdd = zeros(length(t), 1);
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switch opts.Rz_type
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case 'constant'
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Rz(:) = opts.Rz_amplitude;
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Rzd(:) = 0;
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Rzdd(:) = 0;
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case 'rotating'
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Rz(:) = opts.Rz_amplitude+2*pi/opts.Rz_period*t;
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% The signal is filtered out
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Rz = lsim(H_lpf, Rz, t);
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Rzd = lsim(H_lpf*s, Rz, t);
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Rzdd = lsim(H_lpf*s^2, Rz, t);
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otherwise
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warning('Rz_type is not set correctly');
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end
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Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
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%% Micro-Hexapod
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t = [0, Ts];
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Dh = zeros(length(t), 6);
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Dhl = zeros(length(t), 6);
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switch opts.Dh_type
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case 'constant'
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Dh = [opts.Dh_pos, opts.Dh_pos];
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load('mat/stages.mat', 'micro_hexapod');
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AP = [opts.Dh_pos(1) ; opts.Dh_pos(2) ; opts.Dh_pos(3)];
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tx = opts.Dh_pos(4);
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ty = opts.Dh_pos(5);
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tz = opts.Dh_pos(6);
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ARB = [cos(tz) -sin(tz) 0;
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sin(tz) cos(tz) 0;
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0 0 1]*...
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[ cos(ty) 0 sin(ty);
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0 1 0;
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-sin(ty) 0 cos(ty)]*...
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[1 0 0;
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0 cos(tx) -sin(tx);
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0 sin(tx) cos(tx)];
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[Dhl] = inverseKinematicsHexapod(micro_hexapod, AP, ARB);
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Dhl = [Dhl, Dhl];
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otherwise
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warning('Dh_type is not set correctly');
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end
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Dh = struct('time', t, 'signals', struct('values', Dh));
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Dhl = struct('time', t, 'signals', struct('values', Dhl));
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%% Axis Compensation - Rm
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t = [0, Ts];
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Rm = [opts.Rm_pos, opts.Rm_pos];
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Rm = struct('time', t, 'signals', struct('values', Rm));
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%% Nano-Hexapod
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t = [0, Ts];
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Dn = zeros(length(t), 6);
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switch opts.Dn_type
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case 'constant'
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Dn = [opts.Dn_pos, opts.Dn_pos];
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otherwise
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warning('Dn_type is not set correctly');
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end
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Dn = struct('time', t, 'signals', struct('values', Dn));
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%% Save
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save('mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Ts');
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end
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Reference in New Issue
Block a user