Continue analysis of optimal_stiffness
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mat/conf_log.mat
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mat/conf_log.mat
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mat/optimal_stiffness_micro_station_compliance.mat
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mat/optimal_stiffness_micro_station_compliance.mat
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mat/stages.mat
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mat/stages.mat
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matlab/optimal_stiffness.m
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matlab/optimal_stiffness.m
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@ -22,7 +22,7 @@
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:matlab+ :tangle ../matlab/optimal_stiffness.m
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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@ -73,6 +73,7 @@ The overall goal is to design a nano-hexapod that will allow the highest possibl
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#+end_src
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#+begin_src matlab
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load('mat/conf_simulink.mat');
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open('nass_model.slx')
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#+end_src
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@ -89,20 +90,15 @@ We initialize all the stages with the default parameters.
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initializeMirror();
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#+end_src
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The worst case scenario is a rotation speed of 60rpm with a payload mass of 1Kg.
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The worst case scenario is a rotation speed of 60rpm with a payload mass of 10Kg.
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#+begin_src matlab
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initializeSample('mass', 10);
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#+end_src
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We don't include gravity nor disturbances in this model as it adds complexity to the simulations and does not alter the obtained dynamics.
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#+begin_src matlab
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initializeSimscapeConfiguration('gravity', false);
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initializeSimscapeConfiguration('gravity', true);
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initializeDisturbances('enable', false);
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#+end_src
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We set the controller type to Open-Loop, and we do not need to log any signal.
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#+begin_src matlab
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initializeController('type', 'stabilizing');
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initializeLoggingConfiguration('log', 'none');
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#+end_src
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@ -121,20 +117,22 @@ We set the controller type to Open-Loop, and we do not need to log any signal.
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** Identification when not rotating
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We set the range of stiffness that we want to use.
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#+begin_src matlab
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Ks = logspace(3,9,7)
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Ks = logspace(3,9,7); % [N/m]
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#+end_src
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We don't move any stage and no controller is used.
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#+begin_src matlab
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initializeReferences();
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initializeController();
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#+end_src
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#+begin_src matlab
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#+begin_src matlab :exports none
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Gk_iff = {zeros(length(Ks))};
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Gk_dvf = {zeros(length(Ks))};
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Gk_err = {zeros(length(Ks))};
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#+end_src
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#+begin_src matlab
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#+begin_src matlab :exports none
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for i = 1:length(Ks)
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initializeNanoHexapod('k', Ks(i));
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@ -156,6 +154,7 @@ We set the range of stiffness that we want to use.
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#+end_src
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** Identification when rotating at maximum speed
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We now set the reference path such that the Spindle is rotating at 60rpm and such that it is at the zero position at the time of the identification.
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#+begin_src matlab
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Rz_rpm = 60;
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@ -168,17 +167,20 @@ We set the range of stiffness that we want to use.
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t_sim = Rz.time(i_end); % Simulation time before identification [s]
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#+end_src
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We here use a decentralized controller that is used to stabilize the nano-hexapod until the identification is made.
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This controller virtually adds stiffness in each of the nano-hexapod leg.
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#+begin_src matlab
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k_sta = -1e8;
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initializeController('type', 'stabilizing');
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#+end_src
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#+begin_src matlab
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#+begin_src matlab :exports none
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Gk_wz_iff = {zeros(length(Ks))};
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Gk_wz_dvf = {zeros(length(Ks))};
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Gk_wz_err = {zeros(length(Ks))};
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#+end_src
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#+begin_src matlab
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#+begin_src matlab :exports none
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for i = 1:length(Ks)
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initializeNanoHexapod('k', Ks(i));
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@ -199,13 +201,17 @@ We set the range of stiffness that we want to use.
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end
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#+end_src
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#+begin_src matlab
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#+begin_src matlab :exports none
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save('mat/optimal_stiffness_Gk_wz.mat', 'Ks', ...
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'Gk_iff', 'Gk_dvf', 'Gk_err', ...
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'Gk_wz_iff', 'Gk_wz_dvf', 'Gk_wz_err');
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#+end_src
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** Change of dynamics
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** TODO Change of dynamics
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- [ ] problem of dynamics at low frequency
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Check if gravity is a problem
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Think of a before way to identify the dynamics
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#+begin_src matlab :exports none
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load('mat/optimal_stiffness_Gk_wz.mat');
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#+end_src
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@ -397,11 +403,11 @@ Comparison of the coupling from $F_x$ to $D_y$ when rotating at 60rpm to the dir
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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@ -409,9 +415,337 @@ Comparison of the coupling from $F_x$ to $D_y$ when rotating at 60rpm to the dir
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#+end_src
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#+begin_src matlab
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load('mat/conf_simulink.mat');
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open('nass_model.slx')
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#+end_src
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** Identification of the micro-station compliance
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We initialize all the stages with the default parameters.
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#+begin_src matlab
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod('type', 'compliance');
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#+end_src
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We put nothing on top of the micro-hexapod.
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#+begin_src matlab
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initializeAxisc('type', 'none');
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initializeMirror('type', 'none');
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initializeNanoHexapod('type', 'none');
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initializeSample('type', 'none');
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#+end_src
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#+begin_src matlab :exports none
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initializeReferences();
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initializeDisturbances();
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initializeController();
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initializeSimscapeConfiguration();
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initializeLoggingConfiguration();
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#+end_src
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And we identify the dynamics from forces/torques applied on the micro-hexapod top platform to the motion of the micro-hexapod top platform at the same point.
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#+begin_src matlab :exports noone
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%% Name of the Simulink File
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Compliance/Fm'], 1, 'openinput'); io_i = io_i + 1; % Direct Forces/Torques applied on the micro-hexapod top platform
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Compliance/Dm'], 1, 'output'); io_i = io_i + 1; % Absolute displacement of the top platform
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%% Run the linearization
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Gm = linearize(mdl, io, 0);
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Gm.InputName = {'Fmx', 'Fmy', 'Fmz', 'Mmx', 'Mmy', 'Mmz'};
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Gm.OutputName = {'Dx', 'Dy', 'Dz', 'Drx', 'Dry', 'Drz'};
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#+end_src
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#+begin_src matlab :exports none
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labels = {'$D_x/F_{x}$', '$D_y/F_{y}$', '$D_z/F_{z}$', '$R_{x}/M_{x}$', '$R_{y}/M_{y}$', '$R_{R}/M_{z}$'};
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freqs = logspace(1, 3, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(Gm(1, 1), freqs, 'Hz'))), 'k-', 'DisplayName', labels{1});
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for i = 2:6
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plot(freqs, abs(squeeze(freqresp(Gm(1, i), freqs, 'Hz'))), 'DisplayName', labels{i});
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]');
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ylabel('Compliance');
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legend('location', 'northwest');
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#+end_src
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** Identification of the dynamics with a rigid micro-station
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*** Initialization
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#+begin_src matlab :exports none
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initializeReferences();
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initializeDisturbances();
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initializeController();
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initializeSimscapeConfiguration();
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initializeLoggingConfiguration();
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initializeSimscapeConfiguration('gravity', false);
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#+end_src
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#+begin_src matlab :exports none
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%% Name of the Simulink File
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1;
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#+end_src
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#+begin_src matlab
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Ks = logspace(3,9,7); % [N/m]
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#+end_src
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#+begin_src matlab
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initializeSample('type', 'rigid', 'mass', 20);
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#+end_src
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*** Rigid micro-station
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#+begin_src matlab
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initializeGround('type', 'rigid');
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initializeGranite('type', 'rigid');
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initializeTy('type', 'rigid');
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initializeRy('type', 'rigid');
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initializeRz('type', 'rigid');
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initializeMicroHexapod('type', 'rigid');
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initializeAxisc('type', 'rigid');
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initializeMirror('type', 'rigid');
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#+end_src
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#+begin_src matlab :exports none
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Gmr_iff = {zeros(length(Ks))};
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Gmr_dvf = {zeros(length(Ks))};
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Gmr_err = {zeros(length(Ks))};
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#+end_src
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#+begin_src matlab :exports none
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for i = 1:length(Ks)
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initializeNanoHexapod('k', Ks(i));
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G = linearize(mdl, io);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
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Gmr_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gmr_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Jinvt = tf(inv(nano_hexapod.J)');
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Jinvt.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
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Jinvt.OutputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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Gmr_err(i) = {-minreal(G({'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))*Jinvt};
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end
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#+end_src
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** Identification of the dynamics with a flexible micro-station
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*** Flexible micro-station
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#+begin_src matlab
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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#+end_src
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#+begin_src matlab :exports none
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Gmf_iff = {zeros(length(Ks))};
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Gmf_dvf = {zeros(length(Ks))};
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Gmf_err = {zeros(length(Ks))};
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#+end_src
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#+begin_src matlab :exports none
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for i = 1:length(Ks)
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initializeNanoHexapod('k', Ks(i));
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G = linearize(mdl, io);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
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Gmf_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Gmf_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
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Jinvt = tf(inv(nano_hexapod.J)');
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Jinvt.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
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Jinvt.OutputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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Gmf_err(i) = {-minreal(G({'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))*Jinvt};
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end
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#+end_src
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#+begin_src matlab :exports none
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save('mat/optimal_stiffness_micro_station_compliance.mat', 'Ks', ...
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'Gmr_iff', 'Gmr_dvf', 'Gmr_err', ...
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'Gmf_iff', 'Gmf_dvf', 'Gmf_err');
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#+end_src
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** Obtained Dynamics
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#+begin_src matlab :exports none
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load('mat/optimal_stiffness_micro_station_compliance.mat');
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#+end_src
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IFF plant
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#+begin_src matlab :exports none
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freqs = logspace(-1, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ks)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gmr_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gmf_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Ks)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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xlim([freqs(1), freqs(end)]);
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#+end_src
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DVF plant
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#+begin_src matlab :exports none
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freqs = logspace(-1, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:length(Ks)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gmr_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
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set(gca,'ColorOrderIndex',i);
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plot(freqs, abs(squeeze(freqresp(Gmf_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(Ks)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
X direction
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
Z direction
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gmr_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gmf_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
** Conclusion :ignore:
|
||||
* Payload "Impedance" Effect
|
||||
<<sec:payload_impedance>>
|
||||
@ -432,6 +766,7 @@ Comparison of the coupling from $F_x$ to $D_y$ when rotating at 60rpm to the dir
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
load('mat/conf_simulink.mat');
|
||||
open('nass_model.slx')
|
||||
#+end_src
|
||||
|
||||
@ -448,16 +783,17 @@ We initialize all the stages with the default parameters.
|
||||
initializeMirror();
|
||||
#+end_src
|
||||
|
||||
We don't include gravity nor disturbances in this model as it adds complexity to the simulations and does not alter the obtained dynamics.
|
||||
We don't include disturbances in this model as it adds complexity to the simulations and does not alter the obtained dynamics.
|
||||
#+begin_src matlab
|
||||
initializeSimscapeConfiguration('gravity', false);
|
||||
initializeSimscapeConfiguration('gravity', true);
|
||||
initializeDisturbances('enable', false);
|
||||
#+end_src
|
||||
|
||||
We set the controller type to Open-Loop, and we do not need to log any signal.
|
||||
#+begin_src matlab
|
||||
initializeController('type', 'stabilizing');
|
||||
initializeController();
|
||||
initializeLoggingConfiguration('log', 'none');
|
||||
initializeReferences();
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -472,27 +808,24 @@ We set the controller type to Open-Loop, and we do not need to log any signal.
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1;
|
||||
#+end_src
|
||||
|
||||
** Change of payload dynamics
|
||||
** Identification of the dynamics while change the payload dynamics
|
||||
- Change of mass: from 1kg to 50kg
|
||||
- Change of resonance frequency: from 50Hz to 500Hz
|
||||
- The damping ratio of the payload is fixed to $\xi = 0.2$
|
||||
|
||||
#+begin_src matlab
|
||||
initializeReferences();
|
||||
Ks = logspace(3,9,7) % [N/m]
|
||||
#+end_src
|
||||
|
||||
We identify the dynamics for the following payload masses =Ms= and nano-hexapod leg's stiffnesses =Ks=:
|
||||
#+begin_src matlab
|
||||
Ms = [1, 20, 50]; % [Kg]
|
||||
Ks = logspace(3,9,7); % [N/m]
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
Gm_iff = {zeros(length(Ks), length(Ms))};
|
||||
Gm_dvf = {zeros(length(Ks), length(Ms))};
|
||||
Gm_err = {zeros(length(Ks), length(Ms))};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Ms)
|
||||
initializeNanoHexapod('k', Ks(i));
|
||||
@ -515,17 +848,18 @@ We set the controller type to Open-Loop, and we do not need to log any signal.
|
||||
end
|
||||
#+end_src
|
||||
|
||||
We then identify the dynamics for the following payload resonance frequencies =Fs=:
|
||||
#+begin_src matlab
|
||||
Fs = [50, 200, 500]; % [Hz]
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
Gf_iff = {zeros(length(Ks), length(Fs))};
|
||||
Gf_dvf = {zeros(length(Ks), length(Fs))};
|
||||
Gf_err = {zeros(length(Ks), length(Fs))};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Fs)
|
||||
initializeNanoHexapod('k', Ks(i));
|
||||
@ -548,13 +882,12 @@ We set the controller type to Open-Loop, and we do not need to log any signal.
|
||||
end
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
#+begin_src matlab :exports none
|
||||
save('mat/optimal_stiffness_Gm_Gf.mat', 'Ks', 'Ms', 'Fs', ...
|
||||
'Gm_iff', 'Gm_dvf', 'Gm_err', ...
|
||||
'Gf_iff', 'Gf_dvf', 'Gf_err');
|
||||
#+end_src
|
||||
|
||||
** Plots
|
||||
** Change of optimal gain for decentralized control
|
||||
For each payload, compute the optimal gain for the IFF control.
|
||||
The optimal value corresponds to critical damping to *all* the 6 modes of the nano-hexapod.
|
||||
@ -1061,6 +1394,5 @@ For a stiff nano-hexapod
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
|
||||
** Conclusion :ignore:
|
||||
|
||||
* Total Change of dynamics
|
||||
|
||||
Loading…
Reference in New Issue
Block a user