From aa2f3254c2c33ea51914bd2a5a58006b0da83e6a Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Mon, 17 Feb 2020 18:21:20 +0100 Subject: [PATCH] Configurable Model: stages (solid/flexible) --- .../matlab/sim_nass_active_damping.slx | Bin 38653 -> 110960 bytes mat/conf_simulink.mat | Bin 0 -> 13438 bytes simscape_subsystems/axisc.slx | Bin 29652 -> 0 bytes simscape_subsystems/axisc_weld.slx | Bin 26872 -> 0 bytes simscape_subsystems/figs | 2 +- simscape_subsystems/geophone_z_axis.slx | Bin 25790 -> 0 bytes simscape_subsystems/granite.slx | Bin 31804 -> 0 bytes simscape_subsystems/granite_3dof.slx | Bin 32105 -> 0 bytes simscape_subsystems/granite_rigid.slx | Bin 25984 -> 0 bytes simscape_subsystems/ground.slx | Bin 26164 -> 0 bytes simscape_subsystems/index.org | 462 +++++++++++++++--- .../metrology_6dof_homog_transform.slx | Bin 26505 -> 0 bytes .../metrology_6dof_rotation_matrix.slx | Bin 24289 -> 0 bytes simscape_subsystems/micro_hexapod_F.slx | Bin 35515 -> 0 bytes simscape_subsystems/micro_hexapod_new.slx | Bin 31060 -> 31352 bytes simscape_subsystems/micro_hexapod_rigid.slx | Bin 63811 -> 0 bytes .../micro_hexapod_rigid_legs.slx | Bin 37359 -> 0 bytes .../micro_hexapod_rigid_simple.slx | Bin 56839 -> 0 bytes simscape_subsystems/nano_hexapod_D.slx | Bin 33721 -> 0 bytes simscape_subsystems/nano_hexapod_F.slx | Bin 33563 -> 33604 bytes .../nano_hexapod_cedrat_1dof.slx | Bin 51340 -> 0 bytes .../nano_hexapod_leg_rigid.slx | Bin 32274 -> 0 bytes simscape_subsystems/nano_hexapod_rigid.slx | Bin 33401 -> 0 bytes .../nano_hexapod_rigid_simple.slx | Bin 35890 -> 0 bytes simscape_subsystems/piezo_actuator_cedrat.slx | Bin 34948 -> 0 bytes .../piezo_actuator_cedrat_simple.slx | Bin 26222 -> 0 bytes simscape_subsystems/reference_mirror.slx | Bin 25520 -> 0 bytes simscape_subsystems/sample_environment.slx | Bin 27937 -> 0 bytes .../sample_environment_rigid.slx | Bin 27429 -> 0 bytes simscape_subsystems/spindle_D.slx | Bin 32032 -> 0 bytes simscape_subsystems/spindle_rigid.slx | Bin 28377 -> 0 bytes simscape_subsystems/tilt_stage_D.slx | Bin 42639 -> 0 bytes simscape_subsystems/tilt_stage_rigid.slx | Bin 32757 -> 0 bytes simscape_subsystems/translation_stage_D.slx | Bin 39588 -> 0 bytes simscape_subsystems/translation_stage_F.slx | Bin 37901 -> 0 bytes .../translation_stage_modal_analysis.slx | Bin 36444 -> 0 bytes .../translation_stage_rigid.slx | Bin 31021 -> 0 bytes src/initializeAxisc.m | 15 +- src/initializeController.m | 21 + src/initializeGranite.m | 18 +- src/initializeGround.m | 17 +- src/initializeMicroHexapod.m | 2 +- src/initializeMicroHexapodOld.m | 196 ++++++++ src/initializeMirror.m | 25 +- src/initializeReferences.m | 6 +- src/initializeRy.m | 34 +- src/initializeRz.m | 20 +- src/initializeSample.m | 26 +- src/initializeSimscapeConfiguration.m | 15 + src/initializeTy.m | 26 +- 50 files changed, 779 insertions(+), 106 deletions(-) create mode 100644 mat/conf_simulink.mat delete mode 100644 simscape_subsystems/axisc.slx delete mode 100644 simscape_subsystems/axisc_weld.slx delete mode 100644 simscape_subsystems/geophone_z_axis.slx delete mode 100644 simscape_subsystems/granite.slx delete mode 100644 simscape_subsystems/granite_3dof.slx delete mode 100644 simscape_subsystems/granite_rigid.slx delete mode 100644 simscape_subsystems/ground.slx delete mode 100644 simscape_subsystems/metrology_6dof_homog_transform.slx delete mode 100644 simscape_subsystems/metrology_6dof_rotation_matrix.slx delete mode 100644 simscape_subsystems/micro_hexapod_F.slx delete mode 100644 simscape_subsystems/micro_hexapod_rigid.slx delete mode 100644 simscape_subsystems/micro_hexapod_rigid_legs.slx delete mode 100644 simscape_subsystems/micro_hexapod_rigid_simple.slx delete mode 100644 simscape_subsystems/nano_hexapod_D.slx delete mode 100644 simscape_subsystems/nano_hexapod_cedrat_1dof.slx delete mode 100644 simscape_subsystems/nano_hexapod_leg_rigid.slx delete mode 100644 simscape_subsystems/nano_hexapod_rigid.slx delete mode 100644 simscape_subsystems/nano_hexapod_rigid_simple.slx delete mode 100644 simscape_subsystems/piezo_actuator_cedrat.slx delete mode 100644 simscape_subsystems/piezo_actuator_cedrat_simple.slx delete mode 100644 simscape_subsystems/reference_mirror.slx delete mode 100644 simscape_subsystems/sample_environment.slx delete mode 100644 simscape_subsystems/sample_environment_rigid.slx delete mode 100644 simscape_subsystems/spindle_D.slx delete mode 100644 simscape_subsystems/spindle_rigid.slx delete mode 100644 simscape_subsystems/tilt_stage_D.slx delete mode 100644 simscape_subsystems/tilt_stage_rigid.slx delete mode 100644 simscape_subsystems/translation_stage_D.slx delete mode 100644 simscape_subsystems/translation_stage_F.slx delete mode 100644 simscape_subsystems/translation_stage_modal_analysis.slx delete mode 100644 simscape_subsystems/translation_stage_rigid.slx create mode 100644 src/initializeController.m create mode 100644 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z(L;=XVWOfW{-Zp!NMm#=dMfY_>c2jwc)w78%Lqnipa;tQ*#2LK&KBjqe_o2{@iOQb z^q7+i3^mH8`~!0ldV&r@kJz{Xt)Sw+e}eu?;08JoJ?7zpSb@6pp%MS_knvaO13D5t zLg4}lzxfOD_do@72ztZx1q2I~M)6Y@diyjw27P7k1tydK7tGHc`)i#qIt2Zp>jI*v z^(V;R_c?S9`m@jl=j>O`pP!7-Vd!4>0%nVv=6?>*ADk~b3EdQ4kit=h=6BNH77?9+ zZpkhfYWlx0{+>VoV9?Ns=zi*gi2M`rKe;P(EV>Q4z=j(9LFj)lMd(y?`*J~LH2eb< z&CHjO%-^~a*4BbCmz{HIHAnm`q33NF6jDG=N{S}Tj|EnotqvnbqK?qa; NbJQKa{)fK-{12}V9QObK diff --git a/simscape_subsystems/index.org b/simscape_subsystems/index.org index d98b951..d8911e7 100644 --- a/simscape_subsystems/index.org +++ b/simscape_subsystems/index.org @@ -42,7 +42,6 @@ :END: * Introduction :ignore: - The full Simscape Model is represented in Figure [[fig:simscape_picture]]. #+name: fig:simscape_picture @@ -56,6 +55,59 @@ Each stage is configured (geometry, mass properties, dynamic properties ...) usi These functions are defined below. +* Simscape Configuration +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeSimscapeConfiguration.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +** Function description +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + function [] = initializeSimscapeConfiguration(args) +#+end_src + +** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + args.gravity logical {mustBeNumericOrLogical} = true + end +#+end_src + +** Structure initialization +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + conf_simscape = struct(); +#+end_src + +** Add Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + if args.gravity + conf_simscape.type = 1; + else + conf_simscape.type = 2; + end +#+end_src + +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + save('./mat/conf_simscape.mat', 'conf_simscape'); +#+end_src + * Ground :PROPERTIES: :header-args:matlab+: :tangle ../src/initializeGround.m @@ -87,21 +139,55 @@ The model of the Ground is composed of: :UNNUMBERED: t :END: #+begin_src matlab - function [ground] = initializeGround() + function [ground] = initializeGround(args) #+end_src -** Function content +** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + args.type char {mustBeMember(args.type,{'none', 'solid'})} = 'solid' + end +#+end_src + +** Structure initialization +:PROPERTIES: +:UNNUMBERED: t +:END: First, we initialize the =granite= structure. #+begin_src matlab ground = struct(); #+end_src -We set the shape and density of the ground solid element. +** Add Type +:PROPERTIES: +:UNNUMBERED: t +:END: #+begin_src matlab - ground.shape = [2, 2, 0.5]; % [m] - ground.density = 2800; % [kg/m3] + switch args.type + case 'none' + ground.type = 0; + case 'solid' + ground.type = 1; + end #+end_src +** Ground Solid properties +:PROPERTIES: +:UNNUMBERED: t +:END: +We set the shape and density of the ground solid element. +#+begin_src matlab + ground.shape = [2, 2, 0.5]; % [m] + ground.density = 2800; % [kg/m3] +#+end_src + +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =ground= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'ground', '-append'); @@ -148,15 +234,17 @@ The output =sample_pos= corresponds to the impact point of the X-ray. :UNNUMBERED: t :END: #+begin_src matlab - arguments - args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3] - args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m] - end + arguments + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible' + args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3] + args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m] + end #+end_src -** Function content + +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -165,6 +253,25 @@ First, we initialize the =granite= structure. granite = struct(); #+end_src +** Add Granite Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + granite.type = 0; + case 'rigid' + granite.type = 1; + case 'flexible' + granite.type = 2; + end +#+end_src + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: Properties of the Material and link to the geometry of the granite. #+begin_src matlab granite.density = args.density; % [kg/m3] @@ -197,6 +304,10 @@ Z-offset for the initial position of the sample with respect to the granite top granite.sample_pos = 0.8; % [m] #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =granite= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'granite', '-append'); @@ -247,18 +358,19 @@ The Simscape model of the Translation stage consist of: :END: #+begin_src matlab arguments - args.x11 (1,1) double {mustBeNumeric} = 0 % [m] - args.z11 (1,1) double {mustBeNumeric} = 0 % [m] - args.x21 (1,1) double {mustBeNumeric} = 0 % [m] - args.z21 (1,1) double {mustBeNumeric} = 0 % [m] - args.x12 (1,1) double {mustBeNumeric} = 0 % [m] - args.z12 (1,1) double {mustBeNumeric} = 0 % [m] - args.x22 (1,1) double {mustBeNumeric} = 0 % [m] - args.z22 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x11 (1,1) double {mustBeNumeric} = 0 % [m] + args.z11 (1,1) double {mustBeNumeric} = 0 % [m] + args.x21 (1,1) double {mustBeNumeric} = 0 % [m] + args.z21 (1,1) double {mustBeNumeric} = 0 % [m] + args.x12 (1,1) double {mustBeNumeric} = 0 % [m] + args.z12 (1,1) double {mustBeNumeric} = 0 % [m] + args.x22 (1,1) double {mustBeNumeric} = 0 % [m] + args.z22 (1,1) double {mustBeNumeric} = 0 % [m] end #+end_src -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -267,6 +379,27 @@ First, we initialize the =ty= structure. ty = struct(); #+end_src + +** Add Translation Stage Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + ty.type = 0; + case 'rigid' + ty.type = 1; + case 'flexible' + ty.type = 2; + end +#+end_src + + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: Define the density of the materials as well as the geometry (STEP files). #+begin_src matlab % Ty Granite frame @@ -330,6 +463,10 @@ Equilibrium position of the joints. ty.z0_22 = args.z22; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =ty= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'ty', '-append'); @@ -380,22 +517,23 @@ The Simscape model of the Tilt stage is composed of: :END: #+begin_src matlab arguments - args.x11 (1,1) double {mustBeNumeric} = 0 % [m] - args.y11 (1,1) double {mustBeNumeric} = 0 % [m] - args.z11 (1,1) double {mustBeNumeric} = 0 % [m] - args.x12 (1,1) double {mustBeNumeric} = 0 % [m] - args.y12 (1,1) double {mustBeNumeric} = 0 % [m] - args.z12 (1,1) double {mustBeNumeric} = 0 % [m] - args.x21 (1,1) double {mustBeNumeric} = 0 % [m] - args.y21 (1,1) double {mustBeNumeric} = 0 % [m] - args.z21 (1,1) double {mustBeNumeric} = 0 % [m] - args.x22 (1,1) double {mustBeNumeric} = 0 % [m] - args.y22 (1,1) double {mustBeNumeric} = 0 % [m] - args.z22 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x11 (1,1) double {mustBeNumeric} = 0 % [m] + args.y11 (1,1) double {mustBeNumeric} = 0 % [m] + args.z11 (1,1) double {mustBeNumeric} = 0 % [m] + args.x12 (1,1) double {mustBeNumeric} = 0 % [m] + args.y12 (1,1) double {mustBeNumeric} = 0 % [m] + args.z12 (1,1) double {mustBeNumeric} = 0 % [m] + args.x21 (1,1) double {mustBeNumeric} = 0 % [m] + args.y21 (1,1) double {mustBeNumeric} = 0 % [m] + args.z21 (1,1) double {mustBeNumeric} = 0 % [m] + args.x22 (1,1) double {mustBeNumeric} = 0 % [m] + args.y22 (1,1) double {mustBeNumeric} = 0 % [m] + args.z22 (1,1) double {mustBeNumeric} = 0 % [m] end #+end_src -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -404,6 +542,28 @@ First, we initialize the =ry= structure. ry = struct(); #+end_src + +** Add Tilt Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + ry.type = 0; + case 'rigid' + ry.type = 1; + case 'flexible' + ry.type = 2; + end +#+end_src + + + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: Properties of the Material and link to the geometry of the Tilt stage. #+begin_src matlab % Ry - Guide for the tilt stage @@ -460,6 +620,10 @@ Z-Offset so that the center of rotation matches the sample center; ry.z_offset = 0.58178; % [m] #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =ty= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'ry', '-append'); @@ -506,15 +670,16 @@ The Simscape model of the Spindle is composed of: :END: #+begin_src matlab arguments - args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] - args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] + args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] end #+end_src -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -523,6 +688,26 @@ First, we initialize the =rz= structure. rz = struct(); #+end_src + +** Add Spindle Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + rz.type = 0; + case 'rigid' + rz.type = 1; + case 'flexible' + rz.type = 2; + end +#+end_src + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: Properties of the Material and link to the geometry of the spindle. #+begin_src matlab % Spindle - Slip Ring @@ -563,6 +748,10 @@ Equilibrium position of the joints. rz.ry0 = args.ry0; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =rz= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'rz', '-append'); @@ -661,6 +850,10 @@ Equilibrium position of the each joint. micro_hexapod.dLeq = args.dLeq; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =micro_hexapod= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'micro_hexapod', '-append'); @@ -697,16 +890,20 @@ The Simscape model of the Center of gravity compensator is composed of: :UNNUMBERED: t :END: #+begin_src matlab - function [axisc] = initializeAxisc() + function [axisc] = initializeAxisc(args) #+end_src ** Optional Parameters :PROPERTIES: :UNNUMBERED: t :END: +#+begin_src matlab + arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + end +#+end_src - -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -715,6 +912,25 @@ First, we initialize the =axisc= structure. axisc = struct(); #+end_src +** Add Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + axisc.type = 0; + case 'rigid' + axisc.type = 1; + case 'flexible' + axisc.type = 2; + end +#+end_src + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: Properties of the Material and link to the geometry files. #+begin_src matlab % Structure @@ -734,6 +950,10 @@ Properties of the Material and link to the geometry files. axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP'; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =axisc= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'axisc', '-append'); @@ -778,12 +998,13 @@ The output =mirror_center= corresponds to the center of the Sphere and is the po :END: #+begin_src matlab arguments - args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical' - args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg] + args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid' + args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical' + args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg] end #+end_src -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -792,13 +1013,41 @@ First, we initialize the =mirror= structure. mirror = struct(); #+end_src +** Add Mirror Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + mirror.type = 0; + case 'rigid' + mirror.type = 1; + end +#+end_src + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: We define the geometrical values. #+begin_src matlab mirror.h = 50; % Height of the mirror [mm] + mirror.thickness = 25; % Thickness of the plate supporting the sample [mm] + mirror.hole_rad = 120; % radius of the hole in the mirror [mm] + mirror.support_rad = 100; % radius of the support plate [mm] - mirror.jacobian = 150; % point of interest offset in z (above the top surfave) [mm] + + % point of interest offset in z (above the top surfave) [mm] + switch args.type + case 'none' + mirror.jacobian = 200; + case 'rigid' + mirror.jacobian = 200 - mirror.h; + end + mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm] #+end_src @@ -841,6 +1090,10 @@ Finally, we close the shape. mirror.shape = [mirror.shape; 0 mirror.h]; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =mirror= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'mirror', '-append'); @@ -942,6 +1195,10 @@ The =mirror= structure is saved. nano_hexapod.dLeq = args.dLeq; #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: #+begin_src matlab save('./mat/stages.mat', 'nano_hexapod', '-append'); #+end_src @@ -989,18 +1246,19 @@ The Simscape model of the sample environment is composed of: :END: #+begin_src matlab arguments - args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] - args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] - args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] - args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] - args.offset (1,1) double {mustBeNumeric} = 0 % [m] - args.x0 (1,1) double {mustBeNumeric} = 0 % [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible' + args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] + args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] + args.offset (1,1) double {mustBeNumeric} = 0 % [m] + args.x0 (1,1) double {mustBeNumeric} = 0 % [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % [m] end #+end_src -** Function content +** Structure initialization :PROPERTIES: :UNNUMBERED: t :END: @@ -1009,6 +1267,25 @@ First, we initialize the =sample= structure. sample = struct(); #+end_src +** Add Sample Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'none' + sample.type = 0; + case 'rigid' + sample.type = 1; + case 'flexible' + sample.type = 2; + end +#+end_src + +** Function content +:PROPERTIES: +:UNNUMBERED: t +:END: We define the geometrical parameters of the sample as well as its mass and position. #+begin_src matlab sample.radius = args.radius; % [m] @@ -1038,11 +1315,82 @@ Equilibrium position of the Cartesian joint corresponding to the sample fixation sample.z0 = args.z0; % [m] #+end_src +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: The =sample= structure is saved. #+begin_src matlab save('./mat/stages.mat', 'sample', '-append'); #+end_src +* Initialize Controller +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeController.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +** Function Declaration and Documentation +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + function [] = initializeController(args) +#+end_src + +** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf'})} = 'open-loop' + args.K (6,6) = ss(zeros(6, 6)) + end +#+end_src + +** Structure initialization +:PROPERTIES: +:UNNUMBERED: t +:END: +First, we initialize the =controller= structure. +#+begin_src matlab + controller = struct(); +#+end_src + +** Controller Type +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + switch args.type + case 'open-loop' + controller.type = 1; + case 'dvf' + controller.type = 2; + case 'iff' + controller.type = 3; + end +#+end_src + +** Control Law +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + controller.K = args.K; +#+end_src + +** Save the Structure +:PROPERTIES: +:UNNUMBERED: t +:END: +The =controller= structure is saved. +#+begin_src matlab + save('./mat/controller.mat', 'controller'); +#+end_src + * 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initializeAxisc(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' +end axisc = struct(); +switch args.type + case 'none' + axisc.type = 0; + case 'rigid' + axisc.type = 1; + case 'flexible' + axisc.type = 2; +end + % Structure axisc.structure.density = 3400; % [kg/m3] axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP'; diff --git a/src/initializeController.m b/src/initializeController.m new file mode 100644 index 0000000..b5f39d2 --- /dev/null +++ b/src/initializeController.m @@ -0,0 +1,21 @@ +function [] = initializeController(args) + +arguments + args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf'})} = 'open-loop' + args.K (6,6) = ss(zeros(6, 6)) +end + +controller = struct(); + +switch args.type + case 'open-loop' + controller.type = 1; + case 'dvf' + controller.type = 2; + case 'iff' + controller.type = 3; +end + +controller.K = args.K; + +save('./mat/controller.mat', 'controller'); diff --git a/src/initializeGranite.m b/src/initializeGranite.m index 7529112..88807ae 100644 --- a/src/initializeGranite.m +++ b/src/initializeGranite.m @@ -1,14 +1,24 @@ function [granite] = initializeGranite(args) arguments - args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3] - args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m] + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible' + args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3] + args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m] end granite = struct(); +switch args.type + case 'none' + granite.type = 0; + case 'rigid' + granite.type = 1; + case 'flexible' + granite.type = 2; +end + granite.density = args.density; % [kg/m3] granite.STEP = './STEPS/granite/granite.STEP'; diff --git a/src/initializeGround.m b/src/initializeGround.m index a5716c9..457ca07 100644 --- a/src/initializeGround.m +++ b/src/initializeGround.m @@ -1,8 +1,19 @@ -function [ground] = initializeGround() +function [ground] = initializeGround(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'solid'})} = 'solid' +end ground = struct(); -ground.shape = [2, 2, 0.5]; % [m] -ground.density = 2800; % [kg/m3] +switch args.type + case 'none' + ground.type = 0; + case 'solid' + ground.type = 1; +end + +ground.shape = [2, 2, 0.5]; % [m] +ground.density = 2800; % [kg/m3] save('./mat/stages.mat', 'ground', '-append'); diff --git a/src/initializeMicroHexapod.m b/src/initializeMicroHexapod.m index e464a44..cb2a71c 100644 --- a/src/initializeMicroHexapod.m +++ b/src/initializeMicroHexapod.m @@ -1,4 +1,4 @@ -function [micro_hexapod] = initializeMicroHexapodNew(args) +function [micro_hexapod] = initializeMicroHexapod(args) arguments % initializeFramesPositions diff --git a/src/initializeMicroHexapodOld.m b/src/initializeMicroHexapodOld.m new file mode 100644 index 0000000..41da308 --- /dev/null +++ b/src/initializeMicroHexapodOld.m @@ -0,0 +1,196 @@ +function [micro_hexapod] = initializeMicroHexapod(args) + arguments + args.rigid logical {mustBeNumericOrLogical} = false + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + end + + %% Stewart Object + micro_hexapod = struct(); + micro_hexapod.h = 350; % Total height of the platform [mm] + micro_hexapod.jacobian = 270; % Distance from the top of the mobile platform to the Jacobian point [mm] + + %% Bottom Plate - Mechanical Design + BP = struct(); + + BP.rad.int = 110; % Internal Radius [mm] + BP.rad.ext = 207.5; % External Radius [mm] + BP.thickness = 26; % Thickness [mm] + BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm] + BP.leg.ang = 9.5; % Angle Offset [deg] + BP.density = 8000; % Density of the material [kg/m^3] + BP.color = [0.6 0.6 0.6]; % Color [rgb] + BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness]; + + %% Top Plate - Mechanical Design + TP = struct(); + + TP.rad.int = 82; % Internal Radius [mm] + TP.rad.ext = 150; % Internal Radius [mm] + TP.thickness = 26; % Thickness [mm] + TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm] + TP.leg.ang = 12.1; % Angle Offset [deg] + TP.density = 8000; % Density of the material [kg/m^3] + TP.color = [0.6 0.6 0.6]; % Color [rgb] + TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness]; + + %% Struts + Leg = struct(); + + Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] + if args.rigid + Leg.k.ax = 1e12; % Stiffness of each leg [N/m] + else + Leg.k.ax = 2e7; % Stiffness of each leg [N/m] + end + Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) [] + Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] + Leg.rad.top = 17; % Radius of the cylinder of the top part [mm] + Leg.density = 8000; % Density of the material [kg/m^3] + Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb] + Leg.color.top = [0.5 0.5 0.5]; % Color [rgb] + + Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm] + Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm] + Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg] + Leg = updateDamping(Leg); + + + %% Sphere + SP = struct(); + + SP.height.bottom = 27; % [mm] + SP.height.top = 27; % [mm] + SP.density.bottom = 8000; % [kg/m^3] + SP.density.top = 8000; % [kg/m^3] + SP.color.bottom = [0.6 0.6 0.6]; % [rgb] + SP.color.top = [0.6 0.6 0.6]; % [rgb] + SP.k.ax = 0; % [N*m/deg] + SP.ksi.ax = 10; + + SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] + SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] + SP.rad.bottom = Leg.sphere.bottom; % [mm] + SP.rad.top = Leg.sphere.top; % [mm] + SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg] + + SP = updateDamping(SP); + + %% + Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom]; + Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top]; + + %% + micro_hexapod.BP = BP; + micro_hexapod.TP = TP; + micro_hexapod.Leg = Leg; + micro_hexapod.SP = SP; + + %% + micro_hexapod = initializeParameters(micro_hexapod); + + %% Setup equilibrium position of each leg + micro_hexapod.L0 = inverseKinematicsHexapod(micro_hexapod, args.AP, args.ARB); + + %% Save + save('./mat/stages.mat', 'micro_hexapod', '-append'); + + %% + function [element] = updateDamping(element) + field = fieldnames(element.k); + for i = 1:length(field) + element.c.(field{i}) = 2*element.ksi.(field{i})*sqrt(element.k.(field{i})*element.m); + end + end + + %% + function [stewart] = initializeParameters(stewart) + %% Connection points on base and top plate w.r.t. World frame at the center of the base plate + stewart.pos_base = zeros(6, 3); + stewart.pos_top = zeros(6, 3); + + alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) + alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top + + height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO + + radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base + radius_t = stewart.TP.leg.rad*0.001; % top radius in meters + + for i = 1:3 + % base points + angle_m_b = (2*pi/3)* (i-1) - alpha_b; + angle_p_b = (2*pi/3)* (i-1) + alpha_b; + stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0]; + stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0]; + + % top points + % Top points are 60 degrees offset + angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6; + angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6; + stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height]; + stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height]; + end + + % permute pos_top points so that legs are end points of base and top points + stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom + stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)]; + + %% leg vectors + legs = stewart.pos_top - stewart.pos_base; + leg_length = zeros(6, 1); + leg_vectors = zeros(6, 3); + for i = 1:6 + leg_length(i) = norm(legs(i,:)); + leg_vectors(i,:) = legs(i,:) / leg_length(i); + end + + stewart.Leg.lenght = 1000*leg_length(1)/1.5; + stewart.Leg.shape.bot = [0 0; ... + stewart.Leg.rad.bottom 0; ... + stewart.Leg.rad.bottom stewart.Leg.lenght; ... + stewart.Leg.rad.top stewart.Leg.lenght; ... + stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ... + 0 0.2*stewart.Leg.lenght]; + + %% Calculate revolute and cylindrical axes + rev1 = zeros(6, 3); + rev2 = zeros(6, 3); + cyl1 = zeros(6, 3); + for i = 1:6 + rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]); + rev1(i,:) = rev1(i,:) / norm(rev1(i,:)); + + rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:)); + rev2(i,:) = rev2(i,:) / norm(rev2(i,:)); + + cyl1(i,:) = leg_vectors(i,:); + end + + + %% Coordinate systems + stewart.lower_leg = struct('rotation', eye(3)); + stewart.upper_leg = struct('rotation', eye(3)); + + for i = 1:6 + stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; + stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; + end + + %% Position Matrix + stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)]; + + %% Compute Jacobian Matrix + aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)]; + stewart.J = getJacobianMatrix(leg_vectors', aa'); + end + + %% + function J = getJacobianMatrix(RM, M_pos_base) + % RM: [3x6] unit vector of each leg in the fixed frame + % M_pos_base: [3x6] vector of the leg connection at the top platform location in the fixed frame + J = zeros(6); + J(:, 1:3) = RM'; + J(:, 4:6) = cross(M_pos_base, RM)'; + end +end diff --git a/src/initializeMirror.m b/src/initializeMirror.m index 71b2594..5c3ae2c 100644 --- a/src/initializeMirror.m +++ b/src/initializeMirror.m @@ -1,17 +1,36 @@ function [] = initializeMirror(args) arguments - args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical' - args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg] + args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid' + args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical' + args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg] end mirror = struct(); +switch args.type + case 'none' + mirror.type = 0; + case 'rigid' + mirror.type = 1; +end + mirror.h = 50; % Height of the mirror [mm] + mirror.thickness = 25; % Thickness of the plate supporting the sample [mm] + mirror.hole_rad = 120; % radius of the hole in the mirror [mm] + mirror.support_rad = 100; % radius of the support plate [mm] -mirror.jacobian = 150; % point of interest offset in z (above the top surfave) [mm] + +% point of interest offset in z (above the top surfave) [mm] +switch args.type + case 'none' + mirror.jacobian = 200; + case 'rigid' + mirror.jacobian = 200 - mirror.h; +end + mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm] mirror.density = 2400; % Density of the material [kg/m3] diff --git a/src/initializeReferences.m b/src/initializeReferences.m index edeb59e..efc9e30 100644 --- a/src/initializeReferences.m +++ b/src/initializeReferences.m @@ -54,9 +54,9 @@ Dyd = zeros(length(t), 1); Dydd = zeros(length(t), 1); switch args.Dy_type case 'constant' - Dy(:) = args.Dy_amplitude; - Dyd(:) = 0; - Dydd(:) = 0; + Dy(:) = args.Dy_amplitude; + Dyd(:) = 0; + Dydd(:) = 0; case 'triangular' % This is done to unsure that we start with no displacement Dy_raw = args.Dy_amplitude*sawtooth(2*pi*t/args.Dy_period,1/2); diff --git a/src/initializeRy.m b/src/initializeRy.m index 28d8abc..b61375f 100644 --- a/src/initializeRy.m +++ b/src/initializeRy.m @@ -1,22 +1,32 @@ function [ry] = initializeRy(args) arguments - args.x11 (1,1) double {mustBeNumeric} = 0 % [m] - args.y11 (1,1) double {mustBeNumeric} = 0 % [m] - args.z11 (1,1) double {mustBeNumeric} = 0 % [m] - args.x12 (1,1) double {mustBeNumeric} = 0 % [m] - args.y12 (1,1) double {mustBeNumeric} = 0 % [m] - args.z12 (1,1) double {mustBeNumeric} = 0 % [m] - args.x21 (1,1) double {mustBeNumeric} = 0 % [m] - args.y21 (1,1) double {mustBeNumeric} = 0 % [m] - args.z21 (1,1) double {mustBeNumeric} = 0 % [m] - args.x22 (1,1) double {mustBeNumeric} = 0 % [m] - args.y22 (1,1) double {mustBeNumeric} = 0 % [m] - args.z22 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x11 (1,1) double {mustBeNumeric} = 0 % [m] + args.y11 (1,1) double {mustBeNumeric} = 0 % [m] + args.z11 (1,1) double {mustBeNumeric} = 0 % [m] + args.x12 (1,1) double {mustBeNumeric} = 0 % [m] + args.y12 (1,1) double {mustBeNumeric} = 0 % [m] + args.z12 (1,1) double {mustBeNumeric} = 0 % [m] + args.x21 (1,1) double {mustBeNumeric} = 0 % [m] + args.y21 (1,1) double {mustBeNumeric} = 0 % [m] + args.z21 (1,1) double {mustBeNumeric} = 0 % [m] + args.x22 (1,1) double {mustBeNumeric} = 0 % [m] + args.y22 (1,1) double {mustBeNumeric} = 0 % [m] + args.z22 (1,1) double {mustBeNumeric} = 0 % [m] end ry = struct(); +switch args.type + case 'none' + ry.type = 0; + case 'rigid' + ry.type = 1; + case 'flexible' + ry.type = 2; +end + % Ry - Guide for the tilt stage ry.guide.density = 7800; % [kg/m3] ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP'; diff --git a/src/initializeRz.m b/src/initializeRz.m index 6c23788..5eb78b8 100644 --- a/src/initializeRz.m +++ b/src/initializeRz.m @@ -1,15 +1,25 @@ function [rz] = initializeRz(args) arguments - args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] - args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] - args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m] + args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] + args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad] end rz = struct(); +switch args.type + case 'none' + rz.type = 0; + case 'rigid' + rz.type = 1; + case 'flexible' + rz.type = 2; +end + % Spindle - Slip Ring rz.slipring.density = 7800; % [kg/m3] rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP'; diff --git a/src/initializeSample.m b/src/initializeSample.m index 6251729..6dd558a 100644 --- a/src/initializeSample.m +++ b/src/initializeSample.m @@ -1,18 +1,28 @@ function [sample] = initializeSample(args) arguments - args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] - args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] - args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] - args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] - args.offset (1,1) double {mustBeNumeric} = 0 % [m] - args.x0 (1,1) double {mustBeNumeric} = 0 % [m] - args.y0 (1,1) double {mustBeNumeric} = 0 % [m] - args.z0 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible' + args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] + args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 100 % [Hz] + args.offset (1,1) double {mustBeNumeric} = 0 % [m] + args.x0 (1,1) double {mustBeNumeric} = 0 % [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % [m] end sample = struct(); +switch args.type + case 'none' + sample.type = 0; + case 'rigid' + sample.type = 1; + case 'flexible' + sample.type = 2; +end + sample.radius = args.radius; % [m] sample.height = args.height; % [m] sample.mass = args.mass; % [kg] diff --git a/src/initializeSimscapeConfiguration.m b/src/initializeSimscapeConfiguration.m new file mode 100644 index 0000000..ba93c9f --- /dev/null +++ b/src/initializeSimscapeConfiguration.m @@ -0,0 +1,15 @@ +function [] = initializeSimscapeConfiguration(args) + +arguments + args.gravity logical {mustBeNumericOrLogical} = true +end + +conf_simscape = struct(); + +if args.gravity + conf_simscape.type = 1; +else + conf_simscape.type = 2; +end + +save('./mat/conf_simscape.mat', 'conf_simscape'); diff --git a/src/initializeTy.m b/src/initializeTy.m index 237d1f1..276c849 100644 --- a/src/initializeTy.m +++ b/src/initializeTy.m @@ -1,18 +1,28 @@ function [ty] = initializeTy(args) arguments - args.x11 (1,1) double {mustBeNumeric} = 0 % [m] - args.z11 (1,1) double {mustBeNumeric} = 0 % [m] - args.x21 (1,1) double {mustBeNumeric} = 0 % [m] - args.z21 (1,1) double {mustBeNumeric} = 0 % [m] - args.x12 (1,1) double {mustBeNumeric} = 0 % [m] - args.z12 (1,1) double {mustBeNumeric} = 0 % [m] - args.x22 (1,1) double {mustBeNumeric} = 0 % [m] - args.z22 (1,1) double {mustBeNumeric} = 0 % [m] + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' + args.x11 (1,1) double {mustBeNumeric} = 0 % [m] + args.z11 (1,1) double {mustBeNumeric} = 0 % [m] + args.x21 (1,1) double {mustBeNumeric} = 0 % [m] + args.z21 (1,1) double {mustBeNumeric} = 0 % [m] + args.x12 (1,1) double {mustBeNumeric} = 0 % [m] + args.z12 (1,1) double {mustBeNumeric} = 0 % [m] + args.x22 (1,1) double {mustBeNumeric} = 0 % [m] + args.z22 (1,1) double {mustBeNumeric} = 0 % [m] end ty = struct(); +switch args.type + case 'none' + ty.type = 0; + case 'rigid' + ty.type = 1; + case 'flexible' + ty.type = 2; +end + % Ty Granite frame ty.granite_frame.density = 7800; % [kg/m3] => 43kg ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';

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