Configurable Model: stages (solid/flexible)

simscape_subsystems/figs

@@ -1 +1 @@
-../figs/
+../figs

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:
+<<sec:initializeSimscapeConfiguration>>
+
+** 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:
+<<sec:initializeController>>
+
+** 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
+
 * Generate Reference Signals
 :PROPERTIES:
 :header-args:matlab+: :tangle ../src/initializeReferences.m