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Configurable Model: stages (solid/flexible)

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Thomas Dehaeze
2020-02-17 18:21:20 +01:00
parent 9a5841f3c0
commit aa2f3254c2
50 changed files with 779 additions and 106 deletions
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simscape_subsystems/axisc.slx
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simscape_subsystems/axisc_weld.slx
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simscape_subsystems/figs
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../figs/
../figs
simscape_subsystems/geophone_z_axis.slx
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simscape_subsystems/granite.slx
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simscape_subsystems/granite_3dof.slx
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simscape_subsystems/granite_rigid.slx
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simscape_subsystems/ground.slx
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simscape_subsystems/index.org
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@@ -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
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simscape_subsystems/translation_stage_modal_analysis.slx
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simscape_subsystems/translation_stage_rigid.slx
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