Add NASS LIBRARY for simscape

demonstration/sample_pos_init.m

@@ -3,7 +3,7 @@ clear; close all; clc;
 
 %% Initialize simulation configuration
 opts_sim = struct(...
-    'Tsim', 1 ...
+    'Tsim', 1     ...
 );
 
 initializeSimConf(opts_sim);
@@ -14,10 +14,10 @@ load('./mat/sim_conf.mat', 'sim_conf')
 time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
 
 % Translation Stage
-ty = 0.05*ones(length(time_vector), 1);
+ty = 0*ones(length(time_vector), 1);
 
 % Tilt Stage
-ry = 2*pi*(3/360)*ones(length(time_vector), 1);
+ry = 2*pi*(0/360)*ones(length(time_vector), 1);
 % ry = 2*pi*(3/360)*sin(2*pi*time_vector);
 
 % Spindle

identification/id_G_d_plots.m

@@ -2,7 +2,7 @@
 clear; close all; clc;
 
 %% Load the identified transfer functions
-save('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
+load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
 
 %% Load Configuration file
 load('./mat/config.mat', 'save_fig', 'freqs');

identification/id_flexible_rigid.m

@@ -13,7 +13,7 @@ options = linearizeOptions;
 options.SampleTime = 0;
 
 %% Name of the Simulink File
-mdl = 'simscape_id_micro_station';
+mdl = 'sim_micro_station';
 
 %% Micro-Hexapod
 % Input/Output definition
@@ -32,11 +32,11 @@ G_ms_flexible = linearize(mdl, io, 0);
 
 % Input/Output names
 G_ms_flexible.InputName  = {'Fmx', 'Fmy', 'Fmz',...
-                   'Fgx', 'Fgy', 'Fgz'};
+                            'Fgx', 'Fgy', 'Fgz'};
 G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
-                   'Tyx', 'Tyy', 'Tyz', ...
+                            'Tyx', 'Tyy', 'Tyz', ...
-                   'Ryx', 'Ryy', 'Ryz', ...
+                            'Ryx', 'Ryy', 'Ryz', ...
-                   'Dgx', 'Dgy', 'Dgz'};
+                            'Dgx', 'Dgy', 'Dgz'};
 
 %% Run the linearization
 initializeTy(struct('rigid', true));

identification/id_main.m

@@ -30,3 +30,13 @@ run id_stages.m
 
 % Plot de obtained transfer functions
 run id_stages_plots.m
+
+%% Identification of the variation of the plant
+run id_plant_variation.m
+
+run id_plant_variation_plots.m
+
+%% Study the effect of the flexibility of each Stage
+run id_flexible_rigid.m
+
+run id_flexible_rigid_plots.m

identification/id_micro_station.m

@@ -11,7 +11,7 @@ options = linearizeOptions;
 options.SampleTime = 0;
 
 %% Name of the Simulink File
-mdl = 'simscape_id_micro_station';
+mdl = 'sim_micro_station';
 
 %% Micro-Hexapod
 % Input/Output definition

identification/id_nano_station.m

@@ -2,8 +2,9 @@
 clear; close all; clc;
 
 %%
+K     = tf(zeros(6));
 K_iff = tf(zeros(6));
-save('./mat/controllers.mat', 'K_iff', '-append');
+save('./mat/controllers.mat', 'K', 'K_iff', '-append');
 
 %% Light Sample
 initializeSample(struct('mass', 1));

initialize/initializeGranite.m

@@ -1,10 +1,17 @@
-function [] = initializeGranite()
+function [granite] = initializeGranite()
     %%
     granite = struct();
 
     granite.m = 2000; % [kg]
-    granite.k.ax = 1e8; % [N/m] x-y-z Stiffness of the granite
+
-    granite.c.ax = 1e4; % [N/(m/s)]
+    granite.k.x = 1e8; % [N/m]
+    granite.c.x = 1e4; % [N/(m/s)]
+
+    granite.k.y = 1e8; % [N/m]
+    granite.c.y = 1e4; % [N/(m/s)]
+
+    granite.k.z = 1e8; % [N/m]
+    granite.c.z = 1e4; % [N/(m/s)]
 
     %% Save
     save('./mat/stages.mat', 'granite', '-append');

initialize/initializeMicroHexapod.m

@@ -1,4 +1,4 @@
-function [] = initializeMicroHexapod(opts_param)
+function [micro_hexapod] = initializeMicroHexapod(opts_param)
     %% Default values for opts
     opts = struct();
 

initialize/initializeSample.m

@@ -1,4 +1,4 @@
-function [] = initializeSample(opts_param)
+function [sample] = initializeSample(opts_param)
     %% Default values for opts
     sample = struct('radius', 100, ...
                     'height', 300, ...
@@ -14,6 +14,16 @@ function [] = initializeSample(opts_param)
         end
     end
     
-    %% Save if no output argument
+    %%
+    sample.k.x = 1e8;
+    sample.c.x = sqrt(sample.k.x*sample.mass)/10;
+
+    sample.k.y = 1e8;
+    sample.c.y = sqrt(sample.k.y*sample.mass)/10;
+
+    sample.k.z = 1e8;
+    sample.c.z = sqrt(sample.k.y*sample.mass)/10;
+
+    %% Save
     save('./mat/stages.mat', 'sample', '-append');
 end