Rework the effect of the spindle rotation speed

active_damping/index.org

@@ -126,7 +126,11 @@ The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
 
 We set the references to zero.
 #+begin_src matlab
-  initializeReferences('Rz_type', 'rotating', 'Ry_period', 1);
+  initializeReferences();
+#+end_src
+
+#+begin_src matlab
+  initializeDisturbances('enable', false);
 #+end_src
 
 And all the controllers are set to 0.
@@ -159,7 +163,7 @@ First, we identify the dynamics of the system using the =linearize= function.
   io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm');  io_i = io_i + 1;
 
   %% Run the linearization
-  G = linearize(mdl, io, 1, options);
+  G = linearize(mdl, io, 0.5, options);
   G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
   G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
                   'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
@@ -2462,21 +2466,32 @@ We identify the dynamics for the following Spindle rotation periods.
   Rz_periods = [60, 10, 1]; % [s]
 #+end_src
 
-#+begin_src matlab :exports none
+The goal is to identify the dynamics:
+- after the transient phase
+- at the same spindle angle
+
+#+begin_src matlab
   Gw     = {zeros(length(Rz_periods))};
   Gw_iff = {zeros(length(Rz_periods))};
   Gw_dvf = {zeros(length(Rz_periods))};
   Gw_ine = {zeros(length(Rz_periods))};
 
   for i = 1:length(Rz_periods)
-    initializeReferences('Rz_type', 'rotating', 'Rz_period', Rz_periods(i));
+    initializeReferences('Rz_type', 'rotating', ...
+                         'Rz_period', Rz_periods(i), ... % Rotation period [s]
+                         'Rz_amplitude', -0.5*(2*pi/Rz_periods(i))); % Angle offset [rad]
+
+    load('mat/nass_references.mat', 'Rz'); % We load the reference for the Spindle
+    [~, i_end] = min(abs(Rz.signals.values)); % Obtain the indice where the spindle angle is zero
+    t_sim = Rz.time(i_end) % Simulation time before identification [s]
 
     %% Run the linearization
-    G = linearize(mdl, io, 0.5, options);
+    G = linearize(mdl, io, t_sim, options);
     G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
     G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
                     'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
                     'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
+
     Gw(i) = {G};
     Gw_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
     Gw_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
@@ -2707,7 +2722,7 @@ And all the controllers are set to 0.
 
 We identify the dynamics for the following Tilt stage angles.
 #+begin_src matlab
-  Ry_amplitudes = [0, 3*pi/180]; % [rad]
+  Ry_amplitudes = [0, 20*pi/180]; % [rad]
 #+end_src
 
 #+begin_src matlab :exports none
@@ -2720,7 +2735,7 @@ We identify the dynamics for the following Tilt stage angles.
     initializeReferences('Ry_type', 'constant', 'Ry_amplitude', Ry_amplitudes(i))
 
     %% Run the linearization
-    G = linearize(mdl, io, 0.1, options);
+    G = linearize(mdl, io, 0.25, options);
     G.InputName  = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
     G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
                     'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...