From b2ed7cbd63ba3aa726dc780a57e4e2a5c1dbca99 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Mon, 20 Jan 2020 17:21:11 +0100 Subject: [PATCH] Add accelerometer to the stewart platform --- mat/accelerometer_z_axis.mat | Bin 0 -> 260 bytes mat/geophone_z_axis.mat | Bin 0 -> 233 bytes simscape_subsystems/accelerometer_z_axis.slx | Bin 25275 -> 25501 bytes simscape_subsystems/index.org | 5 ++++- simscape_subsystems/nano_hexapod_leg.slx | Bin 31422 -> 31637 bytes src/initializeZAxisAccelerometer.m | 5 ++++- 6 files changed, 8 insertions(+), 2 deletions(-) create mode 100644 mat/accelerometer_z_axis.mat create mode 100644 mat/geophone_z_axis.mat diff --git a/mat/accelerometer_z_axis.mat b/mat/accelerometer_z_axis.mat new file mode 100644 index 0000000000000000000000000000000000000000..c98efd738322b61842f4f1ea2ee242e2f45b2078 GIT binary patch literal 260 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQgHY2i*PhE(NS}aZCnR_zq$DIT zUy^Y+bA*9$O@N)U&@aggqPr&znrrn>$hjCeE8N 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mustBePositive} = 1e-3 % [kg] - args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e2 % [Hz] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz] end %% @@ -517,6 +517,9 @@ This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m] %% We set the damping value to have critical damping accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + %% Gain correction of the accelerometer to have a unity gain until the resonance + accelerometer.gain = -accelerometer.k/accelerometer.m; + %% Save save('./mat/accelerometer_z_axis.mat', 'accelerometer'); end diff --git a/simscape_subsystems/nano_hexapod_leg.slx b/simscape_subsystems/nano_hexapod_leg.slx index 9976ac6f12d2200fda2d465feb731e0113e89b95..ff779060d08f070089364c5433b30d569a136970 100644 GIT binary patch delta 11075 zcmZ8{1yCKqw(Y?kf@^ShcPF^Jy9akT1P+qm77p(2?(XjH76=|RI0Syk`|rPZe^>Ra z-Md%!?CCu-HPy4aZXpuyA&^z%p`ft<002Co&$bpB3lg%=ww@d^4g$WoPQYH z2E_$pCo~C96KWlxmDIEG 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initializeZAxisAccelerometer(args) arguments args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] - args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e2 % [Hz] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz] end %% @@ -13,6 +13,9 @@ function [accelerometer] = initializeZAxisAccelerometer(args) %% We set the damping value to have critical damping accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + %% Gain correction of the accelerometer to have a unity gain until the resonance + accelerometer.gain = -accelerometer.k/accelerometer.m; + %% Save save('./mat/accelerometer_z_axis.mat', 'accelerometer'); end