tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add accelerometer to the stewart platform

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-01-20 17:21:11 +01:00
parent fe26a724f1
commit b2ed7cbd63
6 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
mat/accelerometer_z_axis.mat Normal file
View File

Binary file not shown.

BIN
mat/geophone_z_axis.mat Normal file
View File

Binary file not shown.

BIN
simscape_subsystems/accelerometer_z_axis.slx
View File

Binary file not shown.

5
simscape_subsystems/index.org
View File

@ -505,7 +505,7 @@ This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m]
function [accelerometer] = initializeZAxisAccelerometer(args) function [accelerometer] = initializeZAxisAccelerometer(args)
arguments arguments
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] 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 end
%% %%
@ -517,6 +517,9 @@ This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m]
%% We set the damping value to have critical damping %% We set the damping value to have critical damping
accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); 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
save('./mat/accelerometer_z_axis.mat', 'accelerometer'); save('./mat/accelerometer_z_axis.mat', 'accelerometer');
end end

BIN
simscape_subsystems/nano_hexapod_leg.slx
View File

Binary file not shown.

5
src/initializeZAxisAccelerometer.m
View File

@ -1,7 +1,7 @@
function [accelerometer] = initializeZAxisAccelerometer(args) function [accelerometer] = initializeZAxisAccelerometer(args)
arguments arguments
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] 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 end
%% %%
@ -13,6 +13,9 @@ function [accelerometer] = initializeZAxisAccelerometer(args)
%% We set the damping value to have critical damping %% We set the damping value to have critical damping
accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); 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
save('./mat/accelerometer_z_axis.mat', 'accelerometer'); save('./mat/accelerometer_z_axis.mat', 'accelerometer');
end end