New simulations with Ty scans and Dh offset

org/optimal_stiffness_control.org

@@ -2,7 +2,6 @@
 #+SETUPFILE: ./setup/org-setup-file.org
 
 * Introduction                                                        :ignore:
-
 * Low Authority Control - Decentralized Direct Velocity Feedback
 <<sec:lac_dvf>>
 ** Introduction                                                      :ignore:
@@ -1037,7 +1036,7 @@ exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'heig
 #+RESULTS:
 [[file:figs/opt_stiff_primary_control_L_cas_tot.png]]
 
-** Simulations
+** Simulations of Tomography Experiment
 Let's now simulate a tomography experiment.
 To do so, we include all disturbances except vibrations of the translation stage.
 #+begin_src matlab
@@ -1365,11 +1364,325 @@ exportFig('figs/opt_stiff_hac_dvf_L_pos_error.pdf', 'width', 'full', 'height', '
 #+RESULTS:
 [[file:figs/opt_stiff_hac_dvf_L_pos_error.png]]
 
+** Actuator Stroke and Forces
+#+begin_src matlab :exports none
+  load('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L', 'Ms');
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for i = 1:length(Ms)
+      set(gca,'ColorOrderIndex',i);
+      plot(hac_dvf_L{i}.u.Time, hac_dvf_L{i}.u.Data(:,1), ...
+           'DisplayName', sprintf('$m = %.0f kg$', Ms(i)));
+      for j = 2:6
+          set(gca,'ColorOrderIndex',i);
+          plot(hac_dvf_L{i}.u.Time, hac_dvf_L{i}.u.Data(:,j), ...
+               'HandleVisibility', 'off');
+      end
+  end
+  xlim([0.5, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Force [N]');
+  legend('location', 'northeast');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_L_act_force.pdf', 'width', 'full', 'height', 'tall')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_L_act_force
+#+caption: Force applied by the actuator during the simulation
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_L_act_force.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for i = 1:length(Ms)
+      set(gca,'ColorOrderIndex',i);
+      plot(hac_dvf_L{i}.yn.Dnlm.Time, hac_dvf_L{i}.yn.Dnlm.Data(:,1), ...
+           'DisplayName', sprintf('$m = %.0f kg$', Ms(i)));
+      for j = 2:6
+          set(gca,'ColorOrderIndex',i);
+          plot(hac_dvf_L{i}.yn.Dnlm.Time, hac_dvf_L{i}.yn.Dnlm.Data(:,j), ...
+               'HandleVisibility', 'off');
+      end
+  end
+  xlim([0.5, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Stroke [m]');
+  legend('location', 'northeast');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_L_act_stroke.pdf', 'width', 'full', 'height', 'tall')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_L_act_stroke
+#+caption: Leg's stroke during the simulation
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_L_act_stroke.png]]
+
 ** Conclusion
 #+begin_important
 
 #+end_important
 
+* Further More complex simulations
+** Simulation with Micro-Hexapod Offset
+*** Simulation
+The micro-hexapod is inducing a 10mm offset of the sample center of mass with the rotation axis.
+A tomography experiment is then simulated.
+
+#+begin_src matlab
+  initializeDisturbances();
+  initializeSimscapeConfiguration('gravity', false);
+  initializeLoggingConfiguration('log', 'all');
+
+  initializeSample('mass', 1, 'freq', 200);
+  initializeMicroHexapod('AP', [10e-3 0 0]);
+  initializeReferences('Rz_type', 'rotating', 'Rz_period', 1, ...
+                       'Dh_pos', [10e-3; 0; 0; 0; 0; 0]);
+#+end_src
+
+#+begin_src matlab
+  load('mat/conf_simulink.mat');
+  set_param(conf_simulink, 'StopTime', '3');
+  sim('nass_model');
+#+end_src
+
+#+begin_src matlab :exports none
+  hac_dvf_L_Dh = simout;
+  save('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L_Dh', '-append');
+#+end_src
+
+*** Results
+#+begin_src matlab :exports none
+  load('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L_Dh');
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+  ax1 = subplot(2, 3, 1);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 1), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dx [m]');
+
+  ax2 = subplot(2, 3, 2);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 2), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dy [m]');
+
+  ax3 = subplot(2, 3, 3);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 3), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dz [m]');
+
+  ax4 = subplot(2, 3, 4);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 4), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rx [rad]');
+
+  ax5 = subplot(2, 3, 5);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 5), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Ry [rad]');
+
+  ax6 = subplot(2, 3, 6);
+  hold on;
+  plot(hac_dvf_L_Dh.Em.En.Time, hac_dvf_L_Dh.Em.En.Data(:, 6), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rz [rad]');
+
+  linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
+  xlim([1, inf]);
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dh_offset_disp_error.pdf', 'width', 'full', 'height', 'full')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dh_offset_disp_error
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dh_offset_disp_error.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for j = 1:6
+      plot(hac_dvf_L_Dh.u.Time, hac_dvf_L_Dh.u.Data(:,j), 'k-');
+  end
+  xlim([1, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Force [N]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dh_offset_F.pdf', 'width', 'normal', 'height', 'normal')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dh_offset_F
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dh_offset_F.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for j = 1:6
+      plot(hac_dvf_L_Dh.yn.Dnlm.Time, hac_dvf_L_Dh.yn.Dnlm.Data(:,j), 'k-');
+  end
+  xlim([1, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Stroke [m]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dh_offset_dL.pdf', 'width', 'normal', 'height', 'normal')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dh_offset_dL
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dh_offset_dL.png]]
+
+** Simultaneous Translation scans and Spindle's rotation
+*** Simulation
+A simulation is now performed with translation scans and spindle rotation at the same time.
+
+The sample has a mass one 1kg, the spindle rotation speed is 60rpm and the translation scans have a period of 4s and a triangular shape.
+
+#+begin_src matlab
+  initializeDisturbances();
+  initializeSimscapeConfiguration('gravity', false);
+  initializeLoggingConfiguration('log', 'all');
+
+  initializeSample('mass', 1, 'freq', 200);
+  initializeReferences('Rz_type', 'rotating', 'Rz_period', 1, ...
+                       'Dy_type', 'triangular', 'Dy_amplitude', 5e-3, 'Dy_period', 4);
+#+end_src
+
+#+begin_src matlab :exports none
+  load('mat/conf_simulink.mat');
+  set_param(conf_simulink, 'StopTime', '9');
+  sim('nass_model');
+#+end_src
+
+#+begin_src matlab :exports none
+  hac_dvf_L_Dy = simout;
+  save('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L_Dy', '-append');
+#+end_src
+
+*** Results
+#+begin_src matlab :exports none
+  load('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L_Dy');
+#+end_src
+
+#+begin_src matlab :exports none
+  figure;
+  ax1 = subplot(2, 3, 1);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 1), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dx [m]');
+
+  ax2 = subplot(2, 3, 2);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 2), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dy [m]');
+
+  ax3 = subplot(2, 3, 3);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 3), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Dz [m]');
+
+  ax4 = subplot(2, 3, 4);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 4), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rx [rad]');
+
+  ax5 = subplot(2, 3, 5);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 5), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Ry [rad]');
+
+  ax6 = subplot(2, 3, 6);
+  hold on;
+  plot(hac_dvf_L_Dy.Em.En.Time, hac_dvf_L_Dy.Em.En.Data(:, 6), 'k-');
+  hold off;
+  xlabel('Time [s]');
+  ylabel('Rz [rad]');
+
+  linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
+  xlim([1, inf]);
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dy_scans_disp_error.pdf', 'width', 'full', 'height', 'full')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dy_scans_disp_error
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dy_scans_disp_error.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for j = 1:6
+      plot(hac_dvf_L_Dy.u.Time, hac_dvf_L_Dy.u.Data(:,j), 'k-');
+  end
+  xlim([1, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Force [N]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dy_scans_F.pdf', 'width', 'normal', 'height', 'normal')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dy_scans_F
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dy_scans_F.png]]
+
+#+begin_src matlab :exports none
+  figure;
+  hold on;
+  for j = 1:6
+      plot(hac_dvf_L_Dy.yn.Dnlm.Time, hac_dvf_L_Dy.yn.Dnlm.Data(:,j), 'k-');
+  end
+  xlim([1, inf]);
+  xlabel('Time [s]'); ylabel('Actuator Stroke [m]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/opt_stiff_hac_dvf_Dy_scans_dL.pdf', 'width', 'normal', 'height', 'normal')
+#+end_src
+
+#+name: fig:opt_stiff_hac_dvf_Dy_scans_dL
+#+caption:
+#+RESULTS:
+[[file:figs/opt_stiff_hac_dvf_Dy_scans_dL.png]]
+
 * Primary Control in the task space
 <<sec:primary_control_X>>
 ** Introduction                                                      :ignore: