Axis Compensator has been added

identification/index.org

@@ -238,6 +238,9 @@ initializeRz();
 
 %% Initialize Hexapod Symétrie
 initializeMicroHexapod();
+
+%% Initialize Center of gravity compensation
+initializeAxisc();
 #+end_src
 
 ** Center of Mass of each solid body
@@ -381,15 +384,16 @@ initializeMicroHexapod();
   end
 #+end_src
 
+** Bis
 For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
 #+begin_src matlab
   dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
   stages = {'gtop', 'ty', 'ry', 'rz', 'hexa'}
 
-  n_stg = 2;
+  n_stg = 5;
-  n_exc = 2;
+  n_exc = 3;
 
-  f = logspace(1, 3, 1000);
+  f = logspace(0, 3, 1000);
 
   figure;
   for n_dir = 1:6

simscape/index.org

@@ -1070,6 +1070,16 @@ This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
 
 #+begin_src matlab
   function [granite] = initializeGranite()
+      %% Default values for opts
+      opts = struct('rigid', false);
+
+      %% Populate opts with input parameters
+      if exist('opts_param','var')
+        for opt = fieldnames(opts_param)'
+          opts.(opt{1}) = opts_param.(opt{1});
+        end
+      end
+
       %%
       granite = struct();
 
@@ -1083,22 +1093,27 @@ This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
       granite.mass_top = 4000; % [kg] TODO
 
       %% Dynamical Properties
+      if opts.rigid
+        granite.k.x = 1e12; % [N/m]
+        granite.k.y = 1e12; % [N/m]
+        granite.k.z = 1e12; % [N/m]
+        granite.k.rx = 1e10; % [N*m/deg]
+        granite.k.ry = 1e10; % [N*m/deg]
+        granite.k.rz = 1e10; % [N*m/deg]
+      else
         granite.k.x = 4e9; % [N/m]
-      granite.c.x = 0.1*sqrt(granite.mass_top*granite.k.x); % [N/(m/s)]
-
         granite.k.y = 3e8; % [N/m]
-      granite.c.y = 0.1*sqrt(granite.mass_top*granite.k.y); % [N/(m/s)]
-
         granite.k.z = 8e8; % [N/m]
-      granite.c.z = 0.5*sqrt(granite.mass_top*granite.k.z); % [N/(m/s)]
-
         granite.k.rx = 1e4; % [N*m/deg]
-      granite.c.rx = 0.1*sqrt(granite.mass_top*granite.k.rx); % [N*m/(deg/s)]
-
         granite.k.ry = 1e4; % [N*m/deg]
-      granite.c.ry = 0.1*sqrt(granite.mass_top*granite.k.ry); % [N*m/(deg/s)]
-
         granite.k.rz = 1e6; % [N*m/deg]
+      end
+
+      granite.c.x = 0.1*sqrt(granite.mass_top*granite.k.x); % [N/(m/s)]
+      granite.c.y = 0.1*sqrt(granite.mass_top*granite.k.y); % [N/(m/s)]
+      granite.c.z = 0.5*sqrt(granite.mass_top*granite.k.z); % [N/(m/s)]
+      granite.c.rx = 0.1*sqrt(granite.mass_top*granite.k.rx); % [N*m/(deg/s)]
+      granite.c.ry = 0.1*sqrt(granite.mass_top*granite.k.ry); % [N*m/(deg/s)]
       granite.c.rz = 0.1*sqrt(granite.mass_top*granite.k.rz); % [N*m/(deg/s)]
 
       %% Positioning parameters
@@ -1176,11 +1191,12 @@ This Matlab function is accessible [[file:../src/initializeTy.m][here]].
 
       %% Y-Translation - Dynamicals Properties
       if opts.rigid
-          ty.k.ax  = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+        ty.k.ax  = 1e12; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+        ty.k.rad = 1e12; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
       else
-          ty.k.ax  = 1e7; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+        ty.k.ax  = 5e7; % Axial Stiffness for each of the 4 guidance (y) [N/m]
+        ty.k.rad = 5e7; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
       end
-      ty.k.rad = 1e8; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
 
       ty.c.ax  = 0.1*sqrt(ty.k.ax*ty.m);
       ty.c.rad = 0.1*sqrt(ty.k.rad*ty.m);
@@ -1238,14 +1254,16 @@ This Matlab function is accessible [[file:../src/initializeRy.m][here]].
       %% Tilt Stage - Dynamical Properties
       if opts.rigid
         ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
+        ry.k.h    = 1e12; % Stiffness in the direction of the guidance [N/m]
+        ry.k.rad  = 1e12; % Stiffness in the top direction [N/m]
+        ry.k.rrad = 1e12; % Stiffness in the side direction [N/m]
       else
-          ry.k.tilt = 1e3; % Rotation stiffness around y [N*m/deg]
+        ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
+        ry.k.h    = 1e8; % Stiffness in the direction of the guidance [N/m]
+        ry.k.rad  = 1e8; % Stiffness in the top direction [N/m]
+        ry.k.rrad = 1e8; % Stiffness in the side direction [N/m]
       end
 
-      ry.k.h    = 357e6/4; % Stiffness in the direction of the guidance [N/m]
-      ry.k.rad  = 555e6/4; % Stiffness in the top direction [N/m]
-      ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
-
       ry.c.h    = 0.1*sqrt(ry.k.h*ry.m);
       ry.c.rad  = 0.1*sqrt(ry.k.rad*ry.m);
       ry.c.rrad = 0.1*sqrt(ry.k.rrad*ry.m);
@@ -1302,15 +1320,17 @@ This Matlab function is accessible [[file:../src/initializeRz.m][here]].
       rz.m = 250; % [kg]
 
       %% Spindle - Dynamical Properties
-      % Estimated stiffnesses
-      rz.k.ax   = 2e9; % Axial Stiffness [N/m]
-      rz.k.rad  = 7e8; % Radial Stiffness [N/m]
-      rz.k.tilt  = 1e8*(2*pi/360); % Rotational Stiffness [N*m/deg]
 
       if opts.rigid
-          rz.k.rot = 1e10; % Rotational Stiffness [N*m/deg]
+        rz.k.rot  = 1e10; % Rotational Stiffness (Rz) [N*m/deg]
+        rz.k.tilt = 1e10; % Rotational Stiffness (Rx, Ry) [N*m/deg]
+        rz.k.ax   = 1e12; % Axial Stiffness (Z) [N/m]
+        rz.k.rad  = 1e12; % Radial Stiffness (X, Y) [N/m]
       else
-          rz.k.rot = 1e6; % TODO what value should I put? [N*m/deg]
+        rz.k.rot  = 1e6; % TODO - Rotational Stiffness (Rz) [N*m/deg]
+        rz.k.tilt = 1e6; % Rotational Stiffness (Rx, Ry) [N*m/deg]
+        rz.k.ax   = 2e9; % Axial Stiffness (Z) [N/m]
+        rz.k.rad  = 7e8; % Radial Stiffness (X, Y) [N/m]
       end
 
       % Damping
@@ -1337,7 +1357,7 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
 #+begin_src matlab
   function [micro_hexapod] = initializeMicroHexapod(opts_param)
       %% Default values for opts
-      opts = struct();
+      opts = struct('rigid', false);
 
       %% Populate opts with input parameters
       if exist('opts_param','var')
@@ -1380,7 +1400,7 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
 
       Leg.stroke     = 10e-3; % Maximum Stroke of each leg [m]
       Leg.k.ax       = 5e7;   % Stiffness of each leg [N/m]
-      Leg.ksi.ax     = 3;     % Maximum amplification at resonance []
+      Leg.ksi.ax = 0.1;     % Modal damping ksi = 1/2*c/sqrt(km) []
       Leg.rad.bottom = 25;    % Radius of the cylinder of the bottom part [mm]
       Leg.rad.top    = 17;    % Radius of the cylinder of the top part [mm]
       Leg.density    = 8000;  % Density of the material [kg/m^3]
@@ -1433,7 +1453,7 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
       function [element] = updateDamping(element)
         field = fieldnames(element.k);
         for i = 1:length(field)
-              element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
+          element.c.(field{i}) = 2*element.ksi.(field{i})*sqrt(element.k.(field{i})*element.m);
         end
       end