New configurable simscape model. Add logging block
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@@ -4,9 +4,12 @@ clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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addpath('active_damping/src/');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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load('./active_damping/mat/plants.mat', 'G_dvf');
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load('./active_damping/mat/undamped_plants.mat', 'G_dvf');
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load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_dvf');
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freqs = logspace(0, 3, 1000);
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@@ -14,8 +17,8 @@ figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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for i=1:length(masses)
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plot(freqs, abs(squeeze(freqresp(-Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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@@ -23,18 +26,20 @@ ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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for i=1:length(masses)
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plot(freqs, 180/pi*angle(squeeze(freqresp(-Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), ...
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'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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K_dvf = s*20000/(1 + s/2/pi/10000);
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K_dvf = s*30000/(1 + s/2/pi/10000);
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freqs = logspace(0, 3, 1000);
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@@ -42,23 +47,25 @@ figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(K_dvf*G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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for i=1:length(masses)
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plot(freqs, abs(squeeze(freqresp(K_dvf*Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_dvf*G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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for i=1:length(masses)
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_dvf*Gm_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), ...
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'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'southwest');
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linkaxes([ax1,ax2],'x');
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@@ -66,26 +73,10 @@ K_dvf = -K_dvf*eye(6);
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save('./active_damping/mat/K_dvf.mat', 'K_dvf');
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initializeReferences();
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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prepareLinearizeIdentification();
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = K_dvf;
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save('./mat/controllers.mat', 'K_dvf', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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load('./active_damping/mat/K_dvf.mat', 'K_dvf');
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initializeController('type', 'dvf', 'K', K_dvf);
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%% Options for Linearized
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options = linearizeOptions;
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@@ -96,185 +87,193 @@ mdl = 'sim_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'};
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load('./active_damping/mat/cart_plants.mat', 'masses');
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save('./active_damping/mat/plants.mat', 'G_dvf', '-append');
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G_cart_dvf = {zeros(length(masses))};
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load('mat/stages.mat', 'nano_hexapod');
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for i = 1:length(masses)
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initializeSample('mass', masses(i));
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%% Run the linearization
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G = linearize(mdl, io, 0.3, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnx', 'Dny', 'Dnz', 'Rnx', 'Rny', 'Rnz'};
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G_cart = G*inv(nano_hexapod.J');
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G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
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G_cart_dvf(i) = {G_cart};
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end
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save('./active_damping/mat/cart_plants.mat', 'G_cart_dvf', '-append');
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load('./active_damping/mat/cart_plants.mat', 'masses', 'G_cart', 'G_cart_dvf');
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freqs = logspace(0, 3, 1000);
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figure;
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subplot(2, 1, 1);
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title('$D_g$ to $D$');
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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legend('location', 'southeast');
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subplot(2, 1, 2);
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title('$F_s$ to $D$');
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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for i = 1:length(masses)
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set(gca,'ColorOrderIndex',i);
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p1 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Dnx', 'Fnx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',i);
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p2 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Dny', 'Fny'), freqs, 'Hz'))), '--');
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set(gca,'ColorOrderIndex',i);
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p3 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Dnz', 'Fnz'), freqs, 'Hz'))), ':');
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end
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
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freqs = logspace(0, 3, 1000);
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figure;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 2, 1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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ax2 = subplot(2, 2, 2);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
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ax3 = subplot(2, 2, 3);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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for i = 1:length(masses)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Dnx', 'Fnx'), freqs, 'Hz')))), ...
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'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Dny', 'Fny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Dnz', 'Fnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'northwest');
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yticks([-540:180:540]);
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legend('location', 'northeast');
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ax4 = subplot(2, 2, 4);
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linkaxes([ax1,ax2],'x');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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for i = 1:length(masses)
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set(gca,'ColorOrderIndex',i);
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p1 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Rnx', 'Mnx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',i);
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p2 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Rny', 'Mny'), freqs, 'Hz'))), '--');
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set(gca,'ColorOrderIndex',i);
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p3 = plot(freqs, abs(squeeze(freqresp(G_cart_dvf{i}('Rnz', 'Mnz'), freqs, 'Hz'))), ':');
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end
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:length(masses)
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Rnx', 'Mnx'), freqs, 'Hz')))), ...
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'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
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set(gca,'ColorOrderIndex',i);
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plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Rny', 'Mny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
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set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_dvf{i}('Rnz', 'Mnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northwest');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
freqs = logspace(1, 3, 1000);
|
||||
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
figure;
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
for ix = 1:6
|
||||
for iy = 1:6
|
||||
subplot(6, 6, (ix-1)*6 + iy);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart{1}(ix, iy), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart_dvf{1}(ix, iy), freqs, 'Hz'))), 'k--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-13, 1e-4]);
|
||||
xticks([])
|
||||
yticks([])
|
||||
end
|
||||
end
|
||||
|
||||
initDisturbances();
|
||||
prepareTomographyExperiment();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = K_dvf;
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
load('./active_damping/mat/K_dvf.mat', 'K_dvf');
|
||||
initializeController('type', 'dvf', 'K', K_dvf);
|
||||
|
||||
load('mat/conf_simscape.mat');
|
||||
set_param(conf_simscape, 'StopTime', '3');
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '4.5');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
|
||||
t_dvf = t;
|
||||
Ern_dvf = Ern;
|
||||
save('./active_damping/mat/tomo_exp.mat', 'Ern_dvf', 't_dvf', '-append');
|
||||
En_dvf = En;
|
||||
Eg_dvf = Eg;
|
||||
save('./active_damping/mat/tomo_exp.mat', 'En_dvf', 'Eg_dvf', '-append');
|
||||
|
||||
load('./active_damping/mat/tomo_exp.mat', 'Ern', 'Ern_dvf', 't', 't_dvf');
|
||||
load('./active_damping/mat/tomo_exp.mat', 'En', 'En_dvf');
|
||||
Fs = 1e3; % Sampling Frequency of the Data
|
||||
t = (1/Fs)*[0:length(En(:,1))-1];
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_dvf, Ern_dvf(:,1), '--', 'DisplayName', '$\epsilon_{x}$ - DVF')
|
||||
plot(t_dvf, Ern_dvf(:,2), '--', 'DisplayName', '$\epsilon_{y}$ - DVF')
|
||||
plot(t_dvf, Ern_dvf(:,3), '--', 'DisplayName', '$\epsilon_{z}$ - DVF')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
plot(En(:,1), En(:,2), 'DisplayName', '$\epsilon_{x,y}$ - OL')
|
||||
plot(En_dvf(:,1), En_dvf(:,2), 'DisplayName', '$\epsilon_{x,y}$ - DVF')
|
||||
xlabel('X Motion [m]'); ylabel('Y Motion [m]');
|
||||
legend();
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_dvf, Ern_dvf(:,4), '--', 'DisplayName', '$\epsilon_{\theta_x}$ - DVF')
|
||||
plot(t_dvf, Ern_dvf(:,5), '--', 'DisplayName', '$\epsilon_{\theta_y}$ - DVF')
|
||||
plot(t_dvf, Ern_dvf(:,6), '--', 'DisplayName', '$\epsilon_{\theta_z}$ - DVF')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, En_dvf(:,1), 'DisplayName', '$\epsilon_{x}$ - DVF')
|
||||
legend();
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, En_dvf(:,2), 'DisplayName', '$\epsilon_{y}$ - DVF')
|
||||
legend();
|
||||
ylabel('Position Error [m]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
plot(t, En_dvf(:,3), 'DisplayName', '$\epsilon_{z}$ - DVF')
|
||||
legend();
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, En_dvf(:,4), 'DisplayName', '$\epsilon_{\theta_x}$ - DVF')
|
||||
legend();
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, En_dvf(:,5), 'DisplayName', '$\epsilon_{\theta_y}$ - DVF')
|
||||
legend();
|
||||
ylabel('Position Error [rad]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
plot(t, En_dvf(:,6), 'DisplayName', '$\epsilon_{\theta_z}$ - DVF')
|
||||
legend();
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
@@ -4,18 +4,21 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
|
||||
load('./active_damping/mat/undamped_plants.mat', 'G_iff');
|
||||
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
freqs = logspace(-2, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, abs(squeeze(freqresp(-Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@@ -23,18 +26,21 @@ ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(-Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
K_iff = 1000/s;
|
||||
w0 = 2*pi*50;
|
||||
K_iff = -5000/s * (s/w0)/(1 + s/w0);
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
@@ -42,8 +48,8 @@ figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(K_iff*G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, abs(squeeze(freqresp(K_iff*Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@@ -51,14 +57,16 @@ ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_iff*G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_iff*Gm_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
@@ -66,28 +74,10 @@ K_iff = -K_iff*eye(6);
|
||||
|
||||
save('./active_damping/mat/K_iff.mat', 'K_iff');
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
prepareLinearizeIdentification();
|
||||
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
initializeReferences();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = K_iff;
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
load('./active_damping/mat/K_iff.mat', 'K_iff');
|
||||
initializeController('type', 'iff', 'K', K_iff);
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
@@ -98,131 +88,108 @@ mdl = 'sim_nass_active_damping';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, options);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
|
||||
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'};
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses');
|
||||
|
||||
G_iff = minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
|
||||
% G_rmc = minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
|
||||
G_cart_iff = {zeros(length(masses))};
|
||||
|
||||
save('./active_damping/mat/plants.mat', 'G_iff', '-append');
|
||||
load('mat/stages.mat', 'nano_hexapod');
|
||||
|
||||
for i = 1:length(masses)
|
||||
initializeSample('mass', masses(i));
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, 0.3, options);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Dnx', 'Dny', 'Dnz', 'Rnx', 'Rny', 'Rnz'};
|
||||
|
||||
G_cart = G*inv(nano_hexapod.J');
|
||||
G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
|
||||
|
||||
G_cart_iff(i) = {G_cart};
|
||||
end
|
||||
|
||||
save('./active_damping/mat/cart_plants.mat', 'G_cart_iff', '-append');
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses', 'G_cart', 'G_cart_iff');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
subplot(2, 1, 1);
|
||||
title('$D_g$ to $D$');
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
subplot(2, 1, 2);
|
||||
title('$F_s$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Dnx', 'Fnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Dny', 'Fny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Dnz', 'Fnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(prescale(G_iff.G_dist('Dz', 'Frzz'), {2*pi, 2*pi*1e3})), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dz', 'Ftyz')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dx', 'Ftyx')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax2 = subplot(2, 2, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Dnx', 'Fnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Dny', 'Fny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Dnz', 'Fnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northwest');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax4 = subplot(2, 2, 4);
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Rnx', 'Mnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Rny', 'Mny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart_iff{i}('Rnz', 'Mnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Rnx', 'Mnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Rny', 'Mny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_iff{i}('Rnz', 'Mnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northwest');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
freqs = logspace(1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
@@ -230,71 +197,84 @@ for ix = 1:6
|
||||
for iy = 1:6
|
||||
subplot(6, 6, (ix-1)*6 + iy);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart(ix, iy), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart(ix, iy), freqs, 'Hz'))), 'k--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart{1}(ix, iy), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart_iff{1}(ix, iy), freqs, 'Hz'))), 'k--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-12, 1e-5]);
|
||||
ylim([1e-13, 1e-4]);
|
||||
xticks([])
|
||||
yticks([])
|
||||
end
|
||||
end
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
prepareTomographyExperiment();
|
||||
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
load('./active_damping/mat/K_iff.mat', 'K_iff');
|
||||
initializeController('type', 'iff', 'K', K_iff);
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
initDisturbances();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = K_iff;
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
|
||||
load('mat/conf_simscape.mat');
|
||||
set_param(conf_simscape, 'StopTime', '3');
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '4.5');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
|
||||
t_iff = t;
|
||||
Ern_iff = Ern;
|
||||
save('./active_damping/mat/tomo_exp.mat', 'Ern_iff', 't_iff', '-append');
|
||||
En_iff = En;
|
||||
Eg_iff = Eg;
|
||||
save('./active_damping/mat/tomo_exp.mat', 'En_iff', 'Eg_iff', '-append');
|
||||
|
||||
load('./active_damping/mat/tomo_exp.mat', 'Ern', 'Ern_iff', 't', 't_iff');
|
||||
load('./active_damping/mat/tomo_exp.mat', 'En', 'En_iff');
|
||||
Fs = 1e3; % Sampling Frequency of the Data
|
||||
t = (1/Fs)*[0:length(En(:,1))-1];
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_iff, Ern_iff(:,1), '--', 'DisplayName', '$\epsilon_{x}$ - IFF')
|
||||
plot(t_iff, Ern_iff(:,2), '--', 'DisplayName', '$\epsilon_{y}$ - IFF')
|
||||
plot(t_iff, Ern_iff(:,3), '--', 'DisplayName', '$\epsilon_{z}$ - IFF')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
legend();
|
||||
plot(En(:,1), En(:,2), 'DisplayName', '$\epsilon_{x,y}$ - OL')
|
||||
plot(En_iff(:,1), En_iff(:,2), 'DisplayName', '$\epsilon_{x,y}$ - IFF')
|
||||
xlabel('X Motion [m]'); ylabel('Y Motion [m]');
|
||||
legend('location', 'northwest');
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_iff, Ern_iff(:,4), '--', 'DisplayName', '$\epsilon_{\theta_x}$ - IFF')
|
||||
plot(t_iff, Ern_iff(:,5), '--', 'DisplayName', '$\epsilon_{\theta_y}$ - IFF')
|
||||
plot(t_iff, Ern_iff(:,6), '--', 'DisplayName', '$\epsilon_{\theta_z}$ - IFF')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, En_iff(:,1), 'DisplayName', '$\epsilon_{x}$ - IFF')
|
||||
legend('location', 'southwest');
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, En_iff(:,2), 'DisplayName', '$\epsilon_{y}$ - IFF')
|
||||
legend('location', 'southwest');
|
||||
ylabel('Position Error [m]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
plot(t, En_iff(:,3), 'DisplayName', '$\epsilon_{z}$ - IFF')
|
||||
legend('location', 'northwest');
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, En_iff(:,4), 'DisplayName', '$\epsilon_{\theta_x}$ - IFF')
|
||||
legend('location', 'northwest');
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, En_iff(:,5), 'DisplayName', '$\epsilon_{\theta_y}$ - IFF')
|
||||
legend('location', 'southwest');
|
||||
ylabel('Position Error [rad]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
plot(t, En_iff(:,6), 'DisplayName', '$\epsilon_{\theta_z}$ - IFF')
|
||||
legend();
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
@@ -4,9 +4,12 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
|
||||
load('./active_damping/mat/undamped_plants.mat', 'G_ine');
|
||||
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_ine');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
@@ -14,27 +17,29 @@ figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylabel('Amplitude [(m/s)/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
K_ine = 1e3/(1+s/(2*pi*100));
|
||||
K_ine = 2.5e4;
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
@@ -42,23 +47,25 @@ figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(K_ine*G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, abs(squeeze(freqresp(K_ine*Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylabel('Loop Gain'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_ine*G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i=1:length(masses)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_ine*Gm_ine{i}('Vnlm1', 'Fnl1'), freqs, 'Hz'))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
@@ -66,198 +73,134 @@ K_ine = -K_ine*eye(6);
|
||||
|
||||
save('./active_damping/mat/K_ine.mat', 'K_ine');
|
||||
|
||||
initializeReferences();
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
prepareLinearizeIdentification();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_ine = -K_ine*eye(6);
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
load('./active_damping/mat/K_ine.mat', 'K_ine');
|
||||
initializeController('type', 'ine', 'K', K_ine);
|
||||
|
||||
G_ine = identifyPlant();
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
save('./active_damping/mat/plants.mat', 'G_ine', '-append');
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses');
|
||||
|
||||
G_cart_ine = {zeros(length(masses))};
|
||||
|
||||
load('mat/stages.mat', 'nano_hexapod');
|
||||
|
||||
for i = 1:length(masses)
|
||||
initializeSample('mass', masses(i));
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, 0.3, options);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Dnx', 'Dny', 'Dnz', 'Rnx', 'Rny', 'Rnz'};
|
||||
|
||||
G_cart = G*inv(nano_hexapod.J');
|
||||
G_cart.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
|
||||
|
||||
G_cart_ine(i) = {G_cart};
|
||||
end
|
||||
|
||||
save('./active_damping/mat/cart_plants.mat', 'G_cart_dvf', '-append');
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses', 'G_cart', 'G_cart_ine');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
subplot(2, 1, 1);
|
||||
title('$D_g$ to $D$');
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
subplot(2, 1, 2);
|
||||
title('$F_s$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Dnx', 'Fnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Dny', 'Fny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Dnz', 'Fnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax2 = subplot(2, 2, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Dnx', 'Fnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Dny', 'Fny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Dnz', 'Fnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northwest');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax4 = subplot(2, 2, 4);
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Rnx', 'Mnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Rny', 'Mny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart_ine{i}('Rnz', 'Mnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Rnx', 'Mnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Rny', 'Mny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart_ine{i}('Rnz', 'Mnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northwest');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
initDisturbances();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = K_ine;
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
|
||||
load('mat/conf_simscape.mat');
|
||||
set_param(conf_simscape, 'StopTime', '3');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
|
||||
t_ine = t;
|
||||
Ern_ine = Ern;
|
||||
save('./active_damping/mat/tomo_exp.mat', 'Ern_ine', 't_ine', '-append');
|
||||
|
||||
load('./active_damping/mat/tomo_exp.mat', 'Ern', 'Ern_ine', 't', 't_ine');
|
||||
freqs = logspace(1, 3, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_ine, Ern_ine(:,1), '--', 'DisplayName', '$\epsilon_{x}$ - Inertial')
|
||||
plot(t_ine, Ern_ine(:,2), '--', 'DisplayName', '$\epsilon_{y}$ - Inertial')
|
||||
plot(t_ine, Ern_ine(:,3), '--', 'DisplayName', '$\epsilon_{z}$ - Inertial')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
legend();
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(t_ine, Ern_ine(:,4), '--', 'DisplayName', '$\epsilon_{\theta_x}$ - Inertial')
|
||||
plot(t_ine, Ern_ine(:,5), '--', 'DisplayName', '$\epsilon_{\theta_y}$ - Inertial')
|
||||
plot(t_ine, Ern_ine(:,6), '--', 'DisplayName', '$\epsilon_{\theta_z}$ - Inertial')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
legend();
|
||||
for ix = 1:6
|
||||
for iy = 1:6
|
||||
subplot(6, 6, (ix-1)*6 + iy);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart{1}(ix, iy), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_cart_ine{1}(ix, iy), freqs, 'Hz'))), 'k--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-13, 1e-4]);
|
||||
xticks([])
|
||||
yticks([])
|
||||
end
|
||||
end
|
||||
|
||||
@@ -4,30 +4,11 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
initializeReferences();
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_ine = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_ine', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
prepareLinearizeIdentification();
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
@@ -38,13 +19,13 @@ mdl = 'sim_nass_active_damping';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; % Force Sensors
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; % Absolute Velocity Outputs
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, 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', ...
|
||||
@@ -56,6 +37,8 @@ G_ine = minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1
|
||||
|
||||
save('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
|
||||
|
||||
load('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
@@ -63,7 +46,33 @@ figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@@ -72,7 +81,7 @@ ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
@@ -89,16 +98,16 @@ figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylabel('Amplitude [$\frac{m/s}{N}$]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_ine(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
@@ -108,59 +117,169 @@ yticks([-180, -90, 0, 90, 180]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
prepareLinearizeIdentification();
|
||||
|
||||
%% Options for Linearized
|
||||
options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; % Metrology Outputs
|
||||
|
||||
masses = [1, 10, 50]; % [kg]
|
||||
|
||||
G_cart = {zeros(length(masses))};
|
||||
|
||||
load('mat/stages.mat', 'nano_hexapod');
|
||||
|
||||
for i = 1:length(masses)
|
||||
initializeSample('mass', masses(i));
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, 0.3, options);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Dnx', 'Dny', 'Dnz', 'Rnx', 'Rny', 'Rnz'};
|
||||
|
||||
G_cart_i = G*inv(nano_hexapod.J');
|
||||
G_cart_i.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'};
|
||||
|
||||
G_cart(i) = {G_cart_i};
|
||||
end
|
||||
|
||||
save('./active_damping/mat/cart_plants.mat', 'G_cart', 'masses');
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'G_cart', 'masses');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Dnx', 'Fnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Dny', 'Fny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Dnz', 'Fnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend([p1,p2,p3], {'Fx/Dx', 'Fy/Dx', 'Fz/Dz'});
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Dnx', 'Fnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Dny', 'Fny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Dnz', 'Fnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p1 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Rnx', 'Mnx'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p2 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Rny', 'Mny'), freqs, 'Hz'))), '--');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
p3 = plot(freqs, abs(squeeze(freqresp(G_cart{i}('Rnz', 'Mnz'), freqs, 'Hz'))), ':');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [(m/s)/N]'); set(gca, 'XTickLabel',[]);
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend([p1,p2,p3], {'Rx/Mx', 'Ry/Mx', 'Rz/Mz'});
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
|
||||
for i = 1:length(masses)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Rnx', 'Mnx'), freqs, 'Hz')))), ...
|
||||
'DisplayName', sprintf('$M = %.0f$ [kg]', masses(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Rny', 'Mny'), freqs, 'Hz')))), '--', 'HandleVisibility', 'off');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_cart{i}('Rnz', 'Mnz'), freqs, 'Hz')))), ':', 'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
yticks([-540:180:540]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
initDisturbances();
|
||||
prepareTomographyExperiment();
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
load('mat/conf_simscape.mat');
|
||||
set_param(conf_simscape, 'StopTime', '3');
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '4.5');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
|
||||
save('./active_damping/mat/tomo_exp.mat', 'Ern', 't');
|
||||
save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append');
|
||||
|
||||
load('./active_damping/mat/tomo_exp.mat', 'En');
|
||||
Fs = 1e3; % Sampling Frequency of the Data
|
||||
t = (1/Fs)*[0:length(En(:,1))-1];
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
legend();
|
||||
xlabel('Time [s]'); ylabel('Position Error [m]');
|
||||
plot(t, En(:,1), 'DisplayName', '$\epsilon_{x}$')
|
||||
legend('location', 'southwest');
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,2), 'DisplayName', '$\epsilon_{y}$')
|
||||
legend('location', 'southwest');
|
||||
ylabel('Position Error [m]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,3), 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northwest');
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
figure;
|
||||
ax1 = subplot(3, 1, 1);
|
||||
hold on;
|
||||
plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
hold off;
|
||||
xlim([1,inf]);
|
||||
plot(t, En(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
|
||||
legend('location', 'northwest');
|
||||
|
||||
ax2 = subplot(3, 1, 2);
|
||||
hold on;
|
||||
plot(t, En(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
|
||||
legend('location', 'southwest');
|
||||
ylabel('Position Error [rad]');
|
||||
|
||||
ax3 = subplot(3, 1, 3);
|
||||
hold on;
|
||||
plot(t, En(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
|
||||
legend();
|
||||
xlabel('Time [s]'); ylabel('Position Error [rad]');
|
||||
xlabel('Time [s]');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([0.5,inf]);
|
||||
|
||||
Reference in New Issue
Block a user