Update model for Cedrat actuator (simple one)

uniaxial/index.org

@@ -2188,6 +2188,40 @@ Direct Velocity Feedback:
 #+end_important
 * With Cedrat Piezo-electric Actuators
 <<sec:cedrat_actuator>>
+** Introduction                                                     :ignore:
+The model used for the Cedrat actuator is shown in figure [[fig:cedrat_schematic]].
+
+#+begin_src latex :file cedrat-uniaxial-actuator.pdf :post pdf2svg(file=*this*, ext="png") :exports results
+  \begin{tikzpicture}
+    % Spring, Damper, and Actuator
+    \draw[] (0, -0.2) -- (0, 0);
+    \draw[] (-1, 0) -- (1, 0);
+
+    \draw[spring] (-1, 0) -- (-1, 2)   node[midway, left=0.1]{$k_{a}$};
+    \draw[damper] (0, 0)  -- ( 0, 2)   node[midway, left=0.2]{$c_{a}$};
+    \draw[actuator] (1, 0)  -- ( 1, 2) node[midway, left=0.2]{$F$};
+
+    \draw[] (-1, 2) -- (1, 2);
+    \draw[] (0, 2) -- (0, 2.2);
+    \node[forcesensor={0.4}{0.4}] (fsensn) at (0, 2.2){};
+    \draw[] (0, 2.6) -- (0, 2.8);
+
+
+    \draw[spring] (2, -0.2)  -- (2, 2.8) node[midway, left=0.2]{$k$};
+
+    \draw[] (0, -0.2) -- (2, -0.2);
+    \draw[] (0,  2.8) -- (2, 2.8);
+
+    \draw[] (1, 2.8) -- (1, 3);
+    \draw[] (1, -0.2) -- (1, -0.4);
+  \end{tikzpicture}
+#+end_src
+
+#+name: fig:cedrat_schematic
+#+caption: Schematic of the model used for the Cedrat Actuator
+#+RESULTS:
+[[file:figs/cedrat-uniaxial-actuator.png]]
+
 ** Matlab Init                                             :noexport:ignore:
 #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
   <<matlab-dir>>
@@ -2206,6 +2240,33 @@ Direct Velocity Feedback:
 #+end_src
 
 ** Identification
+Let's initialize the system prior to identification.
+#+begin_src matlab
+  initializeGround();
+  initializeGranite();
+  initializeTy();
+  initializeRy();
+  initializeRz();
+  initializeMicroHexapod();
+  initializeAxisc();
+  initializeMirror();
+  initializeNanoHexapod(struct('actuator', 'piezo'));
+  initializeCedratPiezo();
+  initializeSample(struct('mass', 50));
+#+end_src
+
+And initialize the controllers.
+#+begin_src matlab
+  K = tf(0);
+  save('./mat/controllers.mat', 'K', '-append');
+  K_iff = tf(0);
+  save('./mat/controllers.mat', 'K_iff', '-append');
+  K_rmc = tf(0);
+  save('./mat/controllers.mat', 'K_rmc', '-append');
+  K_dvf = tf(0);
+  save('./mat/controllers.mat', 'K_dvf', '-append');
+#+end_src
+
 We identify the dynamics of the system.
 #+begin_src matlab
   %% Options for Linearized
@@ -2213,7 +2274,7 @@ We identify the dynamics of the system.
   options.SampleTime = 0;
 
   %% Name of the Simulink File
-  mdl = 'sim_nano_station_uniaxial_cedrat';
+  mdl = 'sim_nano_station_uniaxial_cedrat_bis';
 #+end_src
 
 The inputs and outputs are defined below and corresponds to the name of simulink blocks.
@@ -2252,7 +2313,7 @@ Finally, we use the =linearize= Matlab function to extract a state space model f
 Let's look at the transfer function from actuator forces in the nano-hexapod to the force sensor in the nano-hexapod legs for all 6 pairs of actuator/sensor.
 
 #+begin_src matlab :exports none
-  freqs = logspace(0, 3, 1000);
+  freqs = logspace(0, 4, 1000);
 
   figure;
 
@@ -2282,11 +2343,11 @@ Let's look at the transfer function from actuator forces in the nano-hexapod to
 
 The controller for each pair of actuator/sensor is:
 #+begin_src matlab
-  K_cedrat = 1000/s;
+  K_cedrat = -5000/s;
 #+end_src
 
 #+begin_src matlab :exports none
-  freqs = logspace(0, 3, 1000);
+  freqs = logspace(0, 4, 1000);
 
   figure;
 
@@ -2326,6 +2387,7 @@ Let's initialize the system prior to identification.
   initializeAxisc();
   initializeMirror();
   initializeNanoHexapod(struct('actuator', 'piezo'));
+  initializeCedratPiezo();
   initializeSample(struct('mass', 50));
 #+end_src
 
@@ -2347,7 +2409,7 @@ All the controllers are set to 0.
   options.SampleTime = 0;
 
   %% Name of the Simulink File
-  mdl = 'sim_nano_station_uniaxial_cedrat';
+  mdl = 'sim_nano_station_uniaxial_cedrat_bis';
 #+end_src
 
 #+begin_src matlab
@@ -2381,7 +2443,7 @@ All the controllers are set to 0.
 #+end_src
 
 #+begin_src matlab
-  save('./uniaxial/mat/plants.mat', 'G_cedrat', '-append');
+  % save('./uniaxial/mat/plants.mat', 'G_cedrat', '-append');
 #+end_src
 
 ** Sensitivity to Disturbance
@@ -2492,7 +2554,7 @@ All the controllers are set to 0.
 
 ** Conclusion
 #+begin_important
-This gives similar results than with a classical force sensor.
+  This gives similar results than with a classical force sensor.
 #+end_important
 
 * Comparison of Active Damping Techniques