DVF and IFF analysis on the nano-hexapod model

2021-04-23 13:23:36 +02:00 · 2021-04-23 13:23:36 +02:00 · ba0a42be95
commit ba0a42be95
parent a3cf7fc537
38 changed files with 11125 additions and 734 deletions
--- a/docs/figs/nano_hexapod_dvf_compare_compliance_plates.pdf
+++ b/docs/figs/nano_hexapod_dvf_compare_compliance_plates.pdf
--- a/docs/figs/nano_hexapod_dvf_compare_compliance_plates.png
+++ b/docs/figs/nano_hexapod_dvf_compare_compliance_plates.png
--- a/docs/figs/nano_hexapod_dvf_compare_compliance_struts.pdf
+++ b/docs/figs/nano_hexapod_dvf_compare_compliance_struts.pdf
--- a/docs/figs/nano_hexapod_dvf_compare_compliance_struts.png
+++ b/docs/figs/nano_hexapod_dvf_compare_compliance_struts.png
--- a/docs/figs/nano_hexapod_dvf_loop_gain_plates.pdf
+++ b/docs/figs/nano_hexapod_dvf_loop_gain_plates.pdf
--- a/docs/figs/nano_hexapod_dvf_loop_gain_plates.png
+++ b/docs/figs/nano_hexapod_dvf_loop_gain_plates.png
--- a/docs/figs/nano_hexapod_dvf_loop_gain_struts.pdf
+++ b/docs/figs/nano_hexapod_dvf_loop_gain_struts.pdf
--- a/docs/figs/nano_hexapod_dvf_loop_gain_struts.png
+++ b/docs/figs/nano_hexapod_dvf_loop_gain_struts.png
--- a/docs/figs/nano_hexapod_dvf_plant_bode_plot_plates.pdf
+++ b/docs/figs/nano_hexapod_dvf_plant_bode_plot_plates.pdf
--- a/docs/figs/nano_hexapod_dvf_plant_bode_plot_plates.png
+++ b/docs/figs/nano_hexapod_dvf_plant_bode_plot_plates.png
--- a/docs/figs/nano_hexapod_dvf_plant_bode_plot_struts.pdf
+++ b/docs/figs/nano_hexapod_dvf_plant_bode_plot_struts.pdf
--- a/docs/figs/nano_hexapod_dvf_plant_bode_plot_struts.png
+++ b/docs/figs/nano_hexapod_dvf_plant_bode_plot_struts.png
--- a/docs/figs/nano_hexapod_dvf_root_locus_plates.pdf
+++ b/docs/figs/nano_hexapod_dvf_root_locus_plates.pdf
--- a/docs/figs/nano_hexapod_dvf_root_locus_plates.png
+++ b/docs/figs/nano_hexapod_dvf_root_locus_plates.png
--- a/docs/figs/nano_hexapod_dvf_root_locus_struts.pdf
+++ b/docs/figs/nano_hexapod_dvf_root_locus_struts.pdf
--- a/docs/figs/nano_hexapod_dvf_root_locus_struts.png
+++ b/docs/figs/nano_hexapod_dvf_root_locus_struts.png
--- a/docs/figs/nano_hexapod_effect_dvf_plant_plates.pdf
+++ b/docs/figs/nano_hexapod_effect_dvf_plant_plates.pdf
--- a/docs/figs/nano_hexapod_effect_dvf_plant_plates.png
+++ b/docs/figs/nano_hexapod_effect_dvf_plant_plates.png
--- a/docs/figs/nano_hexapod_effect_dvf_plant_struts.pdf
+++ b/docs/figs/nano_hexapod_effect_dvf_plant_struts.pdf
--- a/docs/figs/nano_hexapod_effect_dvf_plant_struts.png
+++ b/docs/figs/nano_hexapod_effect_dvf_plant_struts.png
--- a/docs/figs/nano_hexapod_effect_iff_plant.pdf
+++ b/docs/figs/nano_hexapod_effect_iff_plant.pdf
--- a/docs/figs/nano_hexapod_effect_iff_plant.png
+++ b/docs/figs/nano_hexapod_effect_iff_plant.png
--- a/docs/figs/nano_hexapod_iff_compare_compliance.pdf
+++ b/docs/figs/nano_hexapod_iff_compare_compliance.pdf
--- a/docs/figs/nano_hexapod_iff_compare_compliance.png
+++ b/docs/figs/nano_hexapod_iff_compare_compliance.png
--- a/docs/figs/nano_hexapod_iff_loop_gain.pdf
+++ b/docs/figs/nano_hexapod_iff_loop_gain.pdf
--- a/docs/figs/nano_hexapod_iff_loop_gain.png
+++ b/docs/figs/nano_hexapod_iff_loop_gain.png
--- a/docs/figs/nano_hexapod_iff_plant_bode_plot.pdf
+++ b/docs/figs/nano_hexapod_iff_plant_bode_plot.pdf
--- a/docs/figs/nano_hexapod_iff_plant_bode_plot.png
+++ b/docs/figs/nano_hexapod_iff_plant_bode_plot.png
--- a/docs/figs/nano_hexapod_iff_root_locus.pdf
+++ b/docs/figs/nano_hexapod_iff_root_locus.pdf
--- a/docs/figs/nano_hexapod_iff_root_locus.png
+++ b/docs/figs/nano_hexapod_iff_root_locus.png
--- a/docs/index.html
+++ b/docs/index.html
@ -3,11 +3,11 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2021-02-20 sam. 23:08 -->
+<!-- 2021-04-23 ven. 13:22 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Simscape Model of the Nano-Active-Stabilization-System</title>
-<meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
+<meta name="generator" content="Org Mode" />
 <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
 <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
 </head>
@ -39,7 +39,8 @@
 <li><a href="#org06c33c8">15. Dynamic Noise Budgeting (link)</a></li>
 <li><a href="#org4f2bb92">16. Active Damping Techniques on the full Simscape Model (link)</a></li>
 <li><a href="#org32aed6c">17. Control of the Nano-Active-Stabilization-System (link)</a></li>
-<li><a href="#org97e196a">18. Useful Matlab Functions (link)</a></li>
+<li><a href="#org9b612aa">18. Nano-Hexapod Simscape Model (link)</a></li>
+<li><a href="#org97e196a">19. Useful Matlab Functions (link)</a></li>
 </ul>
 </div>
 </div>
@ -239,9 +240,12 @@ In this file are gathered all studies about the control the Nano-Active-Stabiliz
 </div>
 </div>

+<div id="outline-container-org9b612aa" class="outline-2">
+<h2 id="org9b612aa"><span class="section-number-2">18</span> Nano-Hexapod Simscape Model (<a href="nano_hexapod.html">link</a>)</h2>
+</div>
 <div id="outline-container-org97e196a" class="outline-2">
-<h2 id="org97e196a"><span class="section-number-2">18</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
-<div class="outline-text-2" id="text-18">
+<h2 id="org97e196a"><span class="section-number-2">19</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
+<div class="outline-text-2" id="text-19">
 <p>
 Many matlab functions are shared among all the files of the projects.
 </p>
@ -254,7 +258,7 @@ These functions are all defined <a href="./functions.html">here</a>.
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2021-02-20 sam. 23:08</p>
+<p class="date">Created: 2021-04-23 ven. 13:22</p>
 </div>
 </body>
 </html>
--- a/docs/nano_hexapod.html
+++ b/docs/nano_hexapod.html
--- a/mat/stages.mat
+++ b/mat/stages.mat
--- a/matlab/nano_hexapod/nano_hexapod.slx
+++ b/matlab/nano_hexapod/nano_hexapod.slx
--- a/org/index.org
+++ b/org/index.org
@ -81,6 +81,7 @@ Active damping techniques are applied to the full Simscape model.
 * Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
 In this file are gathered all studies about the control the Nano-Active-Stabilization-System.

+* Nano-Hexapod Simscape Model ([[file:nano_hexapod.org][link]])
 * Useful Matlab Functions ([[./functions.org][link]])
 Many matlab functions are shared among all the files of the projects.

--- a/org/nano_hexapod.org
+++ b/org/nano_hexapod.org
--- a/org/setup/org-setup-file.org
+++ b/org/setup/org-setup-file.org
@ -10,6 +10,15 @@
 #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
 #+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+#+BIND: org-latex-bib-compiler "biber"
+
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+#+LATEX_HEADER_EXTRA: \addbibresource{ref.bib}
+
 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
 #+PROPERTY: header-args:matlab+ :results none
--- a/src/initializeNanoHexapodFinal.m
+++ b/src/initializeNanoHexapodFinal.m
@ -42,6 +42,8 @@ arguments
    args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
                                                                  % For Flexible
    args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
+    %% Controller
+    args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none'
 end

 nano_hexapod = struct();
@ -190,6 +192,15 @@ switch args.motion_sensor_type
    nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
 end

+switch args.controller_type
+  case 'none'
+    nano_hexapod.controller.type = 1;
+  case 'iff'
+    nano_hexapod.controller.type = 2;
+  case 'dvf'
+    nano_hexapod.controller.type = 3;
+end
+
 if nargout == 0
  save('./mat/stages.mat', 'nano_hexapod', '-append');
 end