DVF and IFF analysis on the nano-hexapod model

This commit is contained in:
Thomas Dehaeze 2021-04-23 13:23:36 +02:00
parent a3cf7fc537
commit ba0a42be95
38 changed files with 11125 additions and 734 deletions

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<!-- 2021-02-20 sam. 23:08 --> <!-- 2021-04-23 ven. 13:22 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Simscape Model of the Nano-Active-Stabilization-System</title> <title>Simscape Model of the Nano-Active-Stabilization-System</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" /> <meta name="author" content="Dehaeze Thomas" />
<meta name="generator" content="Org Mode" />
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@ -39,7 +39,8 @@
<li><a href="#org06c33c8">15. Dynamic Noise Budgeting (link)</a></li> <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="#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="#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> </ul>
</div> </div>
</div> </div>
@ -239,9 +240,12 @@ In this file are gathered all studies about the control the Nano-Active-Stabiliz
</div> </div>
</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"> <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> <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-18"> <div class="outline-text-2" id="text-19">
<p> <p>
Many matlab functions are shared among all the files of the projects. Many matlab functions are shared among all the files of the projects.
</p> </p>
@ -254,7 +258,7 @@ These functions are all defined <a href="./functions.html">here</a>.
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <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> </div>
</body> </body>
</html> </html>

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@ -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]]) * 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. 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]]) * Useful Matlab Functions ([[./functions.org][link]])
Many matlab functions are shared among all the files of the projects. Many matlab functions are shared among all the files of the projects.

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@ -42,6 +42,8 @@ arguments
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m] args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% For Flexible % For Flexible
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio 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 end
nano_hexapod = struct(); 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)']; nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
end 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 if nargout == 0
save('./mat/stages.mat', 'nano_hexapod', '-append'); save('./mat/stages.mat', 'nano_hexapod', '-append');
end end