DVF and IFF analysis on the nano-hexapod model
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@ -3,11 +3,11 @@
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<!-- 2021-02-20 sam. 23:08 -->
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<!-- 2021-04-23 ven. 13:22 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Simscape Model of the Nano-Active-Stabilization-System</title>
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<title>Simscape Model of the Nano-Active-Stabilization-System</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<meta name="author" content="Dehaeze Thomas" />
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<meta name="generator" content="Org Mode" />
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@ -39,7 +39,8 @@
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<li><a href="#org06c33c8">15. Dynamic Noise Budgeting (link)</a></li>
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<li><a href="#org06c33c8">15. Dynamic Noise Budgeting (link)</a></li>
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<li><a href="#org4f2bb92">16. Active Damping Techniques on the full Simscape Model (link)</a></li>
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<li><a href="#org4f2bb92">16. Active Damping Techniques on the full Simscape Model (link)</a></li>
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<li><a href="#org32aed6c">17. Control of the Nano-Active-Stabilization-System (link)</a></li>
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<li><a href="#org32aed6c">17. Control of the Nano-Active-Stabilization-System (link)</a></li>
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<li><a href="#org97e196a">18. Useful Matlab Functions (link)</a></li>
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<li><a href="#org9b612aa">18. Nano-Hexapod Simscape Model (link)</a></li>
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<li><a href="#org97e196a">19. Useful Matlab Functions (link)</a></li>
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</ul>
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</ul>
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@ -239,9 +240,12 @@ In this file are gathered all studies about the control the Nano-Active-Stabiliz
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</div>
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<div id="outline-container-org9b612aa" class="outline-2">
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<h2 id="org9b612aa"><span class="section-number-2">18</span> Nano-Hexapod Simscape Model (<a href="nano_hexapod.html">link</a>)</h2>
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</div>
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<div id="outline-container-org97e196a" class="outline-2">
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<h2 id="org97e196a"><span class="section-number-2">18</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
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<h2 id="org97e196a"><span class="section-number-2">19</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
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<div class="outline-text-2" id="text-18">
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<div class="outline-text-2" id="text-19">
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<p>
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<p>
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||||||
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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</p>
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</p>
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||||||
@ -254,7 +258,7 @@ These functions are all defined <a href="./functions.html">here</a>.
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</div>
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<div id="postamble" class="status">
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2021-02-20 sam. 23:08</p>
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<p class="date">Created: 2021-04-23 ven. 13:22</p>
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mat/stages.mat
@ -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.
|
||||||
|
|
||||||
|
1355
org/nano_hexapod.org
@ -10,6 +10,15 @@
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+PROPERTY: header-args:matlab :session *MATLAB*
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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
|
||||||
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|
||||||
nano_hexapod = struct();
|
nano_hexapod = struct();
|
||||||
@ -190,6 +192,15 @@ switch args.motion_sensor_type
|
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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
|
||||||
|