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Update the Rz reference: offset added after filter

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This commit is contained in:
Thomas Dehaeze 2020-02-04 10:28:05 +01:00
parent b2ca19bf05
commit cfc4cf28f5
4 changed files with 40 additions and 36 deletions
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54
simscape_subsystems/index.org
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@ -506,12 +506,11 @@ The Simscape model of the Spindle is composed of:
:END: :END:
#+begin_src matlab #+begin_src matlab
arguments arguments
args.rigid logical {mustBeNumericOrLogical} = false args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.x0 (1,1) double {mustBeNumeric} = 0 % [m] args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % [m] args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % [m] args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
args.rx0 (1,1) double {mustBeNumeric} = 0 % [rad] args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
args.ry0 (1,1) double {mustBeNumeric} = 0 % [rad]
end end
#+end_src #+end_src
@ -1199,29 +1198,32 @@ The =sample= structure is saved.
:UNNUMBERED: t :UNNUMBERED: t
:END: :END:
#+begin_src matlab #+begin_src matlab
%% Spindle - Rz %% Spindle - Rz
t = 0:Ts:Tmax; % Time Vector [s] t = 0:Ts:Tmax; % Time Vector [s]
Rz = zeros(length(t), 1); Rz = zeros(length(t), 1);
Rzd = zeros(length(t), 1); Rzd = zeros(length(t), 1);
Rzdd = zeros(length(t), 1); Rzdd = zeros(length(t), 1);
switch args.Rz_type switch args.Rz_type
case 'constant' case 'constant'
Rz(:) = args.Rz_amplitude; Rz(:) = args.Rz_amplitude;
Rzd(:) = 0; Rzd(:) = 0;
Rzdd(:) = 0; Rzdd(:) = 0;
case 'rotating' case 'rotating'
Rz(:) = args.Rz_amplitude+2*pi/args.Rz_period*t; Rz(:) = 2*pi/args.Rz_period*t;
% The signal is filtered out % The signal is filtered out
Rz = lsim(H_lpf, Rz, t); Rz = lsim(H_lpf, Rz, t);
Rzd = lsim(H_lpf*s, Rz, t); Rzd = lsim(H_lpf*s, Rz, t);
Rzdd = lsim(H_lpf*s^2, Rz, t); Rzdd = lsim(H_lpf*s^2, Rz, t);
otherwise
warning('Rz_type is not set correctly');
end
Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd); % We add the angle offset
Rz = Rz + args.Rz_amplitude;
otherwise
warning('Rz_type is not set correctly');
end
Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd);
#+end_src #+end_src
** Micro Hexapod ** Micro Hexapod

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simscape_subsystems/spindle_D.slx
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11
src/initializeReferences.m
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@ -118,16 +118,19 @@ Rzdd = zeros(length(t), 1);
switch args.Rz_type switch args.Rz_type
case 'constant' case 'constant'
Rz(:) = args.Rz_amplitude; Rz(:) = args.Rz_amplitude;
Rzd(:) = 0; Rzd(:) = 0;
Rzdd(:) = 0; Rzdd(:) = 0;
case 'rotating' case 'rotating'
Rz(:) = args.Rz_amplitude+2*pi/args.Rz_period*t; Rz(:) = 2*pi/args.Rz_period*t;
% The signal is filtered out % The signal is filtered out
Rz = lsim(H_lpf, Rz, t); Rz = lsim(H_lpf, Rz, t);
Rzd = lsim(H_lpf*s, Rz, t); Rzd = lsim(H_lpf*s, Rz, t);
Rzdd = lsim(H_lpf*s^2, Rz, t); Rzdd = lsim(H_lpf*s^2, Rz, t);
% We add the angle offset
Rz = Rz + args.Rz_amplitude;
otherwise otherwise
warning('Rz_type is not set correctly'); warning('Rz_type is not set correctly');
end end

11
src/initializeRz.m
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@ -1,12 +1,11 @@
function [rz] = initializeRz(args) function [rz] = initializeRz(args)
arguments arguments
args.rigid logical {mustBeNumericOrLogical} = false args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.x0 (1,1) double {mustBeNumeric} = 0 % [m] args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % [m] args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % [m] args.rx0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
args.rx0 (1,1) double {mustBeNumeric} = 0 % [rad] args.ry0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [rad]
args.ry0 (1,1) double {mustBeNumeric} = 0 % [rad]
end end
rz = struct(); rz = struct();