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Add code to extract disturbance sensibility

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Thomas Dehaeze 2020-09-01 13:46:46 +02:00
parent a6ed15fd30
commit d24cddcc44
1 changed files with 68 additions and 0 deletions
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@ -734,3 +734,71 @@ Let's now compare the effect of those perturbations on the position error of the
#+name: fig:effect_disturbances_position_error
#+caption: Effect of Perturbations on the position error ([[./figs/effect_disturbances_position_error.png][png]], [[./figs/effect_disturbances_position_error.pdf][pdf]])
[[file:figs/effect_disturbances_position_error.png]]
* TODO Sensibility to disturbances without the nano-hexapod :noexport:
#+begin_src matlab
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('type', 'rigid');
#+end_src
We set the stiffness of the payload fixation:
#+begin_src matlab
Kp = 1e8; % [N/m]
#+end_src
Open Loop Control.
#+begin_src matlab
initializeController('type', 'open-loop');
#+end_src
#+begin_src matlab
initializeSimscapeConfiguration('gravity', false);
initializeDisturbances('enable', false);
initializeLoggingConfiguration('log', 'none');
#+end_src
We identify the system for the following payload masses:
#+begin_src matlab
Ms = [1, 10, 50];
#+end_src
#+begin_src matlab :exports none
%% Name of the Simulink File
mdl = 'nass_model';
%% Micro-Hexapod
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1; % Z Ground motion
io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fty_z'); io_i = io_i + 1; % Parasitic force Ty - Z
io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_z'); io_i = io_i + 1; % Parasitic force Rz - Z
io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fd'); io_i = io_i + 1; % Direct forces
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror
#+end_src
#+begin_src matlab :exports none
Gd = {zeros(length(Ms), 1)};
for i = 1:length(Ms)
initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1));
%% Run the linearization
G = linearize(mdl, io);
G.InputName = {'Dwz', 'Fty_z', 'Frz_z', 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'};
G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
Gd(i) = {G};
end
#+end_src
#+begin_src matlab
save('./mat/Gd_ol.mat', 'Gd', 'Ms');
#+end_src