Add ground element, ground motion, and force on the granite.

Data.m

@@ -9,6 +9,11 @@ Tsim = 1;    % Simulation time [s]
 %% Gravity 
 g = 0 ; % Gravity along the z axis [m/s^2]
 
+%% Ground
+ground = struct();
+
+ground.shape = [2, 2, 0.5]; % m
+
 %% Granite
 granite = struct();
 

Identification/identification_marc.m

@@ -0,0 +1,77 @@
+%% Script Description
+% Run an identification of each stage from input to output
+% Save all computed transfer functions into one .mat file
+
+%%
+clear;
+close all;
+clc
+
+%% Define options for bode plots
+bode_opts = bodeoptions;
+
+bode_opts.Title.FontSize  = 12;
+bode_opts.XLabel.FontSize = 12;
+bode_opts.YLabel.FontSize = 12;
+bode_opts.FreqUnits       = 'Hz';
+bode_opts.MagUnits        = 'abs';
+bode_opts.MagScale        = 'log';
+bode_opts.PhaseWrapping   = 'on';
+bode_opts.PhaseVisible    = 'on';
+
+%% Options for preprocessing the identified transfer functions
+f_low = 10;
+f_high = 1000;
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'Assemblage';
+
+%% Micro-Hexapod
+% Input/Output definition
+io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
+io(2) = linio([mdl, '/Micro_Hexapod'],1,'output');
+
+% Run the linearization
+G_micro_hexapod_raw = linearize(mdl,io, 0);
+
+% Post-process the linearized function
+G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
+
+% Input/Output names
+G_micro_hexapod.InputName  = {'Fy'};
+G_micro_hexapod.OutputName = {'Dy'};
+
+% Bode Plot of the linearized function
+figure;
+bode(G_micro_hexapod(1, 1), bode_opts)
+
+%% Granite
+% Input/Output definition
+io(1) = linio([mdl, '/Granite_F'],1,'input');
+io(2) = linio([mdl, '/Granite'],1,'output');
+
+% Run the linearization
+G_micro_hexapod_raw = linearize(mdl,io, 0);
+
+% Post-process the linearized function
+G_micro_hexapod = preprocessIdTf(G_micro_hexapod_raw, f_low, f_high);
+
+% Input/Output names
+G_micro_hexapod.InputName  = {'Fy'};
+G_micro_hexapod.OutputName = {'Dy'};
+
+% Bode Plot of the linearized function
+figure;
+bode(G_micro_hexapod(1, 1), bode_opts)
+
+
+%% Functions
+function G = preprocessIdTf(G0, f_low, f_high)
+    [~,G1] = freqsep(G0, 2*pi*f_low);
+    [G2,~] = freqsep(G1, 2*pi*f_high);
+    G = minreal(G2);
+end