Add option to initialize spindle rotation speed
This commit is contained in:
parent
9c6d397fe4
commit
d60bc3bfb0
BIN
mat/Foffset.mat
BIN
mat/Foffset.mat
Binary file not shown.
BIN
mat/conf_log.mat
BIN
mat/conf_log.mat
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
mat/stages.mat
BIN
mat/stages.mat
Binary file not shown.
Binary file not shown.
@ -100,6 +100,7 @@ We don't include gravity nor disturbances in this model as it adds complexity to
|
||||
initializeSimscapeConfiguration('gravity', true);
|
||||
initializeDisturbances('enable', false);
|
||||
initializeLoggingConfiguration('log', 'none');
|
||||
initializeController();
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@ -114,26 +115,26 @@ We don't include gravity nor disturbances in this model as it adds complexity to
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1;
|
||||
#+end_src
|
||||
|
||||
** Identification when not rotating
|
||||
We set the range of stiffness that we want to use.
|
||||
** Identification when rotating at maximum speed
|
||||
#+begin_src matlab
|
||||
Rz_rpm = linspace(0, 60, 6);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
Ks = logspace(3,9,7); % [N/m]
|
||||
#+end_src
|
||||
|
||||
We don't move any stage and no controller is used.
|
||||
#+begin_src matlab
|
||||
initializeReferences();
|
||||
initializeController();
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
Gk_iff = {zeros(length(Ks))};
|
||||
Gk_dvf = {zeros(length(Ks))};
|
||||
Gk_err = {zeros(length(Ks))};
|
||||
Gk_wz_iff = {zeros(length(Ks), length(Rz_rpm))};
|
||||
Gk_wz_dvf = {zeros(length(Ks), length(Rz_rpm))};
|
||||
Gk_wz_err = {zeros(length(Ks), length(Rz_rpm))};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Rz_rpm)
|
||||
initializeReferences('Rz_type', 'rotating-not-filtered', ...
|
||||
'Rz_period', 60/Rz_rpm(j));
|
||||
initializeNanoHexapod('k', Ks(i));
|
||||
|
||||
%% Run the linearization
|
||||
@ -143,113 +144,103 @@ We don't move any stage and no controller is used.
|
||||
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
|
||||
'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
|
||||
|
||||
Gk_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
Gk_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
Gk_wz_iff(i,j) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
Gk_wz_dvf(i,j) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
|
||||
Jinvt = tf(inv(nano_hexapod.J)');
|
||||
Jinvt.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
|
||||
Jinvt.OutputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
Gk_err(i) = {-minreal(G({'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))*Jinvt};
|
||||
Gk_wz_err(i,j) = {-minreal(G({'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))*Jinvt};
|
||||
end
|
||||
#+end_src
|
||||
|
||||
** Identification when rotating at maximum speed
|
||||
We now set the reference path such that the Spindle is rotating at 60rpm and such that it is at the zero position at the time of the identification.
|
||||
#+begin_src matlab
|
||||
Rz_rpm = 60;
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', ...
|
||||
'Rz_period', 60/Rz_rpm, ... % Rotation period [s]
|
||||
'Rz_amplitude', -0.2*(2*pi*Rz_rpm/60)); % Angle offset [rad]
|
||||
|
||||
load('mat/nass_references.mat', 'Rz'); % We load the reference for the Spindle
|
||||
[~, i_end] = min(abs(Rz.signals.values)); % Obtain the indice where the spindle angle is zero
|
||||
t_sim = Rz.time(i_end); % Simulation time before identification [s]
|
||||
#+end_src
|
||||
|
||||
We here use a decentralized controller that is used to stabilize the nano-hexapod until the identification is made.
|
||||
This controller virtually adds stiffness in each of the nano-hexapod leg.
|
||||
#+begin_src matlab
|
||||
k_sta = -1e8;
|
||||
initializeController('type', 'stabilizing');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
Gk_wz_iff = {zeros(length(Ks))};
|
||||
Gk_wz_dvf = {zeros(length(Ks))};
|
||||
Gk_wz_err = {zeros(length(Ks))};
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
for i = 1:length(Ks)
|
||||
initializeNanoHexapod('k', Ks(i));
|
||||
|
||||
%% Run the linearization
|
||||
G = linearize(mdl, io, t_sim);
|
||||
G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
|
||||
'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
|
||||
'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'};
|
||||
|
||||
Gk_wz_iff(i) = {minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
Gk_wz_dvf(i) = {minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))};
|
||||
|
||||
Jinvt = tf(inv(nano_hexapod.J)');
|
||||
Jinvt.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
|
||||
Jinvt.OutputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
|
||||
Gk_wz_err(i) = {-minreal(G({'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}))*Jinvt};
|
||||
end
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
save('mat/optimal_stiffness_Gk_wz.mat', 'Ks', ...
|
||||
'Gk_iff', 'Gk_dvf', 'Gk_err', ...
|
||||
save('mat/optimal_stiffness_Gk_wz.mat', 'Ks', 'Rz_rpm', ...
|
||||
'Gk_wz_iff', 'Gk_wz_dvf', 'Gk_wz_err');
|
||||
#+end_src
|
||||
|
||||
** TODO Change of dynamics
|
||||
- [ ] problem of dynamics at low frequency
|
||||
Check if gravity is a problem
|
||||
Think of a before way to identify the dynamics
|
||||
|
||||
** Change of dynamics
|
||||
#+begin_src matlab :exports none
|
||||
load('mat/optimal_stiffness_Gk_wz.mat');
|
||||
#+end_src
|
||||
|
||||
Change of dynamics for decentralized IFF control.
|
||||
Change of dynamics for IFF
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
freqs = logspace(-2, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Gk_iff)
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_iff{i}( 'Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
title('Soft Nano-Hexapod');
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Gk_iff)
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_iff{i,1}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
for j = 2:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_wz_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '--', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
Change of dynamics for DVF
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-2, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_dvf{i,j}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_dvf{i,1}('Dnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
for j = 2:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_dvf{i,j}('Dnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
@ -264,11 +255,11 @@ Change of dynamics from $F_x$ to $D_x$.
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
for i = 1:length(Ks)
|
||||
for j = 1:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_err{i}( 'Ex', 'Fx'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@ -276,106 +267,43 @@ Change of dynamics from $F_x$ to $D_x$.
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,1}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
for j = 2:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_wz_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '--', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
Change of dynamics from $F_z$ to $D_z$.
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_err{i}( 'Ez', 'Fz'), freqs, 'Hz'))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
title('Soft Nano-Hexapod');
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gk_wz_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '--', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
** Change of coupling
|
||||
#+begin_src matlab :exports none
|
||||
load('mat/optimal_stiffness_Gk_wz.mat');
|
||||
#+end_src
|
||||
|
||||
Change of coupling from $F_x$ to $D_y$ when not rotating and when rotating at 60rpm.
|
||||
Change of coupling from $F_x$ to $D_y$ with the rotating speed.
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_err{i}( 'Ey', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,1}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
for j = 1:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i}('Ey', 'Fx'), freqs, 'Hz'))), '--', ...
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,j}('Ey', 'Fx'), freqs, 'Hz'))), '--', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
legend('location', 'northeast');
|
||||
#+end_src
|
||||
|
||||
Comparison of the coupling from $F_x$ to $D_y$ when rotating at 60rpm to the direct term $F_x$ to $D_x$.
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
for i = 1:length(Gk_err)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i}('Ey', 'Fx'), freqs, 'Hz'))), '--', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
@ -481,8 +409,16 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
|
||||
legend('location', 'northwest');
|
||||
#+end_src
|
||||
|
||||
#+header: :tangle no :exports results :results none :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/opt_stiff_micro_station_compliance.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+name: fig:opt_stiff_micro_station_compliance
|
||||
#+caption: Identified Compliance of the Micro-Station ([[./figs/opt_stiff_micro_station_compliance.png][png]], [[./figs/opt_stiff_micro_station_compliance.pdf][pdf]])
|
||||
[[file:figs/opt_stiff_micro_station_compliance.png]]
|
||||
|
||||
** Identification of the dynamics with a rigid micro-station
|
||||
*** Initialization
|
||||
#+begin_src matlab :exports none
|
||||
initializeReferences();
|
||||
initializeDisturbances();
|
||||
@ -509,10 +445,9 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
initializeSample('type', 'rigid', 'mass', 20);
|
||||
initializeSample('type', 'rigid', 'mass', 10);
|
||||
#+end_src
|
||||
|
||||
*** Rigid micro-station
|
||||
#+begin_src matlab
|
||||
initializeGround('type', 'rigid');
|
||||
initializeGranite('type', 'rigid');
|
||||
@ -552,7 +487,6 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
|
||||
#+end_src
|
||||
|
||||
** Identification of the dynamics with a flexible micro-station
|
||||
*** Flexible micro-station
|
||||
#+begin_src matlab
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
@ -602,7 +536,7 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
|
||||
load('mat/optimal_stiffness_micro_station_compliance.mat');
|
||||
#+end_src
|
||||
|
||||
IFF plant
|
||||
The IFF plant only changes when the stiffness is $10^7 [N/m]$ or higher.
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
@ -624,15 +558,18 @@ IFF plant
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$k = %.0g$ [N/m]', Ks(i)));
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_iff{i}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '--', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'northwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -660,15 +597,15 @@ DVF plant
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz')))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_dvf{i}('Dnlm1', 'Fnl1'), freqs, 'Hz')))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -696,15 +633,15 @@ X direction
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz')))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -732,15 +669,15 @@ Z direction
|
||||
hold on;
|
||||
for i = 1:length(Ks)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmr_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ez', 'Fz'), freqs, 'Hz')))), '-');
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gmf_err{i}('Ez', 'Fz'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_err{i}('Ez', 'Fz'), freqs, 'Hz')))), '--');
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -888,7 +825,7 @@ We then identify the dynamics for the following payload resonance frequencies =F
|
||||
'Gf_iff', 'Gf_dvf', 'Gf_err');
|
||||
#+end_src
|
||||
|
||||
** Change of optimal gain for decentralized control
|
||||
** TODO Change of optimal gain for decentralized control
|
||||
For each payload, compute the optimal gain for the IFF control.
|
||||
The optimal value corresponds to critical damping to *all* the 6 modes of the nano-hexapod.
|
||||
|
||||
@ -920,10 +857,10 @@ Change of Mass
|
||||
for j = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
if j == 1
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$K = %.0e$ [N/m]', Ks(i)));
|
||||
else
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
@ -931,15 +868,118 @@ Change of Mass
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
Optimal gains:
|
||||
#+begin_src matlab
|
||||
opt_gains = [20 60 200 600 2000 6000 20000];
|
||||
#+end_src
|
||||
|
||||
Change of poles with mass
|
||||
#+begin_src matlab :exports none
|
||||
i = 7;
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
for j = 1:length(Ms)
|
||||
set(gca,'ColorOrderIndex',j);
|
||||
cl_poles = pole(feedback(Gm_iff{i,j}, (-gains(k)/s)*eye(6)));
|
||||
plot(real(cl_poles), imag(cl_poles), '.');
|
||||
end
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
i = 4;
|
||||
|
||||
gains = logspace(1, 3, 500);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
for j = 1:length(Ms)
|
||||
for k = 1:length(gains)
|
||||
set(gca,'ColorOrderIndex',j);
|
||||
cl_poles = pole(feedback(Gm_iff{i,j}, (-gains(k)/s)*eye(6)));
|
||||
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
|
||||
plot(gains(k)*ones(size(poles_damp)), poles_damp, '.');
|
||||
end
|
||||
end
|
||||
xlabel('Control Gain');
|
||||
ylabel('Damping of the Poles');
|
||||
set(gca, 'XScale', 'log');
|
||||
ylim([0,pi/2]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
i = 7;
|
||||
|
||||
gains = logspace(3, 5, 500);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
for j = 1:length(Ms)
|
||||
for k = 1:length(gains)
|
||||
set(gca,'ColorOrderIndex',j);
|
||||
cl_poles = pole(feedback(Gm_iff{i,j}, (-gains(k)/s)*eye(6)));
|
||||
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
|
||||
plot(gains(k)*ones(size(poles_damp)), poles_damp, '.');
|
||||
end
|
||||
end
|
||||
xlabel('Control Gain');
|
||||
ylabel('Damping of the Poles');
|
||||
set(gca, 'XScale', 'log');
|
||||
ylim([0,pi/2]);
|
||||
#+end_src
|
||||
|
||||
Change of payload resonance frequency
|
||||
#+begin_src matlab :exports none
|
||||
i = 1;
|
||||
|
||||
gains = logspace(0, 2, 100);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
for j = 1:length(Fs)
|
||||
for k = 1:length(gains)
|
||||
set(gca,'ColorOrderIndex',j);
|
||||
cl_poles = pole(feedback(Gf_iff{i,j}, (-gains(k)/s)*eye(6)));
|
||||
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
|
||||
plot(gains(k)*ones(size(poles_damp)), poles_damp, '.');
|
||||
end
|
||||
end
|
||||
xlabel('Control Gain');
|
||||
ylabel('Damping of the Poles');
|
||||
set(gca, 'XScale', 'log');
|
||||
ylim([0,pi/2]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
i = 7;
|
||||
|
||||
gains = logspace(3, 5, 100);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
for j = 1:length(Fs)
|
||||
for k = 1:length(gains)
|
||||
set(gca,'ColorOrderIndex',j);
|
||||
cl_poles = pole(feedback(Gf_iff{i,j}, (-gains(k)/s)*eye(6)));
|
||||
poles_damp = phase(cl_poles(imag(cl_poles)>0)) - pi/2;
|
||||
plot(gains(k)*ones(size(poles_damp)), poles_damp, '.');
|
||||
end
|
||||
end
|
||||
xlabel('Control Gain');
|
||||
ylabel('Damping of the Poles');
|
||||
set(gca, 'XScale', 'log');
|
||||
ylim([0,pi/2]);
|
||||
#+end_src
|
||||
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
@ -963,10 +1003,10 @@ Change of payload resonance frequency
|
||||
for j = 1:length(Fs)
|
||||
set(gca,'ColorOrderIndex',i);
|
||||
if j == 1
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gf_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'DisplayName', sprintf('$K = %.0e$ [N/m]', Ks(i)));
|
||||
else
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gf_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz'))), '-', ...
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_iff{i,j}('Fnlm1', 'Fnl1'), freqs, 'Hz')))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
end
|
||||
@ -974,9 +1014,9 @@ Change of payload resonance frequency
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
legend('location', 'northeast');
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -1341,16 +1381,16 @@ For a soft nano-hexapod
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -1379,16 +1419,16 @@ For a stiff nano-hexapod
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
@ -1396,3 +1436,179 @@ For a stiff nano-hexapod
|
||||
|
||||
** Conclusion :ignore:
|
||||
* Total Change of dynamics
|
||||
#+begin_src matlab :exports none
|
||||
load('mat/optimal_stiffness_Gm_Gf.mat');
|
||||
load('mat/optimal_stiffness_micro_station_compliance.mat');
|
||||
load('mat/optimal_stiffness_Gk_wz.mat');
|
||||
#+end_src
|
||||
|
||||
- =Gk_wz_err= - Change of spindle rotation speed
|
||||
- =Gf_err= - Change of payload resonance
|
||||
- =Gm_err= - Change of payload mass
|
||||
- =Gmr_err= - Rigid Micro-Station
|
||||
- =Gmf_err= - Flexible Micro-Station
|
||||
|
||||
Soft nano-hexapod
|
||||
#+begin_src matlab :exports none
|
||||
i = 1;
|
||||
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
% =Gf_err= - Change of payload resonance
|
||||
plot(freqs, abs(squeeze(freqresp(Gf_err{i,1}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', 'Payload Freq');
|
||||
for j = 2:length(Fs)
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
set(gca,'ColorOrderIndex',2);
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_err{i,1}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', 'Payload Mass');
|
||||
for j = 2:length(Ms)
|
||||
set(gca,'ColorOrderIndex',2);
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
set(gca,'ColorOrderIndex',3);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,1}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', 'Rotationg Speed');
|
||||
for j = 2:length(Rz_rpm)
|
||||
set(gca,'ColorOrderIndex',3);
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'HandleVisibility', 'off');
|
||||
end
|
||||
set(gca,'ColorOrderIndex',4);
|
||||
% =Gmr_err= - Rigid Micro-Station
|
||||
plot(freqs, abs(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', 'Rigid $\mu$-station');
|
||||
% =Gmf_err= - Flexible Micro-Station
|
||||
plot(freqs, abs(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz'))), '-', ...
|
||||
'DisplayName', 'Flexible $\mu$-station');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
legend('location', 'southwest');
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for j = 1:length(Rz_rpm)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
% =Gmr_err= - Rigid Micro-Station
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
% =Gmf_err= - Flexible Micro-Station
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
i = 1;
|
||||
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
% =Gf_err= - Change of payload resonance
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, abs(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
end
|
||||
% Spindle Rotation Speed
|
||||
for j = 1:length(Rz_rpm)
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
end
|
||||
% =Gmr_err= - Rigid Micro-Station
|
||||
plot(freqs, abs(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
% =Gmf_err= - Flexible Micro-Station
|
||||
plot(freqs, abs(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz'))), 'k-');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
% =Gf_err= - Change of payload resonance
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
% Spindle Rotation Speed
|
||||
for j = 1:length(Rz_rpm)
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
end
|
||||
% =Gmr_err= - Rigid Micro-Station
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
% =Gmf_err= - Flexible Micro-Station
|
||||
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz')))), 'k-');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
||||
ylim([-270, 90]);
|
||||
yticks([-360:90:360]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
#+end_src
|
||||
|
||||
Comparison with initial TF
|
||||
#+begin_src matlab :exports none
|
||||
i = 1;
|
||||
|
||||
G0 = abs(squeeze(freqresp(Gmr_err{i}('Ex', 'Fx'), freqs, 'Hz')));
|
||||
|
||||
freqs = logspace(-1, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
% =Gf_err= - Change of payload resonance
|
||||
for j = 1:length(Fs)
|
||||
plot(freqs, abs(squeeze(freqresp(Gf_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))./G0, 'k-');
|
||||
end
|
||||
% =Gm_err= - Change of payload mass
|
||||
for j = 1:length(Ms)
|
||||
plot(freqs, abs(squeeze(freqresp(Gm_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))./G0, 'k-');
|
||||
end
|
||||
% Spindle Rotation Speed
|
||||
for j = 1:length(Rz_rpm)
|
||||
plot(freqs, abs(squeeze(freqresp(Gk_wz_err{i,j}('Ex', 'Fx'), freqs, 'Hz')))./G0, 'k-');
|
||||
end
|
||||
% =Gmf_err= - Flexible Micro-Station
|
||||
plot(freqs, abs(squeeze(freqresp(Gmf_err{i}('Ex', 'Fx'), freqs, 'Hz')))./G0, 'k-');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
xlim([freqs(1), freqs(end)]);
|
||||
ylim([1e-2, 1e2])
|
||||
#+end_src
|
||||
|
||||
- [ ] Make a gif with the stiffness varying
|
||||
|
||||
@ -1593,7 +1593,7 @@ The =controller= structure is saved.
|
||||
% Period of the displacement [s]
|
||||
args.Ry_period (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
% Either "constant" / "rotating"
|
||||
args.Rz_type char {mustBeMember(args.Rz_type,{'constant', 'rotating'})} = 'constant'
|
||||
args.Rz_type char {mustBeMember(args.Rz_type,{'constant', 'rotating', 'rotating-not-filtered'})} = 'constant'
|
||||
% Initial angle [rad]
|
||||
args.Rz_amplitude (1,1) double {mustBeNumeric} = 0
|
||||
% Period of the rotating [s]
|
||||
@ -1721,6 +1721,17 @@ The =controller= structure is saved.
|
||||
Rz(:) = args.Rz_amplitude;
|
||||
Rzd(:) = 0;
|
||||
Rzdd(:) = 0;
|
||||
case 'rotating-not-filtered'
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
|
||||
% The signal is filtered out
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
Rzd(:) = 2*pi/args.Rz_period;
|
||||
Rzdd(:) = 0;
|
||||
|
||||
% We add the angle offset
|
||||
Rz = Rz + args.Rz_amplitude;
|
||||
|
||||
case 'rotating'
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
|
||||
|
||||
@ -18,7 +18,7 @@ arguments
|
||||
% Period of the displacement [s]
|
||||
args.Ry_period (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
% Either "constant" / "rotating"
|
||||
args.Rz_type char {mustBeMember(args.Rz_type,{'constant', 'rotating'})} = 'constant'
|
||||
args.Rz_type char {mustBeMember(args.Rz_type,{'constant', 'rotating', 'rotating-not-filtered'})} = 'constant'
|
||||
% Initial angle [rad]
|
||||
args.Rz_amplitude (1,1) double {mustBeNumeric} = 0
|
||||
% Period of the rotating [s]
|
||||
@ -121,6 +121,17 @@ switch args.Rz_type
|
||||
Rz(:) = args.Rz_amplitude;
|
||||
Rzd(:) = 0;
|
||||
Rzdd(:) = 0;
|
||||
case 'rotating-not-filtered'
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
|
||||
% The signal is filtered out
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
Rzd(:) = 2*pi/args.Rz_period;
|
||||
Rzdd(:) = 0;
|
||||
|
||||
% We add the angle offset
|
||||
Rz = Rz + args.Rz_amplitude;
|
||||
|
||||
case 'rotating'
|
||||
Rz(:) = 2*pi/args.Rz_period*t;
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user