Remove cedrat-actuator folder => separate repository
This commit is contained in:
parent
81ffe5d5a0
commit
d623c776ee
Binary file not shown.
@ -1 +0,0 @@
|
|||||||
../figs
|
|
||||||
@ -1,452 +0,0 @@
|
|||||||
<?xml version="1.0" encoding="utf-8"?>
|
|
||||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
|
||||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
|
||||||
<head>
|
|
||||||
<!-- 2019-10-29 mar. 11:06 -->
|
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
|
||||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
|
||||||
<title>Cedrat Actuator</title>
|
|
||||||
<meta name="generator" content="Org mode" />
|
|
||||||
<meta name="author" content="Dehaeze Thomas" />
|
|
||||||
<style type="text/css">
|
|
||||||
<!--/*--><![CDATA[/*><!--*/
|
|
||||||
.title { text-align: center;
|
|
||||||
margin-bottom: .2em; }
|
|
||||||
.subtitle { text-align: center;
|
|
||||||
font-size: medium;
|
|
||||||
font-weight: bold;
|
|
||||||
margin-top:0; }
|
|
||||||
.todo { font-family: monospace; color: red; }
|
|
||||||
.done { font-family: monospace; color: green; }
|
|
||||||
.priority { font-family: monospace; color: orange; }
|
|
||||||
.tag { background-color: #eee; font-family: monospace;
|
|
||||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
|
||||||
.timestamp { color: #bebebe; }
|
|
||||||
.timestamp-kwd { color: #5f9ea0; }
|
|
||||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
|
||||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
|
||||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
|
||||||
.underline { text-decoration: underline; }
|
|
||||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
|
||||||
p.verse { margin-left: 3%; }
|
|
||||||
pre {
|
|
||||||
border: 1px solid #ccc;
|
|
||||||
box-shadow: 3px 3px 3px #eee;
|
|
||||||
padding: 8pt;
|
|
||||||
font-family: monospace;
|
|
||||||
overflow: auto;
|
|
||||||
margin: 1.2em;
|
|
||||||
}
|
|
||||||
pre.src {
|
|
||||||
position: relative;
|
|
||||||
overflow: visible;
|
|
||||||
padding-top: 1.2em;
|
|
||||||
}
|
|
||||||
pre.src:before {
|
|
||||||
display: none;
|
|
||||||
position: absolute;
|
|
||||||
background-color: white;
|
|
||||||
top: -10px;
|
|
||||||
right: 10px;
|
|
||||||
padding: 3px;
|
|
||||||
border: 1px solid black;
|
|
||||||
}
|
|
||||||
pre.src:hover:before { display: inline;}
|
|
||||||
/* Languages per Org manual */
|
|
||||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
|
||||||
pre.src-awk:before { content: 'Awk'; }
|
|
||||||
pre.src-C:before { content: 'C'; }
|
|
||||||
/* pre.src-C++ doesn't work in CSS */
|
|
||||||
pre.src-clojure:before { content: 'Clojure'; }
|
|
||||||
pre.src-css:before { content: 'CSS'; }
|
|
||||||
pre.src-D:before { content: 'D'; }
|
|
||||||
pre.src-ditaa:before { content: 'ditaa'; }
|
|
||||||
pre.src-dot:before { content: 'Graphviz'; }
|
|
||||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
|
||||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
|
||||||
pre.src-fortran:before { content: 'Fortran'; }
|
|
||||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
|
||||||
pre.src-haskell:before { content: 'Haskell'; }
|
|
||||||
pre.src-hledger:before { content: 'hledger'; }
|
|
||||||
pre.src-java:before { content: 'Java'; }
|
|
||||||
pre.src-js:before { content: 'Javascript'; }
|
|
||||||
pre.src-latex:before { content: 'LaTeX'; }
|
|
||||||
pre.src-ledger:before { content: 'Ledger'; }
|
|
||||||
pre.src-lisp:before { content: 'Lisp'; }
|
|
||||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
|
||||||
pre.src-lua:before { content: 'Lua'; }
|
|
||||||
pre.src-matlab:before { content: 'MATLAB'; }
|
|
||||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
|
||||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
|
||||||
pre.src-octave:before { content: 'Octave'; }
|
|
||||||
pre.src-org:before { content: 'Org mode'; }
|
|
||||||
pre.src-oz:before { content: 'OZ'; }
|
|
||||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
|
||||||
pre.src-processing:before { content: 'Processing.js'; }
|
|
||||||
pre.src-python:before { content: 'Python'; }
|
|
||||||
pre.src-R:before { content: 'R'; }
|
|
||||||
pre.src-ruby:before { content: 'Ruby'; }
|
|
||||||
pre.src-sass:before { content: 'Sass'; }
|
|
||||||
pre.src-scheme:before { content: 'Scheme'; }
|
|
||||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
|
||||||
pre.src-sed:before { content: 'Sed'; }
|
|
||||||
pre.src-sh:before { content: 'shell'; }
|
|
||||||
pre.src-sql:before { content: 'SQL'; }
|
|
||||||
pre.src-sqlite:before { content: 'SQLite'; }
|
|
||||||
/* additional languages in org.el's org-babel-load-languages alist */
|
|
||||||
pre.src-forth:before { content: 'Forth'; }
|
|
||||||
pre.src-io:before { content: 'IO'; }
|
|
||||||
pre.src-J:before { content: 'J'; }
|
|
||||||
pre.src-makefile:before { content: 'Makefile'; }
|
|
||||||
pre.src-maxima:before { content: 'Maxima'; }
|
|
||||||
pre.src-perl:before { content: 'Perl'; }
|
|
||||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
|
||||||
pre.src-scala:before { content: 'Scala'; }
|
|
||||||
pre.src-shell:before { content: 'Shell Script'; }
|
|
||||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
|
||||||
/* additional language identifiers per "defun org-babel-execute"
|
|
||||||
in ob-*.el */
|
|
||||||
pre.src-cpp:before { content: 'C++'; }
|
|
||||||
pre.src-abc:before { content: 'ABC'; }
|
|
||||||
pre.src-coq:before { content: 'Coq'; }
|
|
||||||
pre.src-groovy:before { content: 'Groovy'; }
|
|
||||||
/* additional language identifiers from org-babel-shell-names in
|
|
||||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
|
||||||
the execution function name together. */
|
|
||||||
pre.src-bash:before { content: 'bash'; }
|
|
||||||
pre.src-csh:before { content: 'csh'; }
|
|
||||||
pre.src-ash:before { content: 'ash'; }
|
|
||||||
pre.src-dash:before { content: 'dash'; }
|
|
||||||
pre.src-ksh:before { content: 'ksh'; }
|
|
||||||
pre.src-mksh:before { content: 'mksh'; }
|
|
||||||
pre.src-posh:before { content: 'posh'; }
|
|
||||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
|
||||||
pre.src-ada:before { content: 'Ada'; }
|
|
||||||
pre.src-asm:before { content: 'Assembler'; }
|
|
||||||
pre.src-caml:before { content: 'Caml'; }
|
|
||||||
pre.src-delphi:before { content: 'Delphi'; }
|
|
||||||
pre.src-html:before { content: 'HTML'; }
|
|
||||||
pre.src-idl:before { content: 'IDL'; }
|
|
||||||
pre.src-mercury:before { content: 'Mercury'; }
|
|
||||||
pre.src-metapost:before { content: 'MetaPost'; }
|
|
||||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
|
||||||
pre.src-pascal:before { content: 'Pascal'; }
|
|
||||||
pre.src-ps:before { content: 'PostScript'; }
|
|
||||||
pre.src-prolog:before { content: 'Prolog'; }
|
|
||||||
pre.src-simula:before { content: 'Simula'; }
|
|
||||||
pre.src-tcl:before { content: 'tcl'; }
|
|
||||||
pre.src-tex:before { content: 'TeX'; }
|
|
||||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
|
||||||
pre.src-verilog:before { content: 'Verilog'; }
|
|
||||||
pre.src-vhdl:before { content: 'VHDL'; }
|
|
||||||
pre.src-xml:before { content: 'XML'; }
|
|
||||||
pre.src-nxml:before { content: 'XML'; }
|
|
||||||
/* add a generic configuration mode; LaTeX export needs an additional
|
|
||||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
|
||||||
pre.src-conf:before { content: 'Configuration File'; }
|
|
||||||
|
|
||||||
table { border-collapse:collapse; }
|
|
||||||
caption.t-above { caption-side: top; }
|
|
||||||
caption.t-bottom { caption-side: bottom; }
|
|
||||||
td, th { vertical-align:top; }
|
|
||||||
th.org-right { text-align: center; }
|
|
||||||
th.org-left { text-align: center; }
|
|
||||||
th.org-center { text-align: center; }
|
|
||||||
td.org-right { text-align: right; }
|
|
||||||
td.org-left { text-align: left; }
|
|
||||||
td.org-center { text-align: center; }
|
|
||||||
dt { font-weight: bold; }
|
|
||||||
.footpara { display: inline; }
|
|
||||||
.footdef { margin-bottom: 1em; }
|
|
||||||
.figure { padding: 1em; }
|
|
||||||
.figure p { text-align: center; }
|
|
||||||
.equation-container {
|
|
||||||
display: table;
|
|
||||||
text-align: center;
|
|
||||||
width: 100%;
|
|
||||||
}
|
|
||||||
.equation {
|
|
||||||
vertical-align: middle;
|
|
||||||
}
|
|
||||||
.equation-label {
|
|
||||||
display: table-cell;
|
|
||||||
text-align: right;
|
|
||||||
vertical-align: middle;
|
|
||||||
}
|
|
||||||
.inlinetask {
|
|
||||||
padding: 10px;
|
|
||||||
border: 2px solid gray;
|
|
||||||
margin: 10px;
|
|
||||||
background: #ffffcc;
|
|
||||||
}
|
|
||||||
#org-div-home-and-up
|
|
||||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
|
||||||
textarea { overflow-x: auto; }
|
|
||||||
.linenr { font-size: smaller }
|
|
||||||
.code-highlighted { background-color: #ffff00; }
|
|
||||||
.org-info-js_info-navigation { border-style: none; }
|
|
||||||
#org-info-js_console-label
|
|
||||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
|
||||||
.org-info-js_search-highlight
|
|
||||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
|
||||||
.org-svg { width: 90%; }
|
|
||||||
/*]]>*/-->
|
|
||||||
</style>
|
|
||||||
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
|
||||||
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
|
||||||
<link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
|
||||||
<script type="text/javascript" src="../js/jquery.min.js"></script>
|
|
||||||
<script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
|
||||||
<script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
|
||||||
<script type="text/javascript" src="../js/readtheorg.js"></script>
|
|
||||||
<script type="text/javascript">
|
|
||||||
/*
|
|
||||||
@licstart The following is the entire license notice for the
|
|
||||||
JavaScript code in this tag.
|
|
||||||
|
|
||||||
Copyright (C) 2012-2019 Free Software Foundation, Inc.
|
|
||||||
|
|
||||||
The JavaScript code in this tag is free software: you can
|
|
||||||
redistribute it and/or modify it under the terms of the GNU
|
|
||||||
General Public License (GNU GPL) as published by the Free Software
|
|
||||||
Foundation, either version 3 of the License, or (at your option)
|
|
||||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
|
||||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
|
||||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
|
||||||
|
|
||||||
As additional permission under GNU GPL version 3 section 7, you
|
|
||||||
may distribute non-source (e.g., minimized or compacted) forms of
|
|
||||||
that code without the copy of the GNU GPL normally required by
|
|
||||||
section 4, provided you include this license notice and a URL
|
|
||||||
through which recipients can access the Corresponding Source.
|
|
||||||
|
|
||||||
|
|
||||||
@licend The above is the entire license notice
|
|
||||||
for the JavaScript code in this tag.
|
|
||||||
*/
|
|
||||||
<!--/*--><![CDATA[/*><!--*/
|
|
||||||
function CodeHighlightOn(elem, id)
|
|
||||||
{
|
|
||||||
var target = document.getElementById(id);
|
|
||||||
if(null != target) {
|
|
||||||
elem.cacheClassElem = elem.className;
|
|
||||||
elem.cacheClassTarget = target.className;
|
|
||||||
target.className = "code-highlighted";
|
|
||||||
elem.className = "code-highlighted";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
function CodeHighlightOff(elem, id)
|
|
||||||
{
|
|
||||||
var target = document.getElementById(id);
|
|
||||||
if(elem.cacheClassElem)
|
|
||||||
elem.className = elem.cacheClassElem;
|
|
||||||
if(elem.cacheClassTarget)
|
|
||||||
target.className = elem.cacheClassTarget;
|
|
||||||
}
|
|
||||||
/*]]>*///-->
|
|
||||||
</script>
|
|
||||||
<script type="text/x-mathjax-config">
|
|
||||||
MathJax.Hub.Config({
|
|
||||||
displayAlign: "center",
|
|
||||||
displayIndent: "0em",
|
|
||||||
|
|
||||||
"HTML-CSS": { scale: 100,
|
|
||||||
linebreaks: { automatic: "false" },
|
|
||||||
webFont: "TeX"
|
|
||||||
},
|
|
||||||
SVG: {scale: 100,
|
|
||||||
linebreaks: { automatic: "false" },
|
|
||||||
font: "TeX"},
|
|
||||||
NativeMML: {scale: 100},
|
|
||||||
TeX: { equationNumbers: {autoNumber: "AMS"},
|
|
||||||
MultLineWidth: "85%",
|
|
||||||
TagSide: "right",
|
|
||||||
TagIndent: ".8em"
|
|
||||||
}
|
|
||||||
});
|
|
||||||
</script>
|
|
||||||
<script type="text/javascript"
|
|
||||||
src="https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.0/MathJax.js?config=TeX-AMS_HTML"></script>
|
|
||||||
</head>
|
|
||||||
<body>
|
|
||||||
<div id="org-div-home-and-up">
|
|
||||||
<a accesskey="h" href="../index.html"> UP </a>
|
|
||||||
|
|
|
||||||
<a accesskey="H" href="../index.html"> HOME </a>
|
|
||||||
</div><div id="content">
|
|
||||||
<h1 class="title">Cedrat Actuator</h1>
|
|
||||||
<div id="table-of-contents">
|
|
||||||
<h2>Table of Contents</h2>
|
|
||||||
<div id="text-table-of-contents">
|
|
||||||
<ul>
|
|
||||||
<li><a href="#orgd28b4dd">1. Documentation</a></li>
|
|
||||||
<li><a href="#org2594c75">2. Parameters</a></li>
|
|
||||||
<li><a href="#org5b8504e">3. Identification</a></li>
|
|
||||||
<li><a href="#org919f71c">4. Integral Force Feedback</a></li>
|
|
||||||
<li><a href="#org7ec0c4b">5. Damped System</a></li>
|
|
||||||
</ul>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="outline-container-orgd28b4dd" class="outline-2">
|
|
||||||
<h2 id="orgd28b4dd"><span class="section-number-2">1</span> Documentation</h2>
|
|
||||||
<div class="outline-text-2" id="text-1">
|
|
||||||
<ul class="org-ul">
|
|
||||||
<li>Blocked force: \(1400\ N\)</li>
|
|
||||||
<li>Stiffness: \(10.8\ N/\mu m\)</li>
|
|
||||||
<li>Resonance (free-free): \(6450\ Hz\)</li>
|
|
||||||
<li>Resonance (blocked-free): \(1750\ Hz\)</li>
|
|
||||||
<li>Height: \(H = 45\ mm\)</li>
|
|
||||||
<li>Length: \(L = 80\ mm\)</li>
|
|
||||||
<li>Width: \(22\ mm\)</li>
|
|
||||||
<li>Mass: \(160\ g\)</li>
|
|
||||||
</ul>
|
|
||||||
|
|
||||||
|
|
||||||
<div class="figure">
|
|
||||||
<p><img src="figs/cedrat_geometry.png" alt="cedrat_geometry.png" />
|
|
||||||
</p>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div id="outline-container-org2594c75" class="outline-2">
|
|
||||||
<h2 id="org2594c75"><span class="section-number-2">2</span> Parameters</h2>
|
|
||||||
<div class="outline-text-2" id="text-2">
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">cedrat.L = <span class="org-highlight-numbers-number">80</span>; <span class="org-comment">% Total Width of the Actuator[mm]</span>
|
|
||||||
cedrat.H = <span class="org-highlight-numbers-number">45</span>; <span class="org-comment">% Total Height of the Actuator [mm]</span>
|
|
||||||
cedrat.L2 = sqrt<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">(</span>cedrat.L<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">^</span><span class="org-highlight-numbers-number">2</span> <span class="org-type">+</span> <span class="org-rainbow-delimiters-depth-2">(</span>cedrat.H<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% Length of the elipsoidal sections [mm]</span>
|
|
||||||
cedrat.alpha = <span class="org-highlight-numbers-number">180</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>atan2<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.L<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span>, cedrat.H<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [deg]</span>
|
|
||||||
cedrat.mtot = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">160</span>; <span class="org-comment">% Total mass of the Actuator [kg]</span>
|
|
||||||
cedrat.m = cedrat.mtot<span class="org-type">/</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Mass of each single element [kg]</span>
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">cedrat.k = <span class="org-highlight-numbers-number">1e9</span>; <span class="org-comment">% Linear Stiffness of each "blade" [N/m]</span>
|
|
||||||
cedrat.c = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>sqrt<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.mtot<span class="org-type">*</span>cedrat.k<span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [N/(m/s)]</span>
|
|
||||||
|
|
||||||
cedrat.ka = <span class="org-highlight-numbers-number">5e7</span>; <span class="org-comment">% Linear Stiffness of the stack [N/m]</span>
|
|
||||||
cedrat.ca = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span><span class="org-type">*</span>sqrt<span class="org-rainbow-delimiters-depth-1">(</span>cedrat.mtot<span class="org-type">*</span>cedrat.ka<span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-comment">% [N/(m/s)]</span>
|
|
||||||
|
|
||||||
cedrat.kr = <span class="org-highlight-numbers-number">10</span>; <span class="org-comment">% Rotation Stiffness [N*m/(deg)]</span>
|
|
||||||
cedrat.cr = <span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">0001</span>; <span class="org-comment">% Rotation Damping [N*m/(deg/s)]</span>
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">K_iff = tf<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">% dummy_mass = <span class="org-highlight-numbers-number">140</span>; % [kg]
|
|
||||||
dummy_mass = <span class="org-highlight-numbers-number">1</span>; <span class="org-comment">% [kg]</span>
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="outline-container-org5b8504e" class="outline-2">
|
|
||||||
<h2 id="org5b8504e"><span class="section-number-2">3</span> Identification</h2>
|
|
||||||
<div class="outline-text-2" id="text-3">
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
|
||||||
mdl = <span class="org-string">'cedrat_piezo'</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/F'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dw'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fm'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
|
|
||||||
G = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, options<span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
G.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'F'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Dw'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
|
|
||||||
G.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Dz'</span>, <span class="org-string">'Fm'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div id="org6ebf8c8" class="figure">
|
|
||||||
<p><img src="figs/cedrat_piezo_identified_tf.png" alt="cedrat_piezo_identified_tf.png" />
|
|
||||||
</p>
|
|
||||||
<p><span class="figure-number">Figure 2: </span>Identified Transfer function (<a href="./figs/cedrat_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_piezo_identified_tf.pdf">pdf</a>)</p>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="outline-container-org919f71c" class="outline-2">
|
|
||||||
<h2 id="org919f71c"><span class="section-number-2">4</span> Integral Force Feedback</h2>
|
|
||||||
<div class="outline-text-2" id="text-4">
|
|
||||||
|
|
||||||
<div id="org964c2d0" class="figure">
|
|
||||||
<p><img src="figs/iff_plant_cedrat.png" alt="iff_plant_cedrat.png" />
|
|
||||||
</p>
|
|
||||||
<p><span class="figure-number">Figure 3: </span>Transfer function from \(F\) to \(F_m\) (<a href="./figs/iff_plant_cedrat.png">png</a>, <a href="./figs/iff_plant_cedrat.pdf">pdf</a>)</p>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">K_iff = <span class="org-type">-</span><span class="org-highlight-numbers-number">100000</span><span class="org-type">/</span>s<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">(</span>s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">/</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span> <span class="org-type">+</span> s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">(</span>s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">/</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span> <span class="org-type">+</span> s<span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div id="org090ce7f" class="figure">
|
|
||||||
<p><img src="figs/iff_open_loop_cedrat.png" alt="iff_open_loop_cedrat.png" />
|
|
||||||
</p>
|
|
||||||
<p><span class="figure-number">Figure 4: </span>Open Loop Gain Transfer Function - Cedrat (<a href="./figs/iff_open_loop_cedrat.png">png</a>, <a href="./figs/iff_open_loop_cedrat.pdf">pdf</a>)</p>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="outline-container-org7ec0c4b" class="outline-2">
|
|
||||||
<h2 id="org7ec0c4b"><span class="section-number-2">5</span> Damped System</h2>
|
|
||||||
<div class="outline-text-2" id="text-5">
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = <span class="org-highlight-numbers-number">0</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
|
||||||
mdl = <span class="org-string">'cedrat_piezo'</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/F'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dw'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'input'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Dz'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
io<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = linio<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span>mdl, <span class="org-string">'/Fm'</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-highlight-numbers-number">1</span>, <span class="org-string">'output'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
|
|
||||||
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
|
|
||||||
G_iff = linearize<span class="org-rainbow-delimiters-depth-1">(</span>mdl, io, options<span class="org-rainbow-delimiters-depth-1">)</span>;
|
|
||||||
G_iff.InputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'F'</span>, <span class="org-string">'Fz'</span>, <span class="org-string">'Dw'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
|
|
||||||
G_iff.OutputName = <span class="org-rainbow-delimiters-depth-1">{</span><span class="org-string">'Dz'</span>, <span class="org-string">'Fm'</span><span class="org-rainbow-delimiters-depth-1">}</span>;
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div id="org2e7eff5" class="figure">
|
|
||||||
<p><img src="figs/cedrat_iff_piezo_identified_tf.png" alt="cedrat_iff_piezo_identified_tf.png" />
|
|
||||||
</p>
|
|
||||||
<p><span class="figure-number">Figure 5: </span>Identified Transfer function (<a href="./figs/cedrat_iff_piezo_identified_tf.png">png</a>, <a href="./figs/cedrat_iff_piezo_identified_tf.pdf">pdf</a>)</p>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
<div id="postamble" class="status">
|
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
|
||||||
<p class="date">Created: 2019-10-29 mar. 11:06</p>
|
|
||||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
|
||||||
</div>
|
|
||||||
</body>
|
|
||||||
</html>
|
|
||||||
@ -1,330 +0,0 @@
|
|||||||
#+TITLE: Cedrat Actuator
|
|
||||||
:DRAWER:
|
|
||||||
#+STARTUP: overview
|
|
||||||
|
|
||||||
#+LANGUAGE: en
|
|
||||||
#+EMAIL: dehaeze.thomas@gmail.com
|
|
||||||
#+AUTHOR: Dehaeze Thomas
|
|
||||||
|
|
||||||
#+HTML_LINK_HOME: ../index.html
|
|
||||||
#+HTML_LINK_UP: ../index.html
|
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
|
|
||||||
|
|
||||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
|
||||||
|
|
||||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
|
||||||
#+PROPERTY: header-args:matlab+ :comments org
|
|
||||||
#+PROPERTY: header-args:matlab+ :results none
|
|
||||||
#+PROPERTY: header-args:matlab+ :exports both
|
|
||||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
|
||||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
|
||||||
#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m
|
|
||||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
|
||||||
|
|
||||||
#+PROPERTY: header-args:shell :eval no-export
|
|
||||||
|
|
||||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
|
|
||||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
|
||||||
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
|
||||||
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
|
||||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
|
||||||
#+PROPERTY: header-args:latex+ :eval no-export
|
|
||||||
#+PROPERTY: header-args:latex+ :exports both
|
|
||||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
|
||||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
|
||||||
:END:
|
|
||||||
|
|
||||||
* Documentation
|
|
||||||
- Blocked force: $1400\ N$
|
|
||||||
- Stiffness: $10.8\ N/\mu m$
|
|
||||||
- Resonance (free-free): $6450\ Hz$
|
|
||||||
- Resonance (blocked-free): $1750\ Hz$
|
|
||||||
- Height: $H = 45\ mm$
|
|
||||||
- Length: $L = 80\ mm$
|
|
||||||
- Width: $22\ mm$
|
|
||||||
- Mass: $160\ g$
|
|
||||||
|
|
||||||
#+begin_src latex :file cedrat_geometry.pdf :post pdf2svg(file=*this*, ext="png") :exports results
|
|
||||||
\begin{tikzpicture}
|
|
||||||
\node[branch] (O) at ( 0, 0){};
|
|
||||||
\node[branch] (A) at (-3, 1.5){};
|
|
||||||
\node[branch] (C) at ( 0, 1.5){};
|
|
||||||
\node[branch] (B) at ( 3, 1.5){};
|
|
||||||
\node[branch] (T) at ( 0, 3){};
|
|
||||||
|
|
||||||
\draw[] (O) -- (A);
|
|
||||||
\draw[] (O) -- node[midway, below]{$L_2$} (B);
|
|
||||||
\draw[] (A) -- (C);
|
|
||||||
\draw[] (C) -- (B);
|
|
||||||
\draw[] (A) -- (T);
|
|
||||||
\draw[] (B) -- (T);
|
|
||||||
|
|
||||||
\draw[dashed] (O) -- (T);
|
|
||||||
\draw[dashed] (0, 0.5) arc (90:26:0.5) node[midway, above]{$\alpha$};
|
|
||||||
|
|
||||||
\draw[dashed, <->] ($(O) + (3.5, 0)$) -- node[right]{$H$} ($(T) + (3.5, 0)$);
|
|
||||||
\draw[dashed, <->] ($(A) + (0, -2)$) -- node[below]{$L$} ($(B) + (0, -2)$);
|
|
||||||
\end{tikzpicture}
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+RESULTS:
|
|
||||||
[[file:figs/cedrat_geometry.png]]
|
|
||||||
|
|
||||||
|
|
||||||
* Matlab Init :noexport:ignore:
|
|
||||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
|
||||||
<<matlab-dir>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :exports none :results silent :noweb yes
|
|
||||||
<<matlab-init>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :tangle no
|
|
||||||
simulinkproject('../');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
open 'simscape/cedrat_piezo.slx'
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
* Parameters
|
|
||||||
#+begin_src matlab
|
|
||||||
cedrat.L = 80; % Total Width of the Actuator[mm]
|
|
||||||
cedrat.H = 45; % Total Height of the Actuator [mm]
|
|
||||||
cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm]
|
|
||||||
cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg]
|
|
||||||
cedrat.mtot = 0.160; % Total mass of the Actuator [kg]
|
|
||||||
cedrat.m = cedrat.mtot/6; % Mass of each single element [kg]
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
cedrat.k = 1e9; % Linear Stiffness of each "blade" [N/m]
|
|
||||||
cedrat.c = 0.1*sqrt(cedrat.mtot*cedrat.k); % [N/(m/s)]
|
|
||||||
|
|
||||||
cedrat.ka = 5e7; % Linear Stiffness of the stack [N/m]
|
|
||||||
cedrat.ca = 0.1*sqrt(cedrat.mtot*cedrat.ka); % [N/(m/s)]
|
|
||||||
|
|
||||||
cedrat.kr = 10; % Rotation Stiffness [N*m/(deg)]
|
|
||||||
cedrat.cr = 0.0001; % Rotation Damping [N*m/(deg/s)]
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
K_iff = tf(0);
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
% dummy_mass = 140; % [kg]
|
|
||||||
dummy_mass = 1; % [kg]
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
* Identification
|
|
||||||
#+begin_src matlab
|
|
||||||
%% Options for Linearized
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = 0;
|
|
||||||
|
|
||||||
%% Name of the Simulink File
|
|
||||||
mdl = 'cedrat_piezo';
|
|
||||||
|
|
||||||
%% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/F'], 1, 'input');
|
|
||||||
io(2) = linio([mdl, '/Fz'], 1, 'input');
|
|
||||||
io(3) = linio([mdl, '/Dw'], 1, 'input');
|
|
||||||
io(4) = linio([mdl, '/Dz'], 1, 'output');
|
|
||||||
io(5) = linio([mdl, '/Fm'], 1, 'output');
|
|
||||||
|
|
||||||
%% Run the linearization
|
|
||||||
G = linearize(mdl, io, options);
|
|
||||||
G.InputName = {'F', 'Fz', 'Dw'};
|
|
||||||
G.OutputName = {'Dz', 'Fm'};
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
|
||||||
freqs = logspace(0, 5, 1000);
|
|
||||||
|
|
||||||
figure;
|
|
||||||
subplot(2, 2, 1);
|
|
||||||
title('From $F_z$ to $D_z$ - Compliance');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'Fz'), freqs, 'Hz'))), 'k-');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 2);
|
|
||||||
title('From $D_w$ to $D_z$ - Transmissibility');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'Dw'), freqs, 'Hz'))), 'k-');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [V/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 3);
|
|
||||||
title('From $F$ to $D_z$ - Plant');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 4);
|
|
||||||
title('From $F$ to $F_m$ - IFF Plant');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [V/N]'); xlabel('Frequency [Hz]');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
|
||||||
#+begin_src matlab :var filepath="figs/cedrat_piezo_identified_tf.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
|
||||||
<<plt-matlab>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+NAME: fig:cedrat_piezo_identified_tf
|
|
||||||
#+CAPTION: Identified Transfer function ([[./figs/cedrat_piezo_identified_tf.png][png]], [[./figs/cedrat_piezo_identified_tf.pdf][pdf]])
|
|
||||||
[[file:figs/cedrat_piezo_identified_tf.png]]
|
|
||||||
|
|
||||||
* Integral Force Feedback
|
|
||||||
#+begin_src matlab :exports none
|
|
||||||
freqs = logspace(1, 5, 1000);
|
|
||||||
|
|
||||||
figure;
|
|
||||||
|
|
||||||
ax1 = subplot(2, 1, 1);
|
|
||||||
plot(freqs, abs(squeeze(freqresp(-G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
|
||||||
|
|
||||||
ax2 = subplot(2, 1, 2);
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(-G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
||||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
||||||
ylim([-180, 180]);
|
|
||||||
yticks([-180, -90, 0, 90, 180]);
|
|
||||||
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
|
||||||
#+begin_src matlab :var filepath="figs/iff_plant_cedrat.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
|
||||||
<<plt-matlab>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+NAME: fig:iff_plant_cedrat
|
|
||||||
#+CAPTION: Transfer function from $F$ to $F_m$ ([[./figs/iff_plant_cedrat.png][png]], [[./figs/iff_plant_cedrat.pdf][pdf]])
|
|
||||||
[[file:figs/iff_plant_cedrat.png]]
|
|
||||||
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
K_iff = -100000/s*(s/2/pi/100)/(1 + s/2/pi/100)*(s/2/pi/100)/(1 + s/2/pi/100);
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
|
||||||
freqs = logspace(0, 5, 1000);
|
|
||||||
|
|
||||||
figure;
|
|
||||||
|
|
||||||
ax1 = subplot(2, 1, 1);
|
|
||||||
plot(freqs, abs(squeeze(freqresp(K_iff*G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
|
||||||
|
|
||||||
ax2 = subplot(2, 1, 2);
|
|
||||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_iff*G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
|
|
||||||
ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
|
|
||||||
ylim([-180, 180]);
|
|
||||||
yticks([-180, -90, 0, 90, 180]);
|
|
||||||
|
|
||||||
linkaxes([ax1,ax2],'x');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
|
||||||
#+begin_src matlab :var filepath="figs/iff_open_loop_cedrat.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
|
||||||
<<plt-matlab>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+NAME: fig:iff_open_loop_cedrat
|
|
||||||
#+CAPTION: Open Loop Gain Transfer Function - Cedrat ([[./figs/iff_open_loop_cedrat.png][png]], [[./figs/iff_open_loop_cedrat.pdf][pdf]])
|
|
||||||
[[file:figs/iff_open_loop_cedrat.png]]
|
|
||||||
|
|
||||||
* Damped System
|
|
||||||
#+begin_src matlab
|
|
||||||
%% Options for Linearized
|
|
||||||
options = linearizeOptions;
|
|
||||||
options.SampleTime = 0;
|
|
||||||
|
|
||||||
%% Name of the Simulink File
|
|
||||||
mdl = 'cedrat_piezo';
|
|
||||||
|
|
||||||
%% Input/Output definition
|
|
||||||
io(1) = linio([mdl, '/F'], 1, 'input');
|
|
||||||
io(2) = linio([mdl, '/Fz'], 1, 'input');
|
|
||||||
io(3) = linio([mdl, '/Dw'], 1, 'input');
|
|
||||||
io(4) = linio([mdl, '/Dz'], 1, 'output');
|
|
||||||
io(5) = linio([mdl, '/Fm'], 1, 'output');
|
|
||||||
|
|
||||||
%% Run the linearization
|
|
||||||
G_iff = linearize(mdl, io, options);
|
|
||||||
G_iff.InputName = {'F', 'Fz', 'Dw'};
|
|
||||||
G_iff.OutputName = {'Dz', 'Fm'};
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
|
||||||
freqs = logspace(0, 5, 1000);
|
|
||||||
|
|
||||||
figure;
|
|
||||||
subplot(2, 2, 1);
|
|
||||||
title('From $F_z$ to $D_z$ - Compliance');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'Fz'), freqs, 'Hz'))), 'k-');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff('Dz', 'Fz'), freqs, 'Hz'))), 'k--');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 2);
|
|
||||||
title('From $D_w$ to $D_z$ - Transmissibility');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'Dw'), freqs, 'Hz'))), 'k-');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff('Dz', 'Dw'), freqs, 'Hz'))), 'k--');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [V/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 3);
|
|
||||||
title('From $F$ to $D_z$ - Plant');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Dz', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff('Dz', 'F'), freqs, 'Hz'))), 'k--');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
|
||||||
|
|
||||||
subplot(2, 2, 4);
|
|
||||||
title('From $F$ to $F_m$ - IFF Plant');
|
|
||||||
hold on;
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G('Fm', 'F'), freqs, 'Hz'))), 'k-');
|
|
||||||
plot(freqs, abs(squeeze(freqresp(G_iff('Fm', 'F'), freqs, 'Hz'))), 'k--');
|
|
||||||
hold off;
|
|
||||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
|
||||||
ylabel('Amplitude [V/N]'); xlabel('Frequency [Hz]');
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+HEADER: :tangle no :exports results :results none :noweb yes
|
|
||||||
#+begin_src matlab :var filepath="figs/cedrat_iff_piezo_identified_tf.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
|
||||||
<<plt-matlab>>
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+NAME: fig:cedrat_iff_piezo_identified_tf
|
|
||||||
#+CAPTION: Identified Transfer function ([[./figs/cedrat_iff_piezo_identified_tf.png][png]], [[./figs/cedrat_iff_piezo_identified_tf.pdf][pdf]])
|
|
||||||
[[file:figs/cedrat_iff_piezo_identified_tf.png]]
|
|
||||||
Binary file not shown.
|
Before Width: | Height: | Size: 4.8 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 121 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 112 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 127 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 123 KiB |
Loading…
Reference in New Issue
Block a user