Remove simscape file for disturbances

Now the new configurable simscape file is compatible with the
disturbance analysis

disturbances/index.org

@@ -185,7 +185,7 @@ This file is divided in the following sections:
 #+end_src
 
 #+begin_src matlab
-  open('disturbances/matlab/sim_micro_station_disturbances.slx')
+  open('nass_model.slx')
 #+end_src
 
 * Simscape Model
@@ -197,10 +197,6 @@ However, we here constrain all the stage to only move in the vertical direction.
 We add disturbances forces in the vertical direction for the Translation Stage and the Spindle.
 Also, we measure the absolute displacement of the granite and of the top platform of the Hexapod.
 
-#+begin_src matlab
-  open('disturbances/matlab/sim_micro_station_disturbances.slx');
-#+end_src
-
 We load the configuration and we set a small =StopTime=.
 #+begin_src matlab
   load('mat/conf_simulink.mat');
@@ -210,15 +206,15 @@ We load the configuration and we set a small =StopTime=.
 We initialize all the stages.
 #+begin_src matlab
   initializeGround();
-  initializeGranite();
+  initializeGranite('type', 'modal-analysis');
   initializeTy();
   initializeRy();
   initializeRz();
-  initializeMicroHexapod();
-  initializeAxisc();
-  initializeMirror();
-  initializeNanoHexapod('actuator', 'piezo');
-  initializeSample('mass', 50);
+  initializeMicroHexapod('type', 'modal-analysis');
+  initializeAxisc('type', 'none');
+  initializeMirror('type', 'none');
+  initializeNanoHexapod('type', 'none');
+  initializeSample('type', 'none');
 #+end_src
 
 * Identification
@@ -226,32 +222,43 @@ We initialize all the stages.
 The transfer functions from the disturbance forces to the relative velocity of the hexapod with respect to the granite are computed using the Simscape Model representing the experimental setup with the code below.
 
 #+begin_src matlab
-%% Options for Linearized
-options = linearizeOptions;
-options.SampleTime = 0;
+  %% Options for Linearized
+  options = linearizeOptions;
+  options.SampleTime = 0;
 
-%% Name of the Simulink File
-mdl = 'sim_micro_station_disturbances';
+  %% Name of the Simulink File
+  mdl = 'nass_model';
 #+end_src
 
 #+begin_src matlab
 %% Micro-Hexapod
-% Input/Output definition
-io(1)  = linio([mdl, '/Dw'],   1, 'input');  % Ground Motion
-io(2)  = linio([mdl, '/Fty'], 1, 'input');  % Parasitic force Ty
-io(3)  = linio([mdl, '/Frz'], 1, 'input');  % Parasitic force Rz
-io(4)  = linio([mdl, '/Dgm'],  1, 'output'); % Absolute motion - Granite
-io(5)  = linio([mdl, '/Dhm'],  1, 'output'); % Absolute Motion - Hexapod
-io(6)  = linio([mdl, '/Vm'],   1, 'output'); % Relative Velocity hexapod/granite
+  clear io; io_i = 1;
+  io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1; % Vertical Ground Motion
+  io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fty_z'); io_i = io_i + 1; % Parasitic force Ty
+  io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_z'); io_i = io_i + 1; % Parasitic force Rz
+  io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1; % Absolute motion - Granite
+  io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'],  1, 'openoutput'); io_i = io_i + 1; % Absolute Motion - Hexapod
+  % io(io_i) = linio([mdl, '/Vm'],   1, 'openoutput'); io_i = io_i + 1; % Relative Velocity hexapod/granite
 #+end_src
 
 #+begin_src matlab
-% Run the linearization
-G = linearize(mdl, io, 0);
+  % Run the linearization
+  G = linearize(mdl, io, 0);
 
-% Input/Output names
-G.InputName  = {'Dw', 'Fty', 'Frz'};
-G.OutputName = {'Dgm', 'Dhm', 'Vm'};
+  % We Take only the outputs corresponding to the vertical acceleration
+  G = G([3,9], :);
+
+  % Input/Output names
+  G.InputName  = {'Dw', 'Fty', 'Frz'};
+  G.OutputName = {'Agm', 'Ahm'};
+
+  % We integrate 1 time the output to have the velocity and we
+  % substract the absolute velocities to have the relative velocity
+  G = (1/s)*tf([-1, 1])*G;
+
+  % Input/Output names
+  G.InputName  = {'Dw', 'Fty', 'Frz'};
+  G.OutputName = {'Vm'};
 #+end_src
 
 * Sensitivity to Disturbances

identification/index.org

@@ -293,8 +293,8 @@ We initialize all the stages.
   initializeTy(          'type', 'modal-analysis');
   initializeRy(          'type', 'modal-analysis');
   initializeRz(          'type', 'modal-analysis');
-  initializeMicroHexapod('type', 'flexible');
-  initializeAxisc(       'type', 'modal-analysis');
+  initializeMicroHexapod('type', 'modal-analysis');
+  initializeAxisc(       'type', 'flexible');
 
   initializeMirror(      'type', 'none');
   initializeNanoHexapod( 'type', 'none');
@@ -425,7 +425,7 @@ We use the =linearize= function in order to estimate the dynamics from forces ap
   io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/accelerometer'],     1, 'openoutput'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Modal Analysis/accelerometer'],            1, 'openoutput'); io_i = io_i + 1;
   io(io_i) = linio([mdl, '/Micro-Station/Spindle/Modal Analysis/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
-  io(io_i) = linio([mdl, '/Micro-Station/CoM Alignement System/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
+  io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'],         1, 'openoutput'); io_i = io_i + 1;
 #+end_src
 
 #+begin_src matlab

simscape_subsystems/index.org

@@ -864,7 +864,7 @@ The =rz= structure is saved.
 :END:
 #+begin_src matlab
   arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
       % initializeFramesPositions
       args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
       args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@@ -935,6 +935,8 @@ Equilibrium position of the each joint.
       micro_hexapod.type = 1;
     case 'flexible'
       micro_hexapod.type = 2;
+    case 'modal-analysis'
+      micro_hexapod.type = 3;
   end
 #+end_src
 
@@ -987,7 +989,7 @@ The Simscape model of the Center of gravity compensator is composed of:
 :END:
 #+begin_src matlab
   arguments
-    args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
+    args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
   end
 #+end_src
 
@@ -1012,8 +1014,6 @@ First, we initialize the =axisc= structure.
       axisc.type = 1;
     case 'flexible'
       axisc.type = 2;
-    case 'modal-analysis'
-      axisc.type = 3;
   end
 #+end_src
 

src/initializeAxisc.m

@@ -1,7 +1,7 @@
 function [axisc] = initializeAxisc(args)
 
 arguments
-  args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
+  args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
 end
 
 axisc = struct();
@@ -13,8 +13,6 @@ switch args.type
     axisc.type = 1;
   case 'flexible'
     axisc.type = 2;
-  case 'modal-analysis'
-    axisc.type = 3;
 end
 
 % Structure

src/initializeMicroHexapod.m

@@ -1,7 +1,7 @@
 function [micro_hexapod] = initializeMicroHexapod(args)
 
 arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
     % initializeFramesPositions
     args.H    (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
     args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@@ -56,6 +56,8 @@ switch args.type
     micro_hexapod.type = 1;
   case 'flexible'
     micro_hexapod.type = 2;
+  case 'modal-analysis'
+    micro_hexapod.type = 3;
 end
 
 save('./mat/stages.mat', 'micro_hexapod', '-append');