Reworked the compensation of gravity forces

org/compensation_gravity_forces.org

@@ -34,41 +34,33 @@ In order to start the simulation at steady state in presence of gravity:
 - section [[sec:compensation]]: Then, the equilibrium position of each joint is modified in such a way that at t=0, the forces in each joints exactly compensate the forces due to gravity forces
 
 * Matlab Init                                                :noexport:ignore:
-#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+#+BEGIN_SRC matlab
-  <<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
+#+END_SRC
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 open('nass_model.slx')
-#+end_src
+#+END_SRC
 
 * Initialization of the Experimental Conditions
 We don't inject any perturbations and no reference tracking.
-#+begin_src matlab
+#+BEGIN_SRC matlab
 initializeReferences();
 initializeDisturbances('enable', false);
 initializeController();
-#+end_src
+#+END_SRC
 
 We include the gravity and log all the signals to display.
-#+begin_src matlab
+#+BEGIN_SRC matlab
 initializeSimscapeConfiguration('gravity', true);
 initializeLoggingConfiguration('log', 'all');
-#+end_src
+#+END_SRC
 
 * Without compensation
 <<sec:no_compensation>>
 Let's simulate the system without any compensation of gravity forces.
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 initializeGround();
 initializeGranite();
 initializeTy();
@@ -79,69 +71,19 @@ Let's simulate the system without any compensation of gravity forces.
 initializeMirror();
 initializeNanoHexapod();
 initializeSample();
-#+end_src
+#+END_SRC
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 load('mat/conf_simulink.mat');
 set_param(conf_simulink, 'StopTime', '0.5');
-#+end_src
+#+END_SRC
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 sim('nass_model');
 sim_no_compensation = simout;
-#+end_src
+#+END_SRC
 
 And we can observe on Figure [[fig:transient_phase_gravity_no_compensation]] that there are some motion in the system.
-#+begin_src matlab :exports none
-  figure;
-  ax1 = subplot(2, 3, 1);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 1))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dx [m]');
-
-  ax2 = subplot(2, 3, 2);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 2))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dy [m]');
-
-  ax3 = subplot(2, 3, 3);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 3))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dz [m]');
-
-  ax4 = subplot(2, 3, 4);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 4))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Rx [rad]');
-
-  ax5 = subplot(2, 3, 5);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 5))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Ry [rad]');
-
-  ax6 = subplot(2, 3, 6);
-  hold on;
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 6))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Rz [rad]');
-#+end_src
-
-#+header: :tangle no :exports results :results none :noweb yes
-#+begin_src matlab :var filepath="figs/transient_phase_gravity_no_compensation.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
-<<plt-matlab>>
-#+end_src
-
 #+name: fig:transient_phase_gravity_no_compensation
 #+caption: Motion of the sample at the start of the simulation in presence of gravity ([[./figs/transient_phase_gravity_no_compensation.png][png]], [[./figs/transient_phase_gravity_no_compensation.pdf][pdf]])
 [[file:figs/transient_phase_gravity_no_compensation.png]]
@@ -150,7 +92,7 @@ And we can observe on Figure [[fig:transient_phase_gravity_no_compensation]] tha
 <<sec:compute_forces>>
 We here wish to simulate the system in order to compute the required force in each joint to compensate the gravity forces.
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 initializeGround();
 initializeGranite('type', 'init');
 initializeTy('type', 'init');
@@ -161,30 +103,30 @@ We here wish to simulate the system in order to compute the required force in ea
 initializeMirror();
 initializeNanoHexapod('type', 'init');
 initializeSample('type', 'init');
-#+end_src
+#+END_SRC
 
 We simulate for a short time period (all the bodies are solid, so nothing should move).
-#+begin_src matlab
+#+BEGIN_SRC matlab
 load('mat/conf_simulink.mat');
 set_param(conf_simulink, 'StopTime', '0.1');
-#+end_src
+#+END_SRC
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 sim('nass_model');
-#+end_src
+#+END_SRC
 
 Verification that nothing is moving by looking at the maximum displacement of the sample:
-#+begin_src matlab :results value replace
+#+BEGIN_SRC matlab
 max(max(simout.Em.En.Data))
-#+end_src
+#+END_SRC
 
 #+RESULTS:
 : 1.0681e-15
 
 We here show the measured total force/torque applied at the location of each joint.
-#+begin_src matlab :results value table replace :tangle no :post addhdr(*this*)
+#+BEGIN_SRC matlab
 data2orgtable([Fgm 0 0 0; Ftym; Fym; Fsm], {'Granite', 'Translation Stage', 'Tilt Stage', 'Sample'}, {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'}, ' %.1e ');
-#+end_src
+#+END_SRC
 
 #+RESULTS:
 |                   |       Fx |      Fy |       Fz |       Mx |       My |      Mz |
@@ -194,9 +136,9 @@ We here show the measured total force/torque applied at the location of each joi
 | Tilt Stage        | -7.6e-12 | 1.2e-11 |  -8800.0 |     33.0 |    -0.52 | 6.6e-13 |
 | Sample            | -5.7e-12 | 1.3e-11 |   -490.0 | -2.5e-12 | -8.1e-13 | 2.7e-13 |
 
-#+begin_src matlab :results value table replace :tangle no :post addhdr(*this*)
+#+BEGIN_SRC matlab
 data2orgtable([Fhm; Fnm], {'Micro-Hexapod', 'Nano-Hexapod'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}, ' %.1e ');
-#+end_src
+#+END_SRC
 
 #+RESULTS:
 |               |     F1 |     F2 |     F3 |     F4 |     F5 |     F6 |
@@ -205,14 +147,14 @@ We here show the measured total force/torque applied at the location of each joi
 | Nano-Hexapod  | -160.0 | -160.0 | -160.0 | -160.0 | -160.0 | -160.0 |
 
 We save these forces in =Foffset.mat=.
-#+begin_src matlab
+#+BEGIN_SRC matlab
 save('mat/Foffset.mat', 'Fgm', 'Ftym', 'Fym', 'Fzm', 'Fhm', 'Fnm', 'Fsm');
-#+end_src
+#+END_SRC
 
 * New simulation with compensation of gravity forces
 <<sec:compensation>>
 We now initialize the stages with the option =Foffset=.
-#+begin_src matlab
+#+BEGIN_SRC matlab
 initializeGround();
 initializeGranite('Foffset', true);
 initializeTy('Foffset', true);
@@ -223,79 +165,20 @@ We now initialize the stages with the option =Foffset=.
 initializeMirror();
 initializeNanoHexapod('Foffset', true);
 initializeSample('Foffset', true);
-#+end_src
+#+END_SRC
 
 And we simulate the system for 0.5 seconds.
-#+begin_src matlab
+#+BEGIN_SRC matlab
 load('mat/conf_simulink.mat');
 set_param(conf_simulink, 'StopTime', '0.5');
-#+end_src
+#+END_SRC
 
-#+begin_src matlab
+#+BEGIN_SRC matlab
 sim('nass_model');
 sim_compensation = simout;
-#+end_src
+#+END_SRC
 
 Verification that nothing is moving
-#+begin_src matlab :exports none
-  figure;
-  ax1 = subplot(2, 3, 1);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 1))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 1))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dx [m]');
-
-  ax2 = subplot(2, 3, 2);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 2))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 2))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dy [m]');
-
-  ax3 = subplot(2, 3, 3);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 3))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 3))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Dz [m]');
-
-  ax4 = subplot(2, 3, 4);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 4))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 4))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Rx [rad]');
-
-  ax5 = subplot(2, 3, 5);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 5))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 5))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Ry [rad]');
-
-  ax6 = subplot(2, 3, 6);
-  hold on;
-  plot(sim_compensation.Em.En.Time, sim_compensation.Em.En.Data(:, 6))
-  plot(sim_no_compensation.Em.En.Time, sim_no_compensation.Em.En.Data(:, 6))
-  hold off;
-  xlabel('Time [s]');
-  ylabel('Rz [rad]');
-
-  linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
-  xlim([sim_compensation.Em.En.Time(1), sim_compensation.Em.En.Time(end)])
-#+end_src
-
-#+header: :tangle no :exports results :results none :noweb yes
-#+begin_src matlab :var filepath="figs/transient_phase_gravity_compensation.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
-<<plt-matlab>>
-#+end_src
-
 #+name: fig:transient_phase_gravity_compensation
 #+caption: Motion of the sample at the start of the simulation in presence of gravity when compensating the gravity forces  ([[./figs/transient_phase_gravity_compensation.png][png]], [[./figs/transient_phase_gravity_compensation.pdf][pdf]])
 [[file:figs/transient_phase_gravity_compensation.png]]