Change tangle filenames
This commit is contained in:
@@ -4,7 +4,7 @@ clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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open('nass_model.slx')
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load('mat/conf_simulink.mat');
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% Identification :ignore:
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@@ -17,11 +17,11 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@@ -168,11 +168,11 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@@ -318,11 +318,11 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@@ -595,11 +595,11 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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@@ -752,11 +752,11 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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10
matlab/dvf.m
10
matlab/dvf.m
@@ -6,7 +6,7 @@ s = zpk('s');
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addpath('active_damping/src/');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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open('nass_model.slx')
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load('./active_damping/mat/undamped_plants.mat', 'G_dvf');
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load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_dvf');
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@@ -83,12 +83,12 @@ options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'sim_nass_active_damping';
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mdl = 'nass_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
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io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
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load('./active_damping/mat/cart_plants.mat', 'masses');
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@@ -213,7 +213,7 @@ initializeController('type', 'dvf', 'K', K_dvf);
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load('mat/conf_simulink.mat');
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set_param(conf_simulink, 'StopTime', '4.5');
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sim('sim_nass_active_damping');
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sim('nass_model');
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En_dvf = En;
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Eg_dvf = Eg;
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197
matlab/dvf_uniaxial.m
Normal file
197
matlab/dvf_uniaxial.m
Normal file
@@ -0,0 +1,197 @@
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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open('active_damping_uniaxial/matlab/sim_nano_station_id.slx')
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load('./active_damping_uniaxial/mat/plants.mat', 'G');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(G.G_geoph(['Vm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_geoph(['Vm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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K_dvf = tf(3e4);
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i=1:6
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plot(freqs, abs(squeeze(freqresp(K_dvf*G.G_geoph(['Vm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i=1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(K_dvf*G.G_geoph(['Vm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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initializeReferences();
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_rmc = tf(zeros(6));
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save('./mat/controllers.mat', 'K_rmc', '-append');
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K_dvf = -K_dvf*eye(6);
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save('./mat/controllers.mat', 'K_dvf', '-append');
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G_dvf = identifyPlant();
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save('./active_damping_uniaxial/mat/plants.mat', 'G_dvf', '-append');
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freqs = logspace(0, 3, 1000);
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figure;
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subplot(2, 1, 1);
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title('$D_g$ to $D$');
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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subplot(2, 1, 2);
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title('$F_s$ to $D$');
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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freqs = logspace(0, 3, 1000);
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
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plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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legend('location', 'northeast');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 2, 1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
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ax2 = subplot(2, 2, 2);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
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ax3 = subplot(2, 2, 3);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'northwest');
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ax4 = subplot(2, 2, 4);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
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set(gca,'ColorOrderIndex',1);
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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legend('location', 'northwest');
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linkaxes([ax1,ax2,ax3,ax4],'x');
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10
matlab/iff.m
10
matlab/iff.m
@@ -6,7 +6,7 @@ s = zpk('s');
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||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
open('nass_model.slx')
|
||||
|
||||
load('./active_damping/mat/undamped_plants.mat', 'G_iff');
|
||||
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff');
|
||||
@@ -84,12 +84,12 @@ options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
mdl = 'nass_model';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses');
|
||||
|
||||
@@ -214,7 +214,7 @@ initializeController('type', 'iff', 'K', K_iff);
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '4.5');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
sim('nass_model');
|
||||
|
||||
En_iff = En;
|
||||
Eg_iff = Eg;
|
||||
|
||||
212
matlab/iff_uniaxial.m
Normal file
212
matlab/iff_uniaxial.m
Normal file
@@ -0,0 +1,212 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
open('active_damping_uniaxial/matlab/sim_nano_station_id.slx')
|
||||
|
||||
load('./active_damping_uniaxial/mat/plants.mat', 'G');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_iff(['Fm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_iff(['Fm', num2str(i)], ['F', num2str(i)]), 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]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
K_iff = -1000/s;
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(K_iff*G.G_iff(['Fm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
|
||||
end
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_iff*G.G_iff(['Fm', num2str(i)], ['F', num2str(i)]), 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]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
initializeReferences();
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_iff = -K_iff*eye(6);
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_rmc = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_rmc', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
|
||||
G_iff = identifyPlant();
|
||||
|
||||
save('./active_damping_uniaxial/mat/plants.mat', 'G_iff', '-append');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
subplot(2, 1, 1);
|
||||
title('$D_g$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
subplot(2, 1, 2);
|
||||
title('$F_s$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(prescale(G_iff.G_dist('Dz', 'Frzz'), {2*pi, 2*pi*1e3})), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dz', 'Ftyz')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(minreal(G_iff.G_dist('Dx', 'Ftyx')), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax2 = subplot(2, 2, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
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', 'northwest');
|
||||
|
||||
ax4 = subplot(2, 2, 4);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
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', 'northwest');
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
for ix = 1:6
|
||||
for iy = 1:6
|
||||
subplot(6, 6, (ix-1)*6 + iy);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart(ix, iy), freqs, 'Hz'))), 'k-');
|
||||
plot(freqs, abs(squeeze(freqresp(G_iff.G_cart(ix, iy), freqs, 'Hz'))), 'k--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylim([1e-12, 1e-5]);
|
||||
end
|
||||
end
|
||||
@@ -6,7 +6,7 @@ s = zpk('s');
|
||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
open('nass_model.slx')
|
||||
|
||||
load('./active_damping/mat/undamped_plants.mat', 'G_ine');
|
||||
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_ine');
|
||||
@@ -83,12 +83,12 @@ options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
mdl = 'nass_model';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1;
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
|
||||
|
||||
load('./active_damping/mat/cart_plants.mat', 'masses');
|
||||
|
||||
|
||||
197
matlab/rmc_uniaxial.m
Normal file
197
matlab/rmc_uniaxial.m
Normal file
@@ -0,0 +1,197 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
open('active_damping_uniaxial/matlab/sim_nano_station_id.slx')
|
||||
|
||||
load('./active_damping_uniaxial/mat/plants.mat', 'G');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dleg(['Dm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
|
||||
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=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_dleg(['Dm', num2str(i)], ['F', num2str(i)]), 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]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
K_rmc = s*50000/(1 + s/2/pi/10000);
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
for i=1:6
|
||||
plot(freqs, abs(squeeze(freqresp(K_rmc*G.G_dleg(['Dm', num2str(i)], ['F', num2str(i)]), freqs, 'Hz'))));
|
||||
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=1:6
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(K_rmc*G.G_dleg(['Dm', num2str(i)], ['F', num2str(i)]), 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]);
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
|
||||
initializeReferences();
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_rmc = -K_rmc*eye(6);
|
||||
save('./mat/controllers.mat', 'K_rmc', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
|
||||
G_rmc = identifyPlant();
|
||||
|
||||
save('./active_damping_uniaxial/mat/plants.mat', 'G_rmc', '-append');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
subplot(2, 1, 1);
|
||||
title('$D_g$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'southeast');
|
||||
|
||||
subplot(2, 1, 2);
|
||||
title('$F_s$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax2 = subplot(2, 2, 2);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))));
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
|
||||
plot(freqs, abs(squeeze(freqresp(G_rmc.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [rad/(Nm)]'); xlabel('Frequency [Hz]');
|
||||
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
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', 'northwest');
|
||||
|
||||
ax4 = subplot(2, 2, 4);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), 'DisplayName', '$\left|R_x / M_{n,x}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Ry', 'Mny'), freqs, 'Hz'))), 'DisplayName', '$\left|R_y / M_{n,y}\right|$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), 'DisplayName', '$\left|R_z / M_{n,z}\right|$');
|
||||
set(gca,'ColorOrderIndex',1);
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G_rmc.G_cart('Rz', 'Mnz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
|
||||
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', 'northwest');
|
||||
|
||||
linkaxes([ax1,ax2,ax3,ax4],'x');
|
||||
@@ -1,407 +0,0 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
% Simscape Model
|
||||
% <<sec:simscape_model>>
|
||||
|
||||
|
||||
open('nass_model.slx');
|
||||
|
||||
|
||||
|
||||
% We load the shared simulink configuration and we set the =StopTime=.
|
||||
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '5');
|
||||
|
||||
|
||||
|
||||
% We first initialize all the stages.
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 1);
|
||||
|
||||
|
||||
|
||||
% We initialize the reference path for all the stages.
|
||||
% All stage is set to its zero position except the Spindle which is rotating at 60rpm.
|
||||
|
||||
initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
% Simulation Setup
|
||||
% And we initialize the disturbances to be equal to zero.
|
||||
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
'Fty_x', false, ... % Translation Stage - X direction
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
% And we save the obtained data.
|
||||
|
||||
tomo_align_no_dist = struct('t', t, 'MTr', MTr);
|
||||
save('experiment_tomography/mat/experiment.mat', 'tomo_align_no_dist', '-append');
|
||||
|
||||
% Analysis
|
||||
|
||||
load('experiment_tomography/mat/experiment.mat', 'tomo_align_no_dist');
|
||||
t = tomo_align_no_dist.t;
|
||||
MTr = tomo_align_no_dist.MTr;
|
||||
|
||||
Edx = squeeze(MTr(1, 4, :));
|
||||
Edy = squeeze(MTr(2, 4, :));
|
||||
Edz = squeeze(MTr(3, 4, :));
|
||||
% The angles obtained are u-v-w Euler angles (rotations in the moving frame)
|
||||
Ery = atan2( squeeze(MTr(1, 3, :)), squeeze(sqrt(MTr(1, 1, :).^2 + MTr(1, 2, :).^2)));
|
||||
Erx = atan2(-squeeze(MTr(2, 3, :))./cos(Ery), squeeze(MTr(3, 3, :))./cos(Ery));
|
||||
Erz = atan2(-squeeze(MTr(1, 2, :))./cos(Ery), squeeze(MTr(1, 1, :))./cos(Ery));
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Edx, 'DisplayName', '$\epsilon_{x}$')
|
||||
ylabel('Displacement [m]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Edy, 'DisplayName', '$\epsilon_{y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
% #+NAME: fig:exp_tomo_without_dist_trans
|
||||
% #+CAPTION: X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances ([[./figs/exp_tomo_without_dist_trans.png][png]], [[./figs/exp_tomo_without_dist_trans.pdf][pdf]])
|
||||
% [[file:figs/exp_tomo_without_dist_trans.png]]
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Erx, 'DisplayName', '$\epsilon_{\theta x}$')
|
||||
ylabel('Rotation [rad]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Ery, 'DisplayName', '$\epsilon_{\theta y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We now activate the disturbances.
|
||||
|
||||
initializeDisturbances(...
|
||||
'Dwx', true, ... % Ground Motion - X direction
|
||||
'Dwy', true, ... % Ground Motion - Y direction
|
||||
'Dwz', true, ... % Ground Motion - Z direction
|
||||
'Fty_x', true, ... % Translation Stage - X direction
|
||||
'Fty_z', true, ... % Translation Stage - Z direction
|
||||
'Frz_z', true ... % Spindle - Z direction
|
||||
);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
% And we save the obtained data.
|
||||
|
||||
tomo_align_dist = struct('t', t, 'MTr', MTr);
|
||||
save('experiment_tomography/mat/experiment.mat', 'tomo_align_dist', '-append');
|
||||
|
||||
% Analysis
|
||||
|
||||
load('experiment_tomography/mat/experiment.mat', 'tomo_align_dist');
|
||||
t = tomo_align_dist.t;
|
||||
MTr = tomo_align_dist.MTr;
|
||||
|
||||
Edx = squeeze(MTr(1, 4, :));
|
||||
Edy = squeeze(MTr(2, 4, :));
|
||||
Edz = squeeze(MTr(3, 4, :));
|
||||
% The angles obtained are u-v-w Euler angles (rotations in the moving frame)
|
||||
Ery = atan2( squeeze(MTr(1, 3, :)), squeeze(sqrt(MTr(1, 1, :).^2 + MTr(1, 2, :).^2)));
|
||||
Erx = atan2(-squeeze(MTr(2, 3, :))./cos(Ery), squeeze(MTr(3, 3, :))./cos(Ery));
|
||||
Erz = atan2(-squeeze(MTr(1, 2, :))./cos(Ery), squeeze(MTr(1, 1, :))./cos(Ery));
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Edx, 'DisplayName', '$\epsilon_{x}$')
|
||||
ylabel('Displacement [m]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Edy, 'DisplayName', '$\epsilon_{y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
% #+NAME: fig:exp_tomo_dist_trans
|
||||
% #+CAPTION: X-Y-Z translation of the sample w.r.t. the granite when performing tomography experiment with disturbances ([[./figs/exp_tomo_dist_trans.png][png]], [[./figs/exp_tomo_dist_trans.pdf][pdf]])
|
||||
% [[file:figs/exp_tomo_dist_trans.png]]
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Erx, 'DisplayName', '$\epsilon_{\theta x}$')
|
||||
ylabel('Rotation [rad]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Ery, 'DisplayName', '$\epsilon_{\theta y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We first set the wanted translation of the Micro Hexapod.
|
||||
|
||||
P_micro_hexapod = [0.01; 0; 0]; % [m]
|
||||
|
||||
|
||||
|
||||
% We initialize the reference path.
|
||||
|
||||
initializeReferences('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1);
|
||||
|
||||
|
||||
|
||||
% We initialize the stages.
|
||||
|
||||
initializeMicroHexapod('AP', P_micro_hexapod);
|
||||
|
||||
|
||||
|
||||
% And we initialize the disturbances to zero.
|
||||
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
'Fty_x', false, ... % Translation Stage - X direction
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
% And we save the obtained data.
|
||||
|
||||
tomo_not_align = struct('t', t, 'MTr', MTr);
|
||||
save('experiment_tomography/mat/experiment.mat', 'tomo_not_align', '-append');
|
||||
|
||||
% Analysis
|
||||
|
||||
load('experiment_tomography/mat/experiment.mat', 'tomo_not_align');
|
||||
t = tomo_not_align.t;
|
||||
MTr = tomo_not_align.MTr;
|
||||
|
||||
Edx = squeeze(MTr(1, 4, :));
|
||||
Edy = squeeze(MTr(2, 4, :));
|
||||
Edz = squeeze(MTr(3, 4, :));
|
||||
% The angles obtained are u-v-w Euler angles (rotations in the moving frame)
|
||||
Ery = atan2( squeeze(MTr(1, 3, :)), squeeze(sqrt(MTr(1, 1, :).^2 + MTr(1, 2, :).^2)));
|
||||
Erx = atan2(-squeeze(MTr(2, 3, :))./cos(Ery), squeeze(MTr(3, 3, :))./cos(Ery));
|
||||
Erz = atan2(-squeeze(MTr(1, 2, :))./cos(Ery), squeeze(MTr(1, 1, :))./cos(Ery));
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Edx, 'DisplayName', '$\epsilon_{x}$')
|
||||
ylabel('Displacement [m]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Edy, 'DisplayName', '$\epsilon_{y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
% #+NAME: fig:exp_tomo_offset_trans
|
||||
% #+CAPTION: X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances ([[./figs/exp_tomo_offset_trans.png][png]], [[./figs/exp_tomo_offset_trans.pdf][pdf]])
|
||||
% [[file:figs/exp_tomo_offset_trans.png]]
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Erx, 'DisplayName', '$\epsilon_{\theta x}$')
|
||||
ylabel('Rotation [rad]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Ery, 'DisplayName', '$\epsilon_{\theta y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
% Simulation Setup
|
||||
% We set the reference path.
|
||||
|
||||
initializeReferences('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1);
|
||||
|
||||
|
||||
|
||||
% We initialize the stages.
|
||||
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 1);
|
||||
|
||||
|
||||
|
||||
% And we initialize the disturbances to zero.
|
||||
|
||||
initializeDisturbances(...
|
||||
'Dwx', false, ... % Ground Motion - X direction
|
||||
'Dwy', false, ... % Ground Motion - Y direction
|
||||
'Dwz', false, ... % Ground Motion - Z direction
|
||||
'Fty_x', false, ... % Translation Stage - X direction
|
||||
'Fty_z', false, ... % Translation Stage - Z direction
|
||||
'Frz_z', false ... % Spindle - Z direction
|
||||
);
|
||||
|
||||
|
||||
|
||||
% We simulate the model.
|
||||
|
||||
sim('nass_model');
|
||||
|
||||
|
||||
|
||||
% And we save the obtained data.
|
||||
|
||||
ty_scan = struct('t', t, 'MTr', MTr);
|
||||
save('experiment_tomography/mat/experiment.mat', 'ty_scan', '-append');
|
||||
|
||||
% Analysis
|
||||
|
||||
load('experiment_tomography/mat/experiment.mat', 'ty_scan');
|
||||
t = ty_scan.t;
|
||||
MTr = ty_scan.MTr;
|
||||
|
||||
Edx = squeeze(MTr(1, 4, :));
|
||||
Edy = squeeze(MTr(2, 4, :));
|
||||
Edz = squeeze(MTr(3, 4, :));
|
||||
% The angles obtained are u-v-w Euler angles (rotations in the moving frame)
|
||||
Ery = atan2( squeeze(MTr(1, 3, :)), squeeze(sqrt(MTr(1, 1, :).^2 + MTr(1, 2, :).^2)));
|
||||
Erx = atan2(-squeeze(MTr(2, 3, :))./cos(Ery), squeeze(MTr(3, 3, :))./cos(Ery));
|
||||
Erz = atan2(-squeeze(MTr(1, 2, :))./cos(Ery), squeeze(MTr(1, 1, :))./cos(Ery));
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Edx, 'DisplayName', '$\epsilon_{x}$')
|
||||
ylabel('Displacement [m]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Edy, 'DisplayName', '$\epsilon_{y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Edz, 'DisplayName', '$\epsilon_{z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
|
||||
|
||||
|
||||
% #+NAME: fig:exp_ty_scan_trans
|
||||
% #+CAPTION: X-Y-Z translation of the sample w.r.t. granite when performing tomography experiment with no disturbances ([[./figs/exp_ty_scan_trans.png][png]], [[./figs/exp_ty_scan_trans.pdf][pdf]])
|
||||
% [[file:figs/exp_ty_scan_trans.png]]
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 3, 1);
|
||||
plot(t, Erx, 'DisplayName', '$\epsilon_{\theta x}$')
|
||||
ylabel('Rotation [rad]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax2 = subplot(1, 3, 2);
|
||||
plot(t, Ery, 'DisplayName', '$\epsilon_{\theta y}$')
|
||||
xlabel('Time [s]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
ax3 = subplot(1, 3, 3);
|
||||
plot(t, Erz, 'DisplayName', '$\epsilon_{\theta z}$')
|
||||
legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2,ax3],'x');
|
||||
xlim([2, inf]);
|
||||
@@ -6,7 +6,7 @@ s = zpk('s');
|
||||
|
||||
addpath('active_damping/src/');
|
||||
|
||||
open('active_damping/matlab/sim_nass_active_damping.slx')
|
||||
open('nass_model.slx')
|
||||
|
||||
prepareLinearizeIdentification();
|
||||
|
||||
@@ -15,11 +15,11 @@ options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
mdl = 'nass_model';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Relative Motion Outputs
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; % Force Sensors
|
||||
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; % Absolute Velocity Outputs
|
||||
@@ -124,12 +124,12 @@ options = linearizeOptions;
|
||||
options.SampleTime = 0;
|
||||
|
||||
%% Name of the Simulink File
|
||||
mdl = 'sim_nass_active_damping';
|
||||
mdl = 'nass_model';
|
||||
|
||||
%% Input/Output definition
|
||||
clear io; io_i = 1;
|
||||
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; % Metrology Outputs
|
||||
io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs
|
||||
io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
|
||||
|
||||
masses = [1, 10, 50]; % [kg]
|
||||
|
||||
@@ -234,7 +234,7 @@ prepareTomographyExperiment();
|
||||
load('mat/conf_simulink.mat');
|
||||
set_param(conf_simulink, 'StopTime', '4.5');
|
||||
|
||||
sim('sim_nass_active_damping');
|
||||
sim('nass_model');
|
||||
|
||||
save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append');
|
||||
|
||||
|
||||
94
matlab/undamped_system_uniaxial.m
Normal file
94
matlab/undamped_system_uniaxial.m
Normal file
@@ -0,0 +1,94 @@
|
||||
%% Clear Workspace and Close figures
|
||||
clear; close all; clc;
|
||||
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
open('active_damping_uniaxial/matlab/sim_nano_station_id.slx')
|
||||
|
||||
initializeReferences();
|
||||
initializeGround();
|
||||
initializeGranite();
|
||||
initializeTy();
|
||||
initializeRy();
|
||||
initializeRz();
|
||||
initializeMicroHexapod();
|
||||
initializeAxisc();
|
||||
initializeMirror();
|
||||
initializeNanoHexapod('actuator', 'piezo');
|
||||
initializeSample('mass', 50);
|
||||
|
||||
K = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K', '-append');
|
||||
K_iff = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_iff', '-append');
|
||||
K_rmc = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_rmc', '-append');
|
||||
K_dvf = tf(zeros(6));
|
||||
save('./mat/controllers.mat', 'K_dvf', '-append');
|
||||
|
||||
G = identifyPlant();
|
||||
|
||||
save('./active_damping_uniaxial/mat/plants.mat', 'G', '-append');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
subplot(2, 1, 1);
|
||||
title('$D_g$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / D_{g,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / D_{g,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_gm('Dz', 'Dgz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / D_{g,z}\right|$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'southeast');
|
||||
|
||||
subplot(2, 1, 2);
|
||||
title('$F_s$ to $D$');
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{s,x}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), 'DisplayName', '$\left|D_y / F_{s,y}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_fs('Dz', 'Fsz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{s,z}\right|$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{rz, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), 'DisplayName', '$\left|D_z / F_{ty, z}\right|$');
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_dist('Dx', 'Ftyx'), freqs, 'Hz'))), 'DisplayName', '$\left|D_x / F_{ty, x}\right|$');
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
figure;
|
||||
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))));
|
||||
plot(freqs, abs(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))));
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), 'DisplayName', '$D_x / F_x$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dy', 'Fny'), freqs, 'Hz'))), 'DisplayName', '$D_y / F_y$');
|
||||
plot(freqs, 180/pi*angle(squeeze(freqresp(G.G_cart('Dz', 'Fnz'), freqs, 'Hz'))), 'DisplayName', '$D_z / F_z$');
|
||||
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', 'southwest');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
Reference in New Issue
Block a user