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Change tangle filenames

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This commit is contained in:
Thomas Dehaeze 2020-02-25 18:27:39 +01:00
parent b7daaf18b2
commit e3e6043810
21 changed files with 1201 additions and 47 deletions
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22
matlab/act_damp_variability_plant.m
View File

@ -4,7 +4,7 @@ clear; close all; clc;
%% Intialize Laplace variable %% Intialize Laplace variable
s = zpk('s'); s = zpk('s');
open('active_damping/matlab/sim_nass_active_damping.slx') open('nass_model.slx')
load('mat/conf_simulink.mat'); load('mat/conf_simulink.mat');
% Identification :ignore: % Identification :ignore:
@ -17,11 +17,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
@ -168,11 +168,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
@ -318,11 +318,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
@ -595,11 +595,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
@ -752,11 +752,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;

10
matlab/dvf.m
View File

@ -6,7 +6,7 @@ s = zpk('s');
addpath('active_damping/src/'); 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_dvf'); load('./active_damping/mat/undamped_plants.mat', 'G_dvf');
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_dvf'); load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_dvf');
@ -83,12 +83,12 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
load('./active_damping/mat/cart_plants.mat', 'masses'); load('./active_damping/mat/cart_plants.mat', 'masses');
@ -213,7 +213,7 @@ initializeController('type', 'dvf', 'K', K_dvf);
load('mat/conf_simulink.mat'); load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '4.5'); set_param(conf_simulink, 'StopTime', '4.5');
sim('sim_nass_active_damping'); sim('nass_model');
En_dvf = En; En_dvf = En;
Eg_dvf = Eg; Eg_dvf = Eg;

197
matlab/dvf_uniaxial.m Normal file
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@ -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_geoph(['Vm', 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_geoph(['Vm', 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_dvf = tf(3e4);
freqs = logspace(0, 3, 1000);
figure;
ax1 = subplot(2, 1, 1);
hold on;
for i=1:6
plot(freqs, abs(squeeze(freqresp(K_dvf*G.G_geoph(['Vm', 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_dvf*G.G_geoph(['Vm', 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 = tf(zeros(6));
save('./mat/controllers.mat', 'K_rmc', '-append');
K_dvf = -K_dvf*eye(6);
save('./mat/controllers.mat', 'K_dvf', '-append');
G_dvf = identifyPlant();
save('./active_damping_uniaxial/mat/plants.mat', 'G_dvf', '-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_dvf.G_gm('Dx', 'Dgx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.G_gm('Dy', 'Dgy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.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_dvf.G_fs('Dx', 'Fsx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.G_fs('Dy', 'Fsy'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.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_dvf.G_dist('Dz', 'Frzz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.G_dist('Dz', 'Ftyz'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_dvf.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_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--');
plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--');
plot(freqs, abs(squeeze(freqresp(G_dvf.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_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--');
plot(freqs, abs(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--');
plot(freqs, abs(squeeze(freqresp(G_dvf.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_dvf.G_cart('Dx', 'Fnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Dy', 'Fny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.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_dvf.G_cart('Rx', 'Mnx'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.G_cart('Ry', 'Mny'), freqs, 'Hz'))), '--', 'HandleVisibility', 'off');
plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf.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');

10
matlab/iff.m
View File

@ -6,7 +6,7 @@ s = zpk('s');
addpath('active_damping/src/'); 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/undamped_plants.mat', 'G_iff');
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff'); load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_iff');
@ -84,12 +84,12 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
load('./active_damping/mat/cart_plants.mat', 'masses'); load('./active_damping/mat/cart_plants.mat', 'masses');
@ -214,7 +214,7 @@ initializeController('type', 'iff', 'K', K_iff);
load('mat/conf_simulink.mat'); load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '4.5'); set_param(conf_simulink, 'StopTime', '4.5');
sim('sim_nass_active_damping'); sim('nass_model');
En_iff = En; En_iff = En;
Eg_iff = Eg; Eg_iff = Eg;

212
matlab/iff_uniaxial.m Normal file
View 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

8
matlab/ine.m
View File

@ -6,7 +6,7 @@ s = zpk('s');
addpath('active_damping/src/'); 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/undamped_plants.mat', 'G_ine');
load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_ine'); load('./active_damping/mat/plants_variable.mat', 'masses', 'Gm_ine');
@ -83,12 +83,12 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; clear io; io_i = 1;
io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); 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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1;
load('./active_damping/mat/cart_plants.mat', 'masses'); load('./active_damping/mat/cart_plants.mat', 'masses');

197
matlab/rmc_uniaxial.m Normal file
View 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');

14
matlab/undamped_system.m
View File

@ -6,7 +6,7 @@ s = zpk('s');
addpath('active_damping/src/'); addpath('active_damping/src/');
open('active_damping/matlab/sim_nass_active_damping.slx') open('nass_model.slx')
prepareLinearizeIdentification(); prepareLinearizeIdentification();
@ -15,11 +15,11 @@ options = linearizeOptions;
options.SampleTime = 0; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; 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', [], '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', [], '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 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; options.SampleTime = 0;
%% Name of the Simulink File %% Name of the Simulink File
mdl = 'sim_nass_active_damping'; mdl = 'nass_model';
%% Input/Output definition %% Input/Output definition
clear io; io_i = 1; 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, '/Compute Error in NASS base'], 2, 'openoutput'); io_i = io_i + 1; % Metrology Outputs io(io_i) = linio([mdl, '/Tracking Error'], 1, 'openoutput', [], 'En'); io_i = io_i + 1; % Metrology Outputs
masses = [1, 10, 50]; % [kg] masses = [1, 10, 50]; % [kg]
@ -234,7 +234,7 @@ prepareTomographyExperiment();
load('mat/conf_simulink.mat'); load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '4.5'); 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'); save('./active_damping/mat/tomo_exp.mat', 'En', 'Eg', '-append');

94
matlab/undamped_system_uniaxial.m Normal file
View 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');

10
org/active_damping.org
View File

@ -65,7 +65,7 @@ For each of the active damping technique, we:
* Undamped System * Undamped System
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/undamped_system.m :header-args:matlab+: :tangle ../matlab/undamped_system.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:undamped_system>> <<sec:undamped_system>>
@ -508,7 +508,7 @@ We load the results of tomography experiments.
* Variability of the system dynamics for Active Damping * Variability of the system dynamics for Active Damping
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/act_damp_variability_plant.m :header-args:matlab+: :tangle ../matlab/act_damp_variability_plant.m
:header-args:matlab+: :comments org :mkdirp yes :header-args:matlab+: :comments org :mkdirp yes
:END: :END:
<<sec:act_damp_variability_plant>> <<sec:act_damp_variability_plant>>
@ -1660,7 +1660,7 @@ Also, for the Inertial Sensor, a RHP zero may appear when the spindle is rotatin
* Integral Force Feedback * Integral Force Feedback
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/iff.m :header-args:matlab+: :tangle ../matlab/iff.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:iff>> <<sec:iff>>
@ -2149,7 +2149,7 @@ Integral Force Feedback using a force sensor:
* Direct Velocity Feedback * Direct Velocity Feedback
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dvf.m :header-args:matlab+: :tangle ../matlab/dvf.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:dvf>> <<sec:dvf>>
@ -2627,7 +2627,7 @@ Direct Velocity Feedback using a relative motion sensor:
* Inertial Control * Inertial Control
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/ine.m :header-args:matlab+: :tangle ../matlab/ine.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:ine>> <<sec:ine>>

8
org/active_damping_uniaxial.org
View File

@ -60,7 +60,7 @@ The disturbances are:
* Undamped System * Undamped System
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/undamped_system.m :header-args:matlab+: :tangle ../matlab/undamped_system_uniaxial.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:undamped_system>> <<sec:undamped_system>>
@ -244,7 +244,7 @@ The "plant" (transfer function from forces applied by the nano-hexapod to the me
* Integral Force Feedback * Integral Force Feedback
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/iff.m :header-args:matlab+: :tangle ../matlab/iff_uniaxial.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:iff>> <<sec:iff>>
@ -788,7 +788,7 @@ Integral Force Feedback:
* Relative Motion Control * Relative Motion Control
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/rmc.m :header-args:matlab+: :tangle ../matlab/rmc_uniaxial.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:rmc>> <<sec:rmc>>
@ -1286,7 +1286,7 @@ Relative Motion Control:
* Direct Velocity Feedback * Direct Velocity Feedback
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/dvf.m :header-args:matlab+: :tangle ../matlab/dvf_uniaxial.m
:header-args:matlab+: :comments none :mkdirp yes :header-args:matlab+: :comments none :mkdirp yes
:END: :END:
<<sec:dvf>> <<sec:dvf>>

2
org/control.org
View File

@ -25,7 +25,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m #+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export

2
org/experiments.org
View File

@ -25,7 +25,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/tomo_exp.m #+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export

2
org/identification.org
View File

@ -25,7 +25,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m #+PROPERTY: header-args:matlab+ :tangle ../matlab/identification.m
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export

2
org/index.org
View File

@ -22,7 +22,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/nass_simscape.m #+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export

2
org/kinematics.org
View File

@ -25,7 +25,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m #+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export

398
org/matlab/modal_frf_coh.m Normal file
View File

@ -0,0 +1,398 @@
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
% Simscape Model
% The simulink file for the identification is =sim_micro_station_id.slx=.
open('identification/matlab/sim_micro_station_id.slx')
% We load the configuration and we set a small =StopTime=.
load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '0.5');
% We initialize all the stages.
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', 'piezo');
initializeSample('mass', 50);
% Compute the transfer functions
% We first define some parameters for the identification.
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station_id';
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
% Run the linearization
G_ms = linearize(mdl, io, 0);
% Input/Output names
G_ms.InputName = {'Fmx', 'Fmy', 'Fmz',...
'Fgx', 'Fgy', 'Fgz'};
G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
'Tyx', 'Tyy', 'Tyz', ...
'Ryx', 'Ryy', 'Ryz', ...
'Dgx', 'Dgy', 'Dgz'};
%% Save the obtained transfer functions
save('./mat/id_micro_station.mat', 'G_ms');
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
% Simscape Model
% The simulink file for the analysis is =sim_micro_station_modal_analysis.slx=.
open('identification/matlab/sim_micro_station_modal_analysis.slx')
% We load the configuration and we set a small =StopTime=.
load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '0.5');
% We initialize all the stages.
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', 'piezo');
initializeSample('mass', 50);
% Identification
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station_modal_analysis';
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/F_hammer'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/acc9'],1,'output');
io(3) = linio([mdl, '/Micro-Station/acc10'],1,'output');
io(4) = linio([mdl, '/Micro-Station/acc11'],1,'output');
io(5) = linio([mdl, '/Micro-Station/acc12'],1,'output');
% Run the linearization
G_ms = linearize(mdl, io, 0);
% Input/Output names
G_ms.InputName = {'Fx', 'Fy', 'Fz'};
G_ms.OutputName = {'x9', 'y9', 'z9', ...
'x10', 'y10', 'z10', ...
'x11', 'y11', 'z11', ...
'x12', 'y12', 'z12'};
% Plot Results
figure;
hold on;
plot(freqs, abs(squeeze(freqresp(G_ms('x9', 'Fx'), freqs, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
hold off;
% Compare with measurements
load('../meas/modal-analysis/mat/frf_coh_matrices.mat', 'FRFs', 'COHs', 'freqs');
dirs = {'x', 'y', 'z'};
n_acc = 9;
n_dir = 1; % x, y, z
n_exc = 1; % x, y, z
figure;
hold on;
plot(freqs, abs(squeeze(FRFs(3*(n_acc-1) + n_dir, n_exc, :)))./((2*pi*freqs).^2)');
plot(freqs, abs(squeeze(freqresp(G_ms([dirs{n_dir}, num2str(n_acc)], ['F', dirs{n_dir}]), freqs, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
hold off;
%% Clear Workspace and Close figures
clear; close all; clc;
%% Intialize Laplace variable
s = zpk('s');
% Prepare the Simulation
open('nass_model.slx')
% We load the configuration.
load('mat/conf_simulink.mat');
% We set a small =StopTime=.
set_param(conf_simulink, 'StopTime', '0.5');
% We initialize all the stages.
initializeGround( 'type', 'rigid');
initializeGranite( 'type', 'modal-analysis');
initializeTy( 'type', 'modal-analysis');
initializeRy( 'type', 'modal-analysis');
initializeRz( 'type', 'modal-analysis');
initializeMicroHexapod('type', 'modal-analysis');
initializeAxisc( 'type', 'flexible');
initializeMirror( 'type', 'none');
initializeNanoHexapod( 'type', 'none');
initializeSample( 'type', 'none');
initializeController( 'type', 'open-loop');
initializeLoggingConfiguration('log', 'none');
initializeReferences();
initializeDisturbances('enable', false);
% Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis
% Thanks to the [[https://fr.mathworks.com/help/physmod/sm/ref/inertiasensor.html][Inertia Sensor]] simscape block, it is possible to estimate the position of the Center of Mass of a solid body with respect to a defined frame.
sim('nass_model')
% Create a frame at the CoM of each solid body
% Now we use one =inertiasensor= block connected on each solid body that measured the center of mass of this solid with respect to the same connected frame.
% We do that in order to position an accelerometer on the Simscape model at this particular point.
open('identification/matlab/sim_micro_station_com_estimation.slx')
sim('sim_micro_station_com_estimation')
% #+RESULTS:
% | | granite bot | granite top | ty | ry | rz | hexa |
% |--------+-------------+-------------+-------+--------+-------+-------|
% | X [mm] | 0.0 | 51.7 | 0.9 | -0.1 | 0.0 | -0.0 |
% | Y [mm] | 0.0 | 753.2 | 0.7 | 5.2 | -0.0 | 0.1 |
% | Z [mm] | -250.0 | 22.9 | -17.1 | -146.5 | -23.2 | -47.1 |
% We now same this for further use:
granite_bot_com = granite_bot_com.Data(end, :)';
granite_top_com = granite_top_com.Data(end, :)';
ty_com = ty_com.Data(end, :)';
ry_com = ry_com.Data(end, :)';
rz_com = rz_com.Data(end, :)';
hexa_com = hexa_com.Data(end, :)';
save('mat/solids_com.mat', 'granite_bot_com', 'granite_top_com', 'ty_com', 'ry_com', 'rz_com', 'hexa_com');
% Identification of the dynamics of the Simscape Model
% We now use a new Simscape Model where 6DoF inertial sensors are located at the Center of Mass of each solid body.
% load('mat/solids_com.mat', 'granite_bot_com', 'granite_top_com', 'ty_com', 'ry_com', 'rz_com', 'hexa_com');
open('nass_model.slx')
% We use the =linearize= function in order to estimate the dynamics from forces applied on the Translation stage at the same position used for the real modal analysis to the inertial sensors.
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'nass_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/F_hammer'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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/Micro Hexapod/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
% Run the linearization
G_ms = linearize(mdl, io, 0);
%% Input/Output definition
clear io; io_i = 1;
G_ms.InputName = {'Fx', 'Fy', 'Fz'};
G_ms.OutputName = {'gtop_x', 'gtop_y', 'gtop_z', 'gtop_rx', 'gtop_ry', 'gtop_rz', ...
'ty_x', 'ty_y', 'ty_z', 'ty_rx', 'ty_ry', 'ty_rz', ...
'ry_x', 'ry_y', 'ry_z', 'ry_rx', 'ry_ry', 'ry_rz', ...
'rz_x', 'rz_y', 'rz_z', 'rz_rx', 'rz_ry', 'rz_rz', ...
'hexa_x', 'hexa_y', 'hexa_z', 'hexa_rx', 'hexa_ry', 'hexa_rz'};
% The output of =G_ms= is the acceleration of each solid body.
% In order to obtain a displacement, we divide the obtained transfer function by $1/s^{2}$;
G_ms = G_ms/s^2;
% Compare with measurements
% We now load the Frequency Response Functions measurements during the Modal Analysis (accessible [[file:../../meas/modal-analysis/index.org][here]]).
load('../meas/modal-analysis/mat/frf_coh_matrices.mat', 'freqs');
load('../meas/modal-analysis/mat/frf_com.mat', 'FRFs_CoM');
% We then compare the measurements with the identified transfer functions using the Simscape Model.
dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
stages = {'gbot', 'gtop', 'ty', 'ry', 'rz', 'hexa'}
n_stg = 3;
n_dir = 6; % x, y, z, Rx, Ry, Rz
n_exc = 2; % x, y, z
f = logspace(0, 3, 1000);
figure;
hold on;
plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg-1) + n_dir, n_exc, :)))./((2*pi*freqs).^2)');
plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_exc}]), f, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
hold off;
xlim([1, 200]);
dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
stages = {'gtop', 'ty', 'ry', 'rz', 'hexa'}
f = logspace(1, 3, 1000);
figure;
for n_stg = 1:2
for n_dir = 1:3
subplot(3, 2, (n_dir-1)*2 + n_stg);
title(['F ', dirs{n_dir}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
hold on;
plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg) + n_dir, n_dir, :)))./((2*pi*freqs).^2)');
plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
if n_dir == 3
xlabel('Frequency [Hz]');
end
hold off;
xlim([10, 1000]);
ylim([1e-12, 1e-6]);
end
end
% #+NAME: fig:identification_comp_bot_stages
% #+CAPTION: caption ([[./figs/identification_comp_bot_stages.png][png]], [[./figs/identification_comp_bot_stages.pdf][pdf]])
% [[file:figs/identification_comp_bot_stages.png]]
dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
stages = {'ry', 'rz', 'hexa'}
f = logspace(1, 3, 1000);
figure;
for n_stg = 1:2
for n_dir = 1:3
subplot(3, 2, (n_dir-1)*2 + n_stg);
title(['F ', dirs{n_dir}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
hold on;
plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg+2) + n_dir, n_dir, :)))./((2*pi*freqs).^2)');
plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
if n_dir == 3
xlabel('Frequency [Hz]');
end
hold off;
xlim([10, 1000]);
ylim([1e-12, 1e-6]);
end
end
% #+NAME: fig:identification_comp_mid_stages
% #+CAPTION: caption ([[./figs/identification_comp_mid_stages.png][png]], [[./figs/identification_comp_mid_stages.pdf][pdf]])
% [[file:figs/identification_comp_mid_stages.png]]
dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
stages = {'hexa'}
f = logspace(1, 3, 1000);
figure;
for n_stg = 1
for n_dir = 1:3
subplot(3, 1, (n_dir-1) + n_stg);
title(['F ', dirs{n_dir}, ' to ', stages{n_stg}, ' ', dirs{n_dir}]);
hold on;
plot(freqs, abs(squeeze(FRFs_CoM(6*(n_stg+4) + n_dir, n_dir, :)))./((2*pi*freqs).^2)');
plot(f, abs(squeeze(freqresp(G_ms([stages{n_stg}, '_', dirs{n_dir}], ['F', dirs{n_dir}]), f, 'Hz'))));
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [m/N]');
if n_dir == 3
xlabel('Frequency [Hz]');
end
hold off;
xlim([10, 1000]);
ylim([1e-12, 1e-6]);
end
end

0
matlab/tomo_exp.m → org/matlab/tomo_exp.m
View File

27
org/src/prepareLinearizeIdentification.m Normal file
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@ -0,0 +1,27 @@
function [] = prepareLinearizeIdentification(args)
arguments
args.nass_actuator char {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
end
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', args.nass_actuator);
initializeSample('mass', args.sample_mass);
initializeReferences();
initializeDisturbances('enable', false);
initializeController('type', 'open-loop');
initializeSimscapeConfiguration('gravity', true);
initializeLoggingConfiguration('log', 'none');

29
org/src/prepareTomographyExperiment.m Normal file
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@ -0,0 +1,29 @@
function [] = prepareTomographyExperiment(args)
arguments
args.nass_actuator char {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
args.Rz_period (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
end
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', args.nass_actuator);
initializeSample('mass', args.sample_mass);
initializeReferences('Rz_type', 'rotating', 'Rz_period', args.Rz_period);
initializeDisturbances();
initializeController('type', 'open-loop');
initializeSimscapeConfiguration('gravity', true);
initializeLoggingConfiguration('log', 'all');

2
org/uniaxial.org
View File

@ -25,7 +25,7 @@
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle matlab/modal_frf_coh.m #+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:shell :eval no-export