Update Nano-Hexapod Model
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@@ -1,46 +1,48 @@
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function [nano_hexapod] = initializeNanoHexapodFinal(args)
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function [nano_hexapod] = initializeNanoHexapodFinal(args)
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arguments
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%% Bottom Flexible Joints
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args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
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args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
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args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
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args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
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args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
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args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
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args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
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args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
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args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
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%% Top Flexible Joints
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args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
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args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
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args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
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args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
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args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
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args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
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args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
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args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
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args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
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%% Relative Motion Sensor
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args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
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%% Actuators
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args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
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args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
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args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
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% For 2DoF
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args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
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args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
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args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
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args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
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args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
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args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
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args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
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% For Flexible Frame
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args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
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args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
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% For Flexible
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args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Sensor gain [V/m]
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end
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arguments
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%% Bottom Flexible Joints
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args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
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args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
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args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
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args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
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args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
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args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
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args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
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args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
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args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
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%% Top Flexible Joints
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args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
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args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
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args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
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args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
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args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
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args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
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args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
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args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
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args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
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%% Jacobian - Location of frame {A} and {B}
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args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
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%% Relative Motion Sensor
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args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
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%% Actuators
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args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
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args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
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args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
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% For 2DoF
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args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
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args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
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args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
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args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
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args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
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args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
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args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
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% For Flexible Frame
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args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
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args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
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% For Flexible
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args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
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end
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nano_hexapod = struct();
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@@ -129,9 +131,9 @@ switch args.actuator_type
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nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
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nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
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case 'flexible'
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nano_hexapod.actuator.K = readmatrix('APA300ML_full_mat_K.CSV'); % Stiffness Matrix
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nano_hexapod.actuator.M = readmatrix('APA300ML_full_mat_M.CSV'); % Mass Matrix
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nano_hexapod.actuator.P = extractNodes('APA300ML_full_out_nodes_3D.txt'); % Node coordiantes [m]
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nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
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nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
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nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
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end
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nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
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@@ -139,6 +141,55 @@ nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
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nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
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nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
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nano_hexapod.geometry = struct();
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Fa = [[-86.05, -74.78, 22.49],
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[ 86.05, -74.78, 22.49],
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[ 107.79, -37.13, 22.49],
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[ 21.74, 111.91, 22.49],
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[-21.74, 111.91, 22.49],
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[-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
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Mb = [[-28.47, -106.25, -22.50],
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[ 28.47, -106.25, -22.50],
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[ 106.25, 28.47, -22.50],
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[ 77.78, 77.78, -22.50],
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[-77.78, 77.78, -22.50],
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[-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
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Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]
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si = Fb - Fa;
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si = si./vecnorm(si); % Normalize
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Fc = [[-29.362, -105.765, 52.605]
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[ 29.362, -105.765, 52.605]
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[ 106.276, 27.454, 52.605]
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[ 76.914, 78.31, 52.605]
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[-76.914, 78.31, 52.605]
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[-106.276, 27.454, 52.605]]'*1e-3; % Meas pos w.r.t. {F}
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Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}
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nano_hexapod.geometry.Fa = Fa;
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nano_hexapod.geometry.Fb = Fb;
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nano_hexapod.geometry.Fc = Fc;
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nano_hexapod.geometry.Mb = Mb;
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nano_hexapod.geometry.Mc = Mc;
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nano_hexapod.geometry.si = si;
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nano_hexapod.geometry.MO_B = args.MO_B;
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Bb = Mb - [0; 0; args.MO_B];
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nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];
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switch args.motion_sensor_type
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case 'struts'
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nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
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case 'plates'
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Bc = Mc - [0; 0; args.MO_B];
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nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
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end
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if nargout == 0
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save('./mat/stages.mat', 'nano_hexapod', '-append');
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end
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