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Update Nano-Hexapod Model

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This commit is contained in:
Thomas Dehaeze 2021-04-23 00:00:19 +02:00
parent 605cbf9e74
commit ecec6ab19b
13 changed files with 2617 additions and 45 deletions
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.SimulinkProject/Root.type.Files/STEPS.type.File.xml Normal file
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<?xml version='1.0' encoding='UTF-8'?>
<Info />

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<?xml version='1.0' encoding='UTF-8'?>
<Info />

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<?xml version='1.0' encoding='UTF-8'?>
<Info />

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<?xml version='1.0' encoding='UTF-8'?>
<Info Ref="STEPS/png" Type="Relative" />

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<?xml version='1.0' encoding='UTF-8'?>
<Info Ref="STEPS/nano_hexapod" Type="Relative" />

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STEPS/nano_hexapod/apa300ml_full.STEP Normal file
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matlab/nano_hexapod/apa300ml_2dof.slx
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matlab/nano_hexapod/apa300ml_flexible.slx
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matlab/nano_hexapod/nano_hexapod.slx
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matlab/nano_hexapod/nano_hexapod_left_strut.slx
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src/initializeNanoHexapodFinal.m
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function [nano_hexapod] = initializeNanoHexapodFinal(args)
function [nano_hexapod] = initializeNanoHexapodFinal(args)
arguments
%% Bottom Flexible Joints
args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Top Flexible Joints
args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Relative Motion Sensor
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
% For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
% For Flexible Frame
args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% For Flexible
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Sensor gain [V/m]
end
arguments
%% Bottom Flexible Joints
args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Top Flexible Joints
args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
%% Jacobian - Location of frame {A} and {B}
args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
%% Relative Motion Sensor
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
args.actuator_Ga (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
% For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
% For Flexible Frame
args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% For Flexible
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
end
nano_hexapod = struct();
@ -129,9 +131,9 @@ switch args.actuator_type
nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
case 'flexible'
nano_hexapod.actuator.K = readmatrix('APA300ML_full_mat_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('APA300ML_full_mat_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('APA300ML_full_out_nodes_3D.txt'); % Node coordiantes [m]
nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
end
nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
@ -139,6 +141,55 @@ nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
nano_hexapod.geometry = struct();
Fa = [[-86.05, -74.78, 22.49],
[ 86.05, -74.78, 22.49],
[ 107.79, -37.13, 22.49],
[ 21.74, 111.91, 22.49],
[-21.74, 111.91, 22.49],
[-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
Mb = [[-28.47, -106.25, -22.50],
[ 28.47, -106.25, -22.50],
[ 106.25, 28.47, -22.50],
[ 77.78, 77.78, -22.50],
[-77.78, 77.78, -22.50],
[-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]
si = Fb - Fa;
si = si./vecnorm(si); % Normalize
Fc = [[-29.362, -105.765, 52.605]
[ 29.362, -105.765, 52.605]
[ 106.276, 27.454, 52.605]
[ 76.914, 78.31, 52.605]
[-76.914, 78.31, 52.605]
[-106.276, 27.454, 52.605]]'*1e-3; % Meas pos w.r.t. {F}
Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}
nano_hexapod.geometry.Fa = Fa;
nano_hexapod.geometry.Fb = Fb;
nano_hexapod.geometry.Fc = Fc;
nano_hexapod.geometry.Mb = Mb;
nano_hexapod.geometry.Mc = Mc;
nano_hexapod.geometry.si = si;
nano_hexapod.geometry.MO_B = args.MO_B;
Bb = Mb - [0; 0; args.MO_B];
nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];
switch args.motion_sensor_type
case 'struts'
nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
case 'plates'
Bc = Mc - [0; 0; args.MO_B];
nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
end
if nargout == 0
save('./mat/stages.mat', 'nano_hexapod', '-append');
end