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Generation of disturbances is now reproducible

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This commit is contained in:
Thomas Dehaeze
2020-02-05 13:36:41 +01:00
parent 62f971c2aa
commit ed4ac36c01
5 changed files with 52 additions and 4 deletions
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6
active_damping/index.org
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@@ -3675,11 +3675,15 @@ The nano-hexapod is a piezoelectric hexapod and the sample has a mass of 50kg.
initializeSample('mass', args.sample_mass);
#+end_src
We set the references to zero.
We set the references that corresponds to a tomography experiment.
#+begin_src matlab
initializeReferences('Rz_type', 'rotating', 'Rz_period', args.Rz_period);
#+end_src
#+begin_src matlab
initializeDisturbances();
#+end_src
And all the controllers are set to 0.
#+begin_src matlab
K = tf(zeros(6));

30
active_damping/src/prepareLinearizeIdentification.m Normal file
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@@ -0,0 +1,30 @@
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);
K = tf(zeros(6));
save('./mat/controllers.mat', 'K', '-append');
K_ine = tf(zeros(6));
save('./mat/controllers.mat', 'K_ine', '-append');
K_iff = tf(zeros(6));
save('./mat/controllers.mat', 'K_iff', '-append');
K_dvf = tf(zeros(6));
save('./mat/controllers.mat', 'K_dvf', '-append');

8
active_damping/src/prepareTomographyExperiment.m
View File

@@ -2,8 +2,8 @@ function [] = prepareTomographyExperiment(args)
arguments
args.nass_actuator char {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo'
args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50
args.Ry_period (1,1) double {mustBeNumeric, mustBePositive} = 1
args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
args.Rz_period (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
end
initializeGround();
@@ -18,7 +18,9 @@ initializeMirror();
initializeNanoHexapod('actuator', args.nass_actuator);
initializeSample('mass', args.sample_mass);
initializeReferences('Rz_type', 'rotating', 'Rz_period', args.Ry_period);
initializeReferences('Rz_type', 'rotating', 'Rz_period', args.Rz_period);
initializeDisturbances();
K = tf(zeros(6));
save('./mat/controllers.mat', 'K', '-append');