Generation of disturbances is now reproducible

active_damping/index.org

@@ -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));

active_damping/src/prepareLinearizeIdentification.m

@@ -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');

active_damping/src/prepareTomographyExperiment.m

@@ -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.sample_mass   (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg]
-    args.Ry_period     (1,1) double {mustBeNumeric, mustBePositive} = 1
+    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');

simscape_subsystems/index.org

@@ -1401,6 +1401,7 @@ We define some parameters that will be used in the algorithm.
 
 #+begin_src matlab
   if args.Dwx && args.enable
+    rng(111);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -1412,6 +1413,7 @@ We define some parameters that will be used in the algorithm.
 
 #+begin_src matlab
   if args.Dwy && args.enable
+    rng(112);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -1423,6 +1425,7 @@ We define some parameters that will be used in the algorithm.
 
 #+begin_src matlab
   if args.Dwy && args.enable
+    rng(113);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -1443,6 +1446,7 @@ We define some parameters that will be used in the algorithm.
     for i = 1:N/2
       C(i) = sqrt(phi(i)*df);
     end
+    rng(121);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -1464,6 +1468,7 @@ We define some parameters that will be used in the algorithm.
     for i = 1:N/2
       C(i) = sqrt(phi(i)*df);
     end
+    rng(122);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -1485,6 +1490,7 @@ We define some parameters that will be used in the algorithm.
     for i = 1:N/2
       C(i) = sqrt(phi(i)*df);
     end
+    rng(131);
     theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
     Cx = [0 ; C.*complex(cos(theta),sin(theta))];
     Cx = [Cx; flipud(conj(Cx(2:end)))];;

src/initializeDisturbances.m

@@ -45,6 +45,7 @@ for i = 1:N/2
 end
 
 if args.Dwx && args.enable
+  rng(111);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -54,6 +55,7 @@ else
 end
 
 if args.Dwy && args.enable
+  rng(112);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -63,6 +65,7 @@ else
 end
 
 if args.Dwy && args.enable
+  rng(113);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -77,6 +80,7 @@ if args.Fty_x && args.enable
   for i = 1:N/2
     C(i) = sqrt(phi(i)*df);
   end
+  rng(121);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -92,6 +96,7 @@ if args.Fty_z && args.enable
   for i = 1:N/2
     C(i) = sqrt(phi(i)*df);
   end
+  rng(122);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;
@@ -107,6 +112,7 @@ if args.Frz_z && args.enable
   for i = 1:N/2
     C(i) = sqrt(phi(i)*df);
   end
+  rng(131);
   theta = 2*pi*rand(N/2,1); % Generate random phase [rad]
   Cx = [0 ; C.*complex(cos(theta),sin(theta))];
   Cx = [Cx; flipud(conj(Cx(2:end)))];;