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Remove org comments in tangled matlab functions

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This commit is contained in:
Thomas Dehaeze 2019-12-11 14:46:31 +01:00
parent 89db48f81e
commit eda325fae2
27 changed files with 235 additions and 373 deletions
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8
active_damping/index.org
View File

@ -61,7 +61,7 @@ The disturbances are:
* Undamped System
:PROPERTIES:
:header-args:matlab+: :tangle matlab/undamped_system.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:END:
<<sec:undamped_system>>
@ -245,7 +245,7 @@ The "plant" (transfer function from forces applied by the nano-hexapod to the me
* Integral Force Feedback
:PROPERTIES:
:header-args:matlab+: :tangle matlab/iff.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:END:
<<sec:iff>>
@ -789,7 +789,7 @@ Integral Force Feedback:
* Relative Motion Control
:PROPERTIES:
:header-args:matlab+: :tangle matlab/rmc.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:END:
<<sec:rmc>>
@ -1287,7 +1287,7 @@ Relative Motion Control:
* Direct Velocity Feedback
:PROPERTIES:
:header-args:matlab+: :tangle matlab/dvf.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:END:
<<sec:dvf>>

175
disturbances/index.org
View File

@ -586,3 +586,178 @@ The PSD of the disturbance force are now saved for further noise budgeting when
save('./disturbances/mat/dist_psd.mat', 'dist_f');
#+end_src
* Function that initialize the disturbances
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initDisturbances.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initDisturbances>>
This Matlab function is accessible [[file:src/initDisturbances.m][here]].
#+begin_src matlab
function [] = initDisturbances(opts_param)
% initDisturbances - Initialize the disturbances
%
% Syntax: [] = initDisturbances(opts_param)
%
% Inputs:
% - opts_param -
#+end_src
** Default values for the Options
#+begin_src matlab
%% Default values for opts
opts = struct();
%% Populate opts with input parameters
if exist('opts_param','var')
for opt = fieldnames(opts_param)'
opts.(opt{1}) = opts_param.(opt{1});
end
end
#+end_src
** Load Data
#+begin_src matlab
load('./disturbances/mat/dist_psd.mat', 'dist_f');
#+end_src
We remove the first frequency point that usually is very large.
#+begin_src matlab :exports none
dist_f.f = dist_f.f(2:end);
dist_f.psd_gm = dist_f.psd_gm(2:end);
dist_f.psd_ty = dist_f.psd_ty(2:end);
dist_f.psd_rz = dist_f.psd_rz(2:end);
#+end_src
** Parameters
We define some parameters that will be used in the algorithm.
#+begin_src matlab
Fs = 2*dist_f.f(end); % Sampling Frequency of data is twice the maximum frequency of the PSD vector [Hz]
N = 2*length(dist_f.f); % Number of Samples match the one of the wanted PSD
T0 = N/Fs; % Signal Duration [s]
df = 1/T0; % Frequency resolution of the DFT [Hz]
% Also equal to (dist_f.f(2)-dist_f.f(1))
t = linspace(0, T0, N+1)'; % Time Vector [s]
Ts = 1/Fs; % Sampling Time [s]
#+end_src
** Ground Motion
#+begin_src matlab
phi = dist_f.psd_gm;
C = zeros(N/2,1);
for i = 1:N/2
C(i) = sqrt(phi(i)*df);
end
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)))];;
u = N/sqrt(2)*ifft(Cx); % Ground Motion - x direction [m]
% Dwx = struct('time', t, 'signals', struct('values', u));
Dwx = u;
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)))];;
u = N/sqrt(2)*ifft(Cx); % Ground Motion - y direction [m]
Dwy = u;
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)))];;
u = N/sqrt(2)*ifft(Cx); % Ground Motion - z direction [m]
Dwz = u;
#+end_src
** Translation Stage - X direction
#+begin_src matlab
phi = dist_f.psd_ty; % TODO - we take here the vertical direction which is wrong but approximate
C = zeros(N/2,1);
for i = 1:N/2
C(i) = sqrt(phi(i)*df);
end
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)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty x [N]
Fty_x = u;
#+end_src
** Translation Stage - Z direction
#+begin_src matlab
phi = dist_f.psd_ty;
C = zeros(N/2,1);
for i = 1:N/2
C(i) = sqrt(phi(i)*df);
end
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)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty z [N]
Fty_z = u;
#+end_src
** Spindle - Z direction
#+begin_src matlab
phi = dist_f.psd_rz;
C = zeros(N/2,1);
for i = 1:N/2
C(i) = sqrt(phi(i)*df);
end
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)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Rz z [N]
Frz_z = u;
#+end_src
** Direct Forces
#+begin_src matlab
u = zeros(length(t), 6);
Fd = u;
#+end_src
** Set initial value to zero
#+begin_src matlab
Dwx = Dwx - Dwx(1);
Dwy = Dwy - Dwy(1);
Dwz = Dwz - Dwz(1);
Fty_x = Fty_x - Fty_x(1);
Fty_z = Fty_z - Fty_z(1);
Frz_z = Frz_z - Frz_z(1);
#+end_src
** Save
#+begin_src matlab
save('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
#+end_src
* Display Obtained Disturbances
#+begin_src matlab
initDisturbances();
load('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');
#+end_src
#+begin_src matlab
figure;
hold on;
plot(t, Dwx, 'DisplayName', 'Dw x');
plot(t, Dwy, 'DisplayName', 'Dw y');
plot(t, Dwz, 'DisplayName', 'Dw z');
hold off;
xlabel('Time [s]'); ylabel('Amplitude [m]');
legend('location', 'north east');
#+end_src
#+begin_src matlab
figure;
hold on;
plot(t, Fty_x, 'DisplayName', 'Ty x');
plot(t, Fty_z, 'DisplayName', 'Ty z');
plot(t, Frz_z, 'DisplayName', 'Rz z');
hold off;
xlabel('Time [s]'); ylabel('Force [N]');
legend('location', 'north east');
#+end_src

5
metrology/index.org
View File

@ -456,12 +456,13 @@ Verify that the pose error is small.
Indeed, we are able to convert the position error in the frame of the NASS and then compensate these errors with the NASS.
#+end_important
* Verify that we are able to compensate the errors using the nano-hexapod :noexport:
* Verify that we are able to compensate the errors using the nano-hexapod
* Functions
** computeReferencePose
:PROPERTIES:
:header-args:matlab+: :tangle ../src/computeReferencePose.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:computeReferencePose>>

140
simscape/index.org
View File

@ -320,12 +320,12 @@ A simulink library is developed in order to share elements between the different
* Functions
<<sec:functions>>
** computePsdDispl
:PROPERTIES:
:header-args:matlab+: :tangle ../src/computePsdDispl.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:computePsdDispl>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/computePsdDispl.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:computePsdDispl>>
This Matlab function is accessible [[file:../src/computePsdDispl.m][here]].
@ -356,12 +356,12 @@ This Matlab function is accessible [[file:../src/computePsdDispl.m][here]].
#+end_src
** computeSetpoint
:PROPERTIES:
:header-args:matlab+: :tangle ../src/computeSetpoint.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:computeSetpoint>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/computeSetpoint.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:computeSetpoint>>
This Matlab function is accessible [[file:../src/computeSetpoint.m][here]].
@ -428,12 +428,12 @@ This Matlab function is accessible [[file:../src/computeSetpoint.m][here]].
#+end_src
** converErrorBasis
:PROPERTIES:
:header-args:matlab+: :tangle ../src/converErrorBasis.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:converErrorBasis>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/converErrorBasis.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:converErrorBasis>>
This Matlab function is accessible [[file:../src/converErrorBasis.m][here]].
@ -566,12 +566,12 @@ This Matlab function is accessible [[file:../src/converErrorBasis.m][here]].
#+end_src
** generateDiagPidControl
:PROPERTIES:
:header-args:matlab+: :tangle ../src/generateDiagPidControl.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:generateDiagPidControl>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/generateDiagPidControl.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:generateDiagPidControl>>
This Matlab function is accessible [[file:../src/generateDiagPidControl.m][here]].
@ -596,12 +596,12 @@ This Matlab function is accessible [[file:../src/generateDiagPidControl.m][here]
end
#+end_src
** identifyPlant
:PROPERTIES:
:header-args:matlab+: :tangle ../src/identifyPlant.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:identifyPlant>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/identifyPlant.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:identifyPlant>>
This Matlab function is accessible [[file:../src/identifyPlant.m][here]].
@ -688,12 +688,12 @@ This Matlab function is accessible [[file:../src/identifyPlant.m][here]].
#+end_src
** runSimulation
:PROPERTIES:
:header-args:matlab+: :tangle ../src/runSimulation.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:runSimulation>>
:PROPERTIES:
:header-args:matlab+: :tangle ../src/runSimulation.m
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:runSimulation>>
This Matlab function is accessible [[file:../src/runSimulation.m][here]].
@ -759,7 +759,7 @@ This Matlab function is accessible [[file:../src/runSimulation.m][here]].
** Experiment
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeExperiment.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeExperiment>>
@ -793,8 +793,8 @@ This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
** Generate Reference Signals
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeReferences.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no
:END:
<<sec:initializeReferences>>
@ -942,7 +942,7 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
** TODO Inputs
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeInputs.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeInputs>>
@ -1132,8 +1132,8 @@ This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
** Inverse Kinematics of the Hexapod
:PROPERTIES:
:header-args:matlab+: :tangle ../src/inverseKinematicsHexapod.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no
:END:
<<sec:inverseKinematicsHexapod>>
@ -1168,7 +1168,7 @@ This Matlab function is accessible [[file:src/inverseKinematicsHexapod.m][here]]
** Ground
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeGround.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeGround>>
@ -1192,7 +1192,7 @@ end
** Granite
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeGranite.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeGranite>>
@ -1258,7 +1258,7 @@ This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
** Translation Stage
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeTy.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeTy>>
@ -1340,7 +1340,7 @@ This Matlab function is accessible [[file:../src/initializeTy.m][here]].
** Tilt Stage
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeRy.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeRy>>
@ -1411,7 +1411,7 @@ This Matlab function is accessible [[file:../src/initializeRy.m][here]].
** Spindle
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeRz.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeRz>>
@ -1475,44 +1475,10 @@ This Matlab function is accessible [[file:../src/initializeRz.m][here]].
end
#+end_src
** Initialize Hexapod legs' length
:PROPERTIES:
:header-args:matlab+: :tangle ../src/inverseKinematicsHexapod.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:inverseKinematicsHexapod>>
This Matlab function is accessible [[file:../src/inverseKinematicsHexapod.m][here]].
#+begin_src matlab
function [hexapod] = inverseKinematicsHexapod(hexapod, AP, ARB)
% inverseKinematicsHexapod -
%
% Syntax: inverseKinematicsHexapod(hexapod, AP, ARB)
%
% Inputs:
% - hexapod - Hexapod object containing the geometry of the hexapod
% - AP - Position vector of point OB expressed in frame {A}
% - ARB - Rotation Matrix expressed in frame {A}
L0 = zeros(6, 1);
for i = 1:length(L)
Bbi = hexapod.pos_top_tranform(i, :)';
Aai = hexapod.pos_base(i, :)';
L0(i) = sqrt(AP'*AP + Bbi'*Bbi + Aai'*Aai - 2*AP'*Aai + 2*AP'*(ARB*Bbi) - 2*(ARB*Bbi)'*Aai);
end
hexapod.L0 = L0;
end
#+end_src
** Micro Hexapod
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeMicroHexapod>>
@ -1729,7 +1695,7 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
** Center of gravity compensation
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeAxisc.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeAxisc>>
@ -1773,7 +1739,7 @@ This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
** Mirror
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeMirror.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeMirror>>
@ -1839,7 +1805,7 @@ This Matlab function is accessible [[file:../src/initializeMirror.m][here]].
** Nano Hexapod
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeNanoHexapod>>
@ -2056,7 +2022,7 @@ This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]]
** Cedrat Actuator
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeCedratPiezo>>
@ -2096,7 +2062,7 @@ This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]]
** Sample
:PROPERTIES:
:header-args:matlab+: :tangle ../src/initializeSample.m
:header-args:matlab+: :comments org :mkdirp yes
:header-args:matlab+: :comments none :mkdirp yes
:header-args:matlab+: :eval no :results none
:END:
<<sec:initializeSample>>

11
src/computePsdDispl.m
View File

@ -1,14 +1,3 @@
% computePsdDispl
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/computePsdDispl.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:computePsdDispl>>
% This Matlab function is accessible [[file:../src/computePsdDispl.m][here]].
function [psd_object] = computePsdDispl(sys_data, t_init, n_av)
i_init = find(sys_data.time > t_init, 1);

11
src/computeReferencePose.m
View File

@ -1,14 +1,3 @@
% computeReferencePose
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/computeReferencePose.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:computeReferencePose>>
% This Matlab function is accessible [[file:src/computeReferencePose.m][here]].
function [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn)
% computeReferencePose - Compute the homogeneous transformation matrix corresponding to the wanted pose of the sample
%

11
src/computeSetpoint.m
View File

@ -1,14 +1,3 @@
% computeSetpoint
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/computeSetpoint.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:computeSetpoint>>
% This Matlab function is accessible [[file:../src/computeSetpoint.m][here]].
function setpoint = computeSetpoint(ty, ry, rz)
%%
setpoint = zeros(6, 1);

11
src/converErrorBasis.m
View File

@ -1,14 +1,3 @@
% converErrorBasis
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/converErrorBasis.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:converErrorBasis>>
% This Matlab function is accessible [[file:../src/converErrorBasis.m][here]].
function error_nass = convertErrorBasis(pos, setpoint, ty, ry, rz)
% convertErrorBasis -
%

11
src/generateDiagPidControl.m
View File

@ -1,14 +1,3 @@
% generateDiagPidControl
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/generateDiagPidControl.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:generateDiagPidControl>>
% This Matlab function is accessible [[file:../src/generateDiagPidControl.m][here]].
function [K] = generateDiagPidControl(G, fs)
%%
pid_opts = pidtuneOptions(...

11
src/identifyPlant.m
View File

@ -1,14 +1,3 @@
% identifyPlant
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/identifyPlant.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:identifyPlant>>
% This Matlab function is accessible [[file:../src/identifyPlant.m][here]].
function [sys] = identifyPlant(opts_param)
%% Default values for opts
opts = struct();

36
src/initDisturbances.m
View File

@ -1,14 +1,3 @@
% Function that initialize the disturbances
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initDisturbances.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initDisturbances>>
% This Matlab function is accessible [[file:src/initDisturbances.m][here]].
function [] = initDisturbances(opts_param)
% initDisturbances - Initialize the disturbances
%
@ -17,8 +6,6 @@ function [] = initDisturbances(opts_param)
% Inputs:
% - opts_param -
% Default values for the Options
%% Default values for opts
opts = struct();
@ -29,22 +16,13 @@ if exist('opts_param','var')
end
end
% Load Data
load('./disturbances/mat/dist_psd.mat', 'dist_f');
% We remove the first frequency point that usually is very large.
dist_f.f = dist_f.f(2:end);
dist_f.psd_gm = dist_f.psd_gm(2:end);
dist_f.psd_ty = dist_f.psd_ty(2:end);
dist_f.psd_rz = dist_f.psd_rz(2:end);
% Parameters
% We define some parameters that will be used in the algorithm.
Fs = 2*dist_f.f(end); % Sampling Frequency of data is twice the maximum frequency of the PSD vector [Hz]
N = 2*length(dist_f.f); % Number of Samples match the one of the wanted PSD
T0 = N/Fs; % Signal Duration [s]
@ -53,8 +31,6 @@ df = 1/T0; % Frequency resolution of the DFT [Hz]
t = linspace(0, T0, N+1)'; % Time Vector [s]
Ts = 1/Fs; % Sampling Time [s]
% Ground Motion
phi = dist_f.psd_gm;
C = zeros(N/2,1);
for i = 1:N/2
@ -77,8 +53,6 @@ Cx = [Cx; flipud(conj(Cx(2:end)))];;
u = N/sqrt(2)*ifft(Cx); % Ground Motion - z direction [m]
Dwz = u;
% Translation Stage - X direction
phi = dist_f.psd_ty; % TODO - we take here the vertical direction which is wrong but approximate
C = zeros(N/2,1);
for i = 1:N/2
@ -90,8 +64,6 @@ Cx = [Cx; flipud(conj(Cx(2:end)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty x [N]
Fty_x = u;
% Translation Stage - Z direction
phi = dist_f.psd_ty;
C = zeros(N/2,1);
for i = 1:N/2
@ -103,8 +75,6 @@ Cx = [Cx; flipud(conj(Cx(2:end)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty z [N]
Fty_z = u;
% Spindle - Z direction
phi = dist_f.psd_rz;
C = zeros(N/2,1);
for i = 1:N/2
@ -116,13 +86,9 @@ Cx = [Cx; flipud(conj(Cx(2:end)))];;
u = N/sqrt(2)*ifft(Cx); % Disturbance Force Rz z [N]
Frz_z = u;
% Direct Forces
u = zeros(length(t), 6);
Fd = u;
% Set initial value to zero
Dwx = Dwx - Dwx(1);
Dwy = Dwy - Dwy(1);
Dwz = Dwz - Dwz(1);
@ -130,6 +96,4 @@ Fty_x = Fty_x - Fty_x(1);
Fty_z = Fty_z - Fty_z(1);
Frz_z = Frz_z - Frz_z(1);
% Save
save('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't');

11
src/initializeAxisc.m
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@ -1,14 +1,3 @@
% Center of gravity compensation
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeAxisc.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeAxisc>>
% This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
function [axisc] = initializeAxisc()
%%
axisc = struct();

11
src/initializeCedratPiezo.m
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@ -1,14 +1,3 @@
% Cedrat Actuator
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeCedratPiezo.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeCedratPiezo>>
% This Matlab function is accessible [[file:../src/initializeCedratPiezo.m][here]].
function [cedrat] = initializeCedratPiezo(opts_param)
%% Default values for opts
opts = struct();

11
src/initializeExperiment.m
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@ -1,14 +1,3 @@
% Experiment
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeExperiment.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeExperiment>>
% This Matlab function is accessible [[file:../src/initializeExperiment.m][here]].
function [] = initializeExperiment(exp_name, sys_mass)
if strcmp(exp_name, 'tomography')
if strcmp(sys_mass, 'light')

11
src/initializeGranite.m
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@ -1,14 +1,3 @@
% Granite
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeGranite.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeGranite>>
% This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
function [granite] = initializeGranite(opts_param)
%% Default values for opts
opts = struct('rigid', false);

11
src/initializeGround.m
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@ -1,14 +1,3 @@
% Ground
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeGround.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeGround>>
% This Matlab function is accessible [[file:../src/initializeGround.m][here]].
function [ground] = initializeGround()
%%
ground = struct();

13
src/initializeInputs.m
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@ -1,16 +1,3 @@
% TODO Inputs
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeInputs.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeInputs>>
% - [ ] *This function should not be used anymore*. Now there are two functions to initialize disturbances and references.
% This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
function [inputs] = initializeInputs(opts_param)
%% Default values for opts
opts = struct( ...

11
src/initializeMicroHexapod.m
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@ -1,14 +1,3 @@
% Micro Hexapod
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeMicroHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeMicroHexapod>>
% This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]].
function [micro_hexapod] = initializeMicroHexapod(opts_param)
%% Default values for opts
opts = struct(...

11
src/initializeMirror.m
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@ -1,14 +1,3 @@
% Mirror
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeMirror.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeMirror>>
% This Matlab function is accessible [[file:../src/initializeMirror.m][here]].
function [] = initializeMirror(opts_param)
%% Default values for opts
opts = struct(...

11
src/initializeNanoHexapod.m
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@ -1,14 +1,3 @@
% Nano Hexapod
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeNanoHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeNanoHexapod>>
% This Matlab function is accessible [[file:../src/initializeNanoHexapod.m][here]].
function [nano_hexapod] = initializeNanoHexapod(opts_param)
%% Default values for opts
opts = struct('actuator', 'piezo');

11
src/initializeReferences.m
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@ -1,14 +1,3 @@
% Generate Reference Signals
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeReferences.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeReferences>>
% This Matlab function is accessible [[file:../src/initializeInputs.m][here]].
function [ref] = initializeReferences(opts_param)
%% Default values for opts
opts = struct( ...

11
src/initializeRy.m
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@ -1,14 +1,3 @@
% Tilt Stage
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeRy.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeRy>>
% This Matlab function is accessible [[file:../src/initializeRy.m][here]].
function [ry] = initializeRy(opts_param)
%% Default values for opts
opts = struct('rigid', false);

11
src/initializeRz.m
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@ -1,14 +1,3 @@
% Spindle
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeRz.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeRz>>
% This Matlab function is accessible [[file:../src/initializeRz.m][here]].
function [rz] = initializeRz(opts_param)
%% Default values for opts
opts = struct('rigid', false);

11
src/initializeSample.m
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@ -1,14 +1,3 @@
% Sample
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeSample.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeSample>>
% This Matlab function is accessible [[file:../src/initializeSample.m][here]].
function [sample] = initializeSample(opts_param)
%% Default values for opts
sample = struct('radius', 100, ...

11
src/initializeTy.m
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@ -1,14 +1,3 @@
% Translation Stage
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/initializeTy.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:initializeTy>>
% This Matlab function is accessible [[file:../src/initializeTy.m][here]].
function [ty] = initializeTy(opts_param)
%% Default values for opts
opts = struct('rigid', false);

11
src/inverseKinematicsHexapod.m
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@ -1,14 +1,3 @@
% Inverse Kinematics of the Hexapod
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/inverseKinematicsHexapod.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:inverseKinematicsHexapod>>
% This Matlab function is accessible [[file:src/inverseKinematicsHexapod.m][here]].
function [L] = inverseKinematicsHexapod(hexapod, AP, ARB)
% inverseKinematicsHexapod - Compute the initial position of each leg to have the wanted Hexapod's position
%

11
src/runSimulation.m
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@ -1,14 +1,3 @@
% runSimulation
% :PROPERTIES:
% :header-args:matlab+: :tangle ../src/runSimulation.m
% :header-args:matlab+: :comments org :mkdirp yes
% :header-args:matlab+: :eval no :results none
% :END:
% <<sec:runSimulation>>
% This Matlab function is accessible [[file:../src/runSimulation.m][here]].
function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
%% Load the controller and save it for the simulation
if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none')