From ef6f4613b1659835a5990a095e5c353843c040b6 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Mon, 29 Oct 2018 13:37:36 +0100 Subject: [PATCH] Add script to identify tf from force to displacement of the legs --- identification/id_nano_station.m | 2 ++ identification/id_plant_variation.m | 28 ++++++++++++++++++++++ identification/id_plant_variation_plots.m | 24 +++++++++++++++++++ identification/sim_nano_station_id.slx | Bin 137523 -> 138427 bytes init_simulation.m | 11 --------- initialize/initializeInputs.m | 4 +++- mat/controllers.mat | Bin 5341 -> 7505 bytes mat/inputs.mat | Bin 87753 -> 59044 bytes 8 files changed, 57 insertions(+), 12 deletions(-) create mode 100644 identification/id_plant_variation.m create mode 100644 identification/id_plant_variation_plots.m diff --git a/identification/id_nano_station.m b/identification/id_nano_station.m index fa4cc01..ac5d3ed 100644 --- a/identification/id_nano_station.m +++ b/identification/id_nano_station.m @@ -6,6 +6,8 @@ K = tf(zeros(6)); K_iff = tf(zeros(6)); save('./mat/controllers.mat', 'K', 'K_iff', '-append'); +initializeInputs(); + %% Light Sample initializeSample(struct('mass', 1)); diff --git a/identification/id_plant_variation.m b/identification/id_plant_variation.m new file mode 100644 index 0000000..de06306 --- /dev/null +++ b/identification/id_plant_variation.m @@ -0,0 +1,28 @@ +%% +clear; close all; clc; + +%% +K = tf(zeros(6)); +K_iff = tf(zeros(6)); +save('./mat/controllers.mat', 'K', 'K_iff', '-append'); + +%% Light Sample +initializeSample(struct('mass', 50)); +initializeNanoHexapod(struct('actuator', 'piezo')); + +%% Vertical Configuration +initializeInputs(); +G_vert_init = identifyPlant(); + +initializeInputs(struct('Rz', 90)); +G_vert_turn = identifyPlant(); + +%% Tilted configuration +initializeInputs(struct('Ry', 3)); +G_tilt_init = identifyPlant(); + +initializeInputs(struct('Ry', 3, 'Rz', 90)); +G_tilt_turn = identifyPlant(); + +%% Save +save('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn') diff --git a/identification/id_plant_variation_plots.m b/identification/id_plant_variation_plots.m new file mode 100644 index 0000000..7f8f360 --- /dev/null +++ b/identification/id_plant_variation_plots.m @@ -0,0 +1,24 @@ +%% +clear; close all; clc; + +%% Load +load('./mat/id_plant_variation.mat', 'G_vert_init', 'G_vert_turn', 'G_tilt_init', 'G_tilt_turn') + +%% +bodeFig({G_vert_init.G_dleg(1, 1), ... + G_vert_init.G_dleg(2, 2), ... + G_vert_init.G_dleg(3, 3), ... + G_vert_init.G_dleg(4, 4), ... + G_vert_init.G_dleg(5, 5), ... + G_vert_init.G_dleg(6, 6)}, struct('phase', true)); +xlim([1, 500]); + +%% +bodeFig({G_vert_init.G_dleg(1, 1), ... + G_vert_turn.G_dleg(1, 1),}, struct('phase', true)); +xlim([1, 500]); + +%% +bodeFig({G_vert_init.G_dleg(1, 1), ... + G_tilt_init.G_dleg(1, 1),}, struct('phase', true)); +xlim([1, 500]); diff --git a/identification/sim_nano_station_id.slx b/identification/sim_nano_station_id.slx index 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-50,6 +50,8 @@ function [inputs] = initializeInputs(opts_param) Ry = 3*(2*pi/360)*sin(2*pi*0.2*t); elseif islogical(opts.Ry) && opts.Ry == false Ry = zeros(length(t), 1); + elseif isnumeric(opts.Ry) && length(opts.Ry) == 1 + Ry = opts.Ry*(2*pi/360)*ones(length(t), 1); else Ry = opts.Ry; end @@ -60,7 +62,7 @@ function [inputs] = initializeInputs(opts_param) elseif islogical(opts.Rz) && opts.Rz == false Rz = zeros(length(t), 1); elseif isnumeric(opts.Rz) && length(opts.Rz) == 1 - Rz = 2*pi*(opts.Rz/60)*t; + Rz = opts.Rz*(2*pi/360)*ones(length(t), 1); else Rz = opts.Rz; end diff --git a/mat/controllers.mat b/mat/controllers.mat index 45d3c6f93d18ddeb191020cbbac01669c6c59e2e..1b873729cf6ac11376c00b7a8bc2b63f1f7a0e73 100644 GIT binary patch literal 7505 zcma)>c{tSH`~S0tGNhsmM&2PrNG36eOj1onNnt8m_GPRw_I;Tlglvh*79q(_mKp0L zG}Kt8!Pp0bnX%1}>izkAf8Xo($M1Pv^SWN=zOHk>&VA0~-1m9C=7x^(b)Cx~RfTh) z8#=~kZR{Ma-@)!|}543^8T{mQ-nhN`8?S!5aSZl&L@(4ZUM%e{rheufcxWINVB~!Xeu1;^7IMI8<~4;3NcX)Cj5FF#xFJXqfdr6 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