Add script to identify tf from force to displacement of the legs

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));
 

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')

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]);

init_simulation.m

@@ -4,16 +4,5 @@
 %% Load all the data used for the simulation
 load('./mat/sim_conf.mat');
 
-%% Load SolidWorks Data
-% load('./mat/solids.mat');
-
-%% Load data of each stage
-% TODO - This is now loaded by mask of each stage
-% load('./mat/stages.mat');
-
-%% Load Signals Applied to the system
-% TODO - This is now loaded by the input referenced system
-% load('./mat/inputs.mat');
-
 %% Load Controller
 load('./mat/controllers.mat');

initialize/initializeInputs.m

@@ -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