Huge Change

- Add may folders - Add IFF and HAC-LAC scripts
2018-10-07 22:07:21 +02:00
parent 496dd15586
commit f0e83d7c39
84 changed files with 1292 additions and 425 deletions
--- a/demonstration/Micro_Station_Displacement.slx
+++ b/demonstration/Micro_Station_Displacement.slx
--- a/demonstration/demonstration_main.m
+++ b/demonstration/demonstration_main.m
@@ -0,0 +1,14 @@
+%%
+clear; close all; clc;
+
+%% Demonstration of stroke of each stage
+% Initalize data for demonstration
+run displacement_init.m
+
+% Run the simulation
+run displacement_sim.m
+
+%% Test the measurement of sample position
+run sample_pos_init.m
+
+run sample_pos_sim.m
--- a/demonstration/displacement_init.m
+++ b/demonstration/displacement_init.m
@@ -0,0 +1,98 @@
+%%
+clear; close all; clc;
+
+%% Initialize simulation configuration
+opts_sim = struct(...
+    'Tsim', 30 ...
+);
+
+initializeSimConf(opts_sim);
+
+%% Initialize Inputs
+load('./mat/sim_conf.mat', 'sim_conf')
+
+time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
+
+% Translation Stage
+T_ty = 4;
+ty = zeros(length(time_vector), 1);
+ty(1:T_ty/sim_conf.Ts) = 10e-3*sin(2*pi*(1/2)*time_vector(1:T_ty/sim_conf.Ts));
+
+% Tilt Stage
+T_ry = 4;
+ry = zeros(length(time_vector), 1);
+ry((T_ty)/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts) = 2*pi*(3/360)*sin(2*pi*(1/2)*time_vector(T_ty/sim_conf.Ts:(T_ty+T_ry)/sim_conf.Ts));
+
+% Spindle
+T_rz = 4;
+
+rz = zeros(length(time_vector), 1);
+rz((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts) = 2*pi*0.5*(time_vector((T_ty+T_ry)/sim_conf.Ts:(T_ty+T_ry+T_rz)/sim_conf.Ts)-time_vector((T_ty+T_ry)/sim_conf.Ts));
+rz((T_ty+T_ry+T_rz)/sim_conf.Ts:end) = rz((T_ty+T_ry+T_rz)/sim_conf.Ts);
+
+% Micro Hexapod
+T_u_hexa = 10;
+u_hexa = zeros(length(time_vector), 6);
+% Tz
+u_hexa((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts, 3) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz)/sim_conf.Ts:(T_ty+T_ry+T_rz+2)/sim_conf.Ts)));
+% Tx-Ty
+u_hexa((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts, 1) = 10e-3*(time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts:(T_ty+T_ry+T_rz+3)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+2)/sim_conf.Ts));
+u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 1) = 10e-3*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
+u_hexa((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts, 2) = 10e-3*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts:(T_ty+T_ry+T_rz+5)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+3)/sim_conf.Ts)));
+u_hexa((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts, 1) = 10e-3 - 10e-3*(time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts:(T_ty+T_ry+T_rz+6)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+5)/sim_conf.Ts));
+% Theta x Theta y
+u_hexa((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts, 1) = 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts:(T_ty+T_ry+T_rz+7)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+6)/sim_conf.Ts));
+u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 1) = 2*pi*(3/360)*cos(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
+u_hexa((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts, 2) = 2*pi*(3/360)*sin(2*pi*(1/2)*(time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts:(T_ty+T_ry+T_rz+9)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+7)/sim_conf.Ts)));
+u_hexa((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts, 1) = 2*pi*(3/360) - 2*pi*(3/360)*(time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts:(T_ty+T_ry+T_rz+10)/sim_conf.Ts)-time_vector((T_ty+T_ry+T_rz+9)/sim_conf.Ts));
+
+% Gravity Compensator system
+T_mass_start = T_ty+T_ry+T_rz+T_u_hexa;
+mass = zeros(length(time_vector), 2);
+
+mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 1) = 2*pi*( 20/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
+mass((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts, 2) = 2*pi*(-10/360)*(time_vector((T_mass_start)/sim_conf.Ts:(T_mass_start+2)/sim_conf.Ts)-time_vector(T_mass_start/sim_conf.Ts));
+mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1);
+mass((T_mass_start+2)/sim_conf.Ts:(T_mass_start+3)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2);
+mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 1) = mass((T_mass_start+2)/sim_conf.Ts, 1)-2*pi*( 20/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
+mass((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts, 2) = mass((T_mass_start+2)/sim_conf.Ts, 2)-2*pi*(-10/360)*(time_vector((T_mass_start+3)/sim_conf.Ts:(T_mass_start+5)/sim_conf.Ts)-time_vector((T_mass_start+3)/sim_conf.Ts));
+
+opts_inputs = struct(...
+    'ty', ty, ...
+    'ry', ry, ...
+    'rz', rz, ...
+    'u_hexa', u_hexa, ...
+    'mass', mass ...
+);
+
+initializeInputs(opts_inputs);
+
+%% Initialize SolidWorks Data
+initializeSmiData();
+
+%% Initialize Ground
+initializeGround();
+
+%% Initialize Granite
+initializeGranite();
+
+%% Initialize Translation stage
+initializeTy();
+
+%% Initialize Tilt Stage
+initializeRy();
+
+%% Initialize Spindle
+initializeRz();
+
+%% Initialize Hexapod Sym<EFBFBD>trie
+initializeMicroHexapod();
+
+%% Initialize Center of Gravity compensation
+initializeAxisc();
+
+%% Initialize NASS
+initializeNanoHexapod(struct('actuator', 'lorentz'));
+
+%% Initialize Sample
+initializeSample(struct('mass', 20));
--- a/demonstration/displacement_sim.m
+++ b/demonstration/displacement_sim.m
@@ -0,0 +1,5 @@
+%%
+clear; close all; clc;
+
+%%
+sim('Micro_Station_Displacement.slx');
--- a/demonstration/sample_pos_init.m
+++ b/demonstration/sample_pos_init.m
@@ -0,0 +1,69 @@
+%%
+clear; close all; clc;
+
+%% Initialize simulation configuration
+opts_sim = struct(...
+    'Tsim', 2 ...
+);
+
+initializeSimConf(opts_sim);
+
+%% Initialize Inputs
+load('./mat/sim_conf.mat', 'sim_conf')
+
+time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
+
+% Translation Stage
+ty = 0*ones(length(time_vector), 1);
+
+% Tilt Stage
+ry = 2*pi*(3/360)*ones(length(time_vector), 1);
+
+% Spindle
+rz = 2*pi*1*(time_vector);
+
+% Micro Hexapod
+u_hexa = zeros(length(time_vector), 6);
+
+% Gravity Compensator system
+mass = zeros(length(time_vector), 2);
+
+opts_inputs = struct(...
+    'ty', ty, ...
+    'ry', ry, ...
+    'rz', rz, ...
+    'u_hexa', u_hexa, ...
+    'mass', mass ...
+);
+
+initializeInputs(opts_inputs);
+
+%% Initialize SolidWorks Data
+initializeSmiData();
+
+%% Initialize Ground
+initializeGround();
+
+%% Initialize Granite
+initializeGranite();
+
+%% Initialize Translation stage
+initializeTy();
+
+%% Initialize Tilt Stage
+initializeRy();
+
+%% Initialize Spindle
+initializeRz();
+
+%% Initialize Hexapod Sym<EFBFBD>trie
+initializeMicroHexapod();
+
+%% Initialize Center of Gravity compensation
+initializeAxisc();
+
+%% Initialize NASS
+initializeNanoHexapod(struct('actuator', 'piezo'));
+
+%% Initialize Sample
+initializeSample(struct('mass', 20));
--- a/demonstration/sample_pos_sim.m
+++ b/demonstration/sample_pos_sim.m
@@ -0,0 +1,5 @@
+%%
+clear; close all; clc;
+
+%%
+sim('Micro_Station_Displacement.slx');