tdehaeze/nass-simscape
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Huge Change

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- Add may folders
- Add IFF and HAC-LAC scripts
This commit is contained in:
Thomas Dehaeze
2018-10-07 22:07:21 +02:00
parent 496dd15586
commit f0e83d7c39
84 changed files with 1292 additions and 425 deletions
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25
initialize/initializeExperiment.m Normal file
View File

@@ -0,0 +1,25 @@
function [] = initializeExperiment(exp_name, sys_mass)
if strcmp(exp_name, 'tomography')
opts_sim = struct(...
'Tsim', 5, ...
'cl_time', 5 ...
);
initializeSimConf(opts_sim);
if strcmp(sys_mass, 'light')
opts_inputs = struct(...
'ground_motion', true, ...
'rz', 60 ... % rpm
);
elseif strcpm(sys_mass, 'heavy')
opts_inputs = struct(...
'ground_motion', true, ...
'rz', 1 ... % rpm
);
else
error('sys_mass should be light or heavy');
end
initializeInputs(opts_inputs);
elseif
end

26
initialize/initializeInputs.m
View File

@@ -1,13 +1,13 @@
function [inputs] = initializeInputs(opts_param)
%% Default values for opts
opts = struct('setpoint', false, ...
opts = struct('setpoint', false, ...
'ground_motion', false, ...
'ty', false, ...
'ry', false, ...
'rz', false, ... % If numerical value, rpm speed of the spindle
'u_hexa', false, ...
'mass', false, ...
'n_hexa', false ...
'ty', false, ...
'ry', false, ...
'rz', false, ... % If numerical value, rpm speed of the spindle
'u_hexa', false, ...
'mass', false, ...
'n_hexa', false ...
);
%% Populate opts with input parameters
@@ -112,22 +112,14 @@ function [inputs] = initializeInputs(opts_param)
%% Set point [m, rad]
if islogical(opts.setpoint) && opts.setpoint == true
setpoint = zeros(length(time_vector), 6);
setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
elseif islogical(opts.setpoint) && opts.setpoint == false
setpoint = zeros(length(time_vector), 6);
else
setpoint = opts.setpoint;
end
% The setpoint in rotation should be the same as the rotation of the Spindle
% Should change that. And think how to include all the setpoint of each stage in this
% global setpoint. Maybe do everything in simulink
setpoint(:, 6) = rz;
inputs.setpoint = timeseries(setpoint, time_vector);
%% Save if no output argument
if nargout == 0
save('./mat/inputs.mat', 'inputs');
end
%% Save
save('./mat/inputs.mat', 'inputs');
end

14
initialize/initializeSimConf.m
View File

@@ -1,9 +1,9 @@
function [] = initializeSimConf(opts_param)
%% Default values for opts
opts = struct('Ts', 1e-4, ... % Sampling time [s]
'Tsim', 10, ... % Simulation time [s]
'cl_time', 0, ... % Close Loop time [s]
'gravity', false ... % Gravity along the z axis [m/s^2]
opts = struct('Ts', 1e-4, ... % Sampling time [s]
'Tsim', 10, ... % Simulation time [s]
'cl_time', 0, ... % Close Loop time [s]
'gravity', false ... % Gravity along the z axis
);
%% Populate opts with input parameters
@@ -23,13 +23,11 @@ function [] = initializeSimConf(opts_param)
%% Gravity
if opts.gravity
sim_conf.g = -9.8;
sim_conf.g = -9.8; %#ok
else
sim_conf.g = 0;
sim_conf.g = 0; %#ok
end
%% Save
save('./mat/sim_conf.mat', 'sim_conf');
end

32
initialize/initializeSmiData.m
View File

@@ -1,6 +1,6 @@
function [smiData] = initializeSmiData()
%% Initialize the structure
smiData = struct;
smiData = struct();
%% Rigid Transform
smiData.RigidTransform = struct;
@@ -265,6 +265,30 @@ function [smiData] = initializeSmiData()
smiData.RigidTransform(65).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(65).ID = 'B[Guide_Tilt-2:-:Plateau_Tilt-1]';
smiData.RigidTransform(66).translation = [-313.5 0 0];
smiData.RigidTransform(66).angle = 2.0943951023931962;
smiData.RigidTransform(66).axis = [-0.577350269189626 -0.57735026918962606 0.5773502691896254];
smiData.RigidTransform(66).ID = 'F[Guide_Tilt-2:-:Plateau_Tilt-1]';
smiData.RigidTransform(67).translation = [0 -5 600];
smiData.RigidTransform(67).angle = 2.0943951023931953;
smiData.RigidTransform(67).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(67).ID = 'B[Guide_Tilt-3:-:Plateau_Tilt-1]';
smiData.RigidTransform(68).translation = [313.5 0 0];
smiData.RigidTransform(68).angle = 2.0943951023931948;
smiData.RigidTransform(68).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
smiData.RigidTransform(68).ID = 'F[Guide_Tilt-3:-:Plateau_Tilt-1]';
smiData.RigidTransform(69).translation = [0 -5 600];
smiData.RigidTransform(69).angle = 2.0943951023931953;
smiData.RigidTransform(69).axis = [-0.57735026918962584 -0.57735026918962584 -0.57735026918962584];
smiData.RigidTransform(69).ID = 'B[Guide_Tilt-4:-:Plateau_Tilt-1]';
smiData.RigidTransform(70).translation = [313.5 0 0];
smiData.RigidTransform(70).angle = 2.0943951023931948;
smiData.RigidTransform(70).axis = [0.57735026918962551 0.57735026918962562 0.57735026918962629];
smiData.RigidTransform(70).ID = 'F[Guide_Tilt-4:-:Plateau_Tilt-1]';
smiData.RigidTransform(71).translation = [146.02 0 0];
smiData.RigidTransform(71).angle = 2.0943951023931953;
smiData.RigidTransform(71).axis = [0.57735026918962584 0.57735026918962584 0.57735026918962584];
smiData.RigidTransform(71).ID = 'B[Bati_Spindle-1:-:Axe_Spindle-1]';
smiData.RigidTransform(72).translation = [146.2 0 0];
smiData.RigidTransform(72).angle = 2.0943951023931957;
smiData.RigidTransform(72).axis = [0.57735026918962573 0.57735026918962584 0.57735026918962573];
smiData.RigidTransform(72).ID = 'F[Bati_Spindle-1:-:Axe_Spindle-1]';
@@ -1348,8 +1372,6 @@ function [smiData] = initializeSmiData()
smiData.SphericalJoint(24).S.Pos.Axis = [0.77690891930122863 0.35378802664966663 0.52081336706111148];
smiData.SphericalJoint(24).ID = '[BrasHaut_Nano-6:-:Nacelle_Nano_Support-1]';
%% If no output argument, save the object
if nargout == 0
save('./mat/smiData.mat', 'smiData')
end
%% Save
save('./mat/smiData.mat', 'smiData')
end