tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add modal-analysis type to all stages

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-02-18 16:46:35 +01:00
parent b40079d6e6
commit f5056db788
12 changed files with 121 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

63
identification/index.org
View File

@ -136,7 +136,6 @@ save('./mat/id_micro_station.mat', 'G_ms');
** Compare with the measurements
* Modal Analysis of the Micro-Station :noexport:
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
@ -256,7 +255,7 @@ Then, the solid bodies are connected with springs and dampers.
Some of the springs and dampers values can be estimated from the joints/stages specifications, however, we here prefer to tune these values based on the measurements.
* Compare with measurements at the CoM of each element
** Introduction :ignore:
** Introduction :ignore:
[[file:../../meas/modal-analysis/index.org][here]]
** Matlab Init :noexport:ignore:
@ -274,7 +273,7 @@ Some of the springs and dampers values can be estimated from the joints/stages s
** Prepare the Simulation
#+begin_src matlab
open('identification/matlab/sim_micro_station_com.slx')
open('nass_model.slx')
#+end_src
We load the configuration.
@ -289,23 +288,31 @@ We set a small =StopTime=.
We initialize all the stages.
#+begin_src matlab
initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod('actuator', 'piezo');
initializeSample('mass', 50);
initializeGround( 'type', 'rigid');
initializeGranite( 'type', 'modal-analysis');
initializeTy( 'type', 'modal-analysis');
initializeRy( 'type', 'modal-analysis');
initializeRz( 'type', 'modal-analysis');
initializeMicroHexapod('type', 'flexible');
initializeAxisc( 'type', 'modal-analysis');
initializeMirror( 'type', 'none');
initializeNanoHexapod( 'type', 'none');
initializeSample( 'type', 'none');
initializeController( 'type', 'open-loop');
initializeLoggingConfiguration('log', 'none');
initializeReferences();
initializeDisturbances('enable', false);
#+end_src
** Estimate the position of the CoM of each solid and compare with the one took for the Measurement Analysis
Thanks to the [[https://fr.mathworks.com/help/physmod/sm/ref/inertiasensor.html][Inertia Sensor]] simscape block, it is possible to estimate the position of the Center of Mass of a solid body with respect to a defined frame.
#+begin_src matlab
sim('sim_micro_station_com')
sim('nass_model')
#+end_src
The results are shown in the table [[tab:com_simscape]].
@ -395,40 +402,38 @@ Then, we use the obtained results to add a =rigidTransform= block in order to cr
We now use a new Simscape Model where 6DoF inertial sensors are located at the Center of Mass of each solid body.
#+begin_src matlab
load('mat/solids_com.mat', 'granite_bot_com', 'granite_top_com', 'ty_com', 'ry_com', 'rz_com', 'hexa_com');
% load('mat/solids_com.mat', 'granite_bot_com', 'granite_top_com', 'ty_com', 'ry_com', 'rz_com', 'hexa_com');
#+end_src
#+begin_src matlab
open('identification/matlab/sim_micro_station_modal_analysis_com.slx')
open('nass_model.slx')
#+end_src
We use the =linearize= function in order to estimate the dynamics from forces applied on the Translation stage at the same position used for the real modal analysis to the inertial sensors.
#+begin_src matlab
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station_modal_analysis_com';
#+end_src
mdl = 'nass_model';
#+begin_src matlab
%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/F_hammer'],1,'openinput');
io(2) = linio([mdl, '/acc_gtop'],1,'output');
io(3) = linio([mdl, '/acc_ty'],1,'output');
io(4) = linio([mdl, '/acc_ry'],1,'output');
io(5) = linio([mdl, '/acc_rz'],1,'output');
io(6) = linio([mdl, '/acc_hexa'],1,'output');
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/F_hammer'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/Spindle/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Micro-Station/CoM Alignement System/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
#+end_src
#+begin_src matlab
% Run the linearization
G_ms = linearize(mdl, io, 0);
% Input/Output names
%% Input/Output definition
clear io; io_i = 1;
G_ms.InputName = {'Fx', 'Fy', 'Fz'};
G_ms.OutputName = {'gtop_x', 'gtop_y', 'gtop_z', 'gtop_rx', 'gtop_ry', 'gtop_rz', ...
'ty_x', 'ty_y', 'ty_z', 'ty_rx', 'ty_ry', 'ty_rz', ...

BIN
simscape/nass_model.slx
View File

Binary file not shown.

57
simscape_subsystems/index.org
View File

@ -211,7 +211,7 @@ The model of the Ground is composed of:
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'solid'})} = 'solid'
args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
end
#+end_src
@ -232,7 +232,7 @@ First, we initialize the =granite= structure.
switch args.type
case 'none'
ground.type = 0;
case 'solid'
case 'rigid'
ground.type = 1;
end
#+end_src
@ -298,7 +298,7 @@ The output =sample_pos= corresponds to the impact point of the X-ray.
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis'})} = 'flexible'
args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
@ -328,6 +328,8 @@ First, we initialize the =granite= structure.
granite.type = 1;
case 'flexible'
granite.type = 2;
case 'modal-analysis'
granite.type = 3;
end
#+end_src
@ -421,7 +423,7 @@ The Simscape model of the Translation stage consist of:
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
args.x21 (1,1) double {mustBeNumeric} = 0 % [m]
@ -455,6 +457,8 @@ First, we initialize the =ty= structure.
ty.type = 1;
case 'flexible'
ty.type = 2;
case 'modal-analysis'
ty.type = 3;
end
#+end_src
@ -580,7 +584,7 @@ The Simscape model of the Tilt stage is composed of:
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
args.y11 (1,1) double {mustBeNumeric} = 0 % [m]
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
@ -618,6 +622,8 @@ First, we initialize the =ry= structure.
ry.type = 1;
case 'flexible'
ry.type = 2;
case 'modal-analysis'
ry.type = 3;
end
#+end_src
@ -733,7 +739,7 @@ The Simscape model of the Spindle is composed of:
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
@ -764,6 +770,8 @@ First, we initialize the =rz= structure.
rz.type = 1;
case 'flexible'
rz.type = 2;
case 'modal-analysis'
rz.type = 3;
end
#+end_src
@ -856,6 +864,7 @@ The =rz= structure is saved.
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@ -913,6 +922,22 @@ Equilibrium position of the each joint.
micro_hexapod.dLeq = args.dLeq;
#+end_src
** Add Type
:PROPERTIES:
:UNNUMBERED: t
:END:
#+begin_src matlab
switch args.type
case 'none'
micro_hexapod.type = 0;
case 'rigid'
micro_hexapod.type = 1;
case 'flexible'
micro_hexapod.type = 2;
end
#+end_src
** Save the Structure
:PROPERTIES:
:UNNUMBERED: t
@ -962,7 +987,7 @@ The Simscape model of the Center of gravity compensator is composed of:
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
end
#+end_src
@ -987,6 +1012,8 @@ First, we initialize the =axisc= structure.
axisc.type = 1;
case 'flexible'
axisc.type = 2;
case 'modal-analysis'
axisc.type = 3;
end
#+end_src
@ -1197,6 +1224,7 @@ The =mirror= structure is saved.
:END:
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
@ -1258,6 +1286,21 @@ The =mirror= structure is saved.
nano_hexapod.dLeq = args.dLeq;
#+end_src
** Add Type
:PROPERTIES:
:UNNUMBERED: t
:END:
#+begin_src matlab
switch args.type
case 'none'
nano_hexapod.type = 0;
case 'rigid'
nano_hexapod.type = 1;
case 'flexible'
nano_hexapod.type = 2;
end
#+end_src
** Save the Structure
:PROPERTIES:
:UNNUMBERED: t

BIN
simscape_subsystems/metrology_6dof.slx
View File

Binary file not shown.

4
src/initializeAxisc.m
View File

@ -1,7 +1,7 @@
function [axisc] = initializeAxisc(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
end
axisc = struct();
@ -13,6 +13,8 @@ switch args.type
axisc.type = 1;
case 'flexible'
axisc.type = 2;
case 'modal-analysis'
axisc.type = 3;
end
% Structure

4
src/initializeGranite.m
View File

@ -1,7 +1,7 @@
function [granite] = initializeGranite(args)
arguments
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis'})} = 'flexible'
args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
@ -17,6 +17,8 @@ switch args.type
granite.type = 1;
case 'flexible'
granite.type = 2;
case 'modal-analysis'
granite.type = 3;
end
granite.density = args.density; % [kg/m3]

4
src/initializeGround.m
View File

@ -1,7 +1,7 @@
function [ground] = initializeGround(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'solid'})} = 'solid'
args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
end
ground = struct();
@ -9,7 +9,7 @@ ground = struct();
switch args.type
case 'none'
ground.type = 0;
case 'solid'
case 'rigid'
ground.type = 1;
end

10
src/initializeMicroHexapod.m
View File

@ -1,6 +1,7 @@
function [micro_hexapod] = initializeMicroHexapod(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
args.MO_B (1,1) double {mustBeNumeric} = 270e-3
@ -48,4 +49,13 @@ micro_hexapod.dLi = dLi;
micro_hexapod.dLeq = args.dLeq;
switch args.type
case 'none'
micro_hexapod.type = 0;
case 'rigid'
micro_hexapod.type = 1;
case 'flexible'
micro_hexapod.type = 2;
end
save('./mat/stages.mat', 'micro_hexapod', '-append');

10
src/initializeNanoHexapod.m
View File

@ -1,6 +1,7 @@
function [nano_hexapod] = initializeNanoHexapod(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
@ -53,4 +54,13 @@ nano_hexapod.dLi = dLi;
nano_hexapod.dLeq = args.dLeq;
switch args.type
case 'none'
nano_hexapod.type = 0;
case 'rigid'
nano_hexapod.type = 1;
case 'flexible'
nano_hexapod.type = 2;
end
save('./mat/stages.mat', 'nano_hexapod', '-append');

4
src/initializeRy.m
View File

@ -1,7 +1,7 @@
function [ry] = initializeRy(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
args.y11 (1,1) double {mustBeNumeric} = 0 % [m]
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
@ -25,6 +25,8 @@ switch args.type
ry.type = 1;
case 'flexible'
ry.type = 2;
case 'modal-analysis'
ry.type = 3;
end
% Ry - Guide for the tilt stage

4
src/initializeRz.m
View File

@ -1,7 +1,7 @@
function [rz] = initializeRz(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % Equilibrium position of the Joint [m]
@ -18,6 +18,8 @@ switch args.type
rz.type = 1;
case 'flexible'
rz.type = 2;
case 'modal-analysis'
rz.type = 3;
end
% Spindle - Slip Ring

4
src/initializeTy.m
View File

@ -1,7 +1,7 @@
function [ty] = initializeTy(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
args.x11 (1,1) double {mustBeNumeric} = 0 % [m]
args.z11 (1,1) double {mustBeNumeric} = 0 % [m]
args.x21 (1,1) double {mustBeNumeric} = 0 % [m]
@ -21,6 +21,8 @@ switch args.type
ty.type = 1;
case 'flexible'
ty.type = 2;
case 'modal-analysis'
ty.type = 3;
end
% Ty Granite frame