Add modal-analysis type to all stages

identification/index.org

@@ -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', ...