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)
@@ -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();
+  initializeGround(      'type', 'rigid');
-  initializeGranite();
+  initializeGranite(     'type', 'modal-analysis');
-  initializeTy();
+  initializeTy(          'type', 'modal-analysis');
-  initializeRy();
+  initializeRy(          'type', 'modal-analysis');
-  initializeRz();
+  initializeRz(          'type', 'modal-analysis');
-  initializeMicroHexapod();
+  initializeMicroHexapod('type', 'flexible');
-  initializeAxisc();
+  initializeAxisc(       'type', 'modal-analysis');
-  initializeMirror();
+
-  initializeNanoHexapod('actuator', 'piezo');
+  initializeMirror(      'type', 'none');
-  initializeSample('mass', 50);
+  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';
+  mdl = 'nass_model';
-#+end_src
 
-#+begin_src matlab
+  %% Input/Output definition
-  %% Micro-Hexapod
+  clear io; io_i = 1;
-  % Input/Output definition
+  io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/F_hammer'],          1, 'openinput'); io_i = io_i + 1;
-  io(1) = linio([mdl, '/F_hammer'],1,'openinput');
+  io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
-  io(2) = linio([mdl, '/acc_gtop'],1,'output');
+  io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/accelerometer'],     1, 'openoutput'); io_i = io_i + 1;
-  io(3) = linio([mdl, '/acc_ty'],1,'output');
+  io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Modal Analysis/accelerometer'],            1, 'openoutput'); io_i = io_i + 1;
-  io(4) = linio([mdl, '/acc_ry'],1,'output');
+  io(io_i) = linio([mdl, '/Micro-Station/Spindle/Modal Analysis/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
-  io(5) = linio([mdl, '/acc_rz'],1,'output');
+  io(io_i) = linio([mdl, '/Micro-Station/CoM Alignement System/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
-  io(6) = linio([mdl, '/acc_hexa'],1,'output');
 #+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', ...

simscape_subsystems/index.org

@@ -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

src/initializeAxisc.m

@@ -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

src/initializeGranite.m

@@ -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]

src/initializeGround.m

@@ -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
 

src/initializeMicroHexapod.m

@@ -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');

src/initializeNanoHexapod.m

@@ -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');

src/initializeRy.m

@@ -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

src/initializeRz.m

@@ -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

src/initializeTy.m

@@ -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