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

Update files for new definition of hexapods

Browse Source
This commit is contained in:
Thomas Dehaeze
2020-05-05 11:38:52 +02:00
parent 2deb41939d
commit f7714a1449
33 changed files with 4627 additions and 2915 deletions
Download Patch File Download Diff File Expand all files Collapse all files

222
docs/experiments.html
View File

@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-04-17 ven. 10:25 -->
<!-- 2020-05-05 mar. 10:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Simulation of Scientific Experiments</title>
<meta name="generator" content="Org mode" />
@@ -30,37 +30,37 @@
<li><a href="#org03b2a76">1. Simscape Model</a></li>
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
<ul>
<li><a href="#orgdebc736">2.1. Simulation Setup</a></li>
<li><a href="#orge0e2e88">2.2. Analysis</a></li>
<li><a href="#org38ba07f">2.3. Conclusion</a></li>
<li><a href="#orge3f0741">2.1. Simulation Setup</a></li>
<li><a href="#org1836f98">2.2. Analysis</a></li>
<li><a href="#org8cf54cb">2.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
<ul>
<li><a href="#orgc2a0926">3.1. Simulation Setup</a></li>
<li><a href="#org388be58">3.2. Analysis</a></li>
<li><a href="#org51b3617">3.3. Conclusion</a></li>
<li><a href="#org9d04c8b">3.1. Simulation Setup</a></li>
<li><a href="#org746ee08">3.2. Analysis</a></li>
<li><a href="#org42ba456">3.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org7202245">4. Tomography Experiment with Ty raster scans</a>
<ul>
<li><a href="#org94c3461">4.1. Simulation Setup</a></li>
<li><a href="#org65d4246">4.2. Analysis</a></li>
<li><a href="#org41a2a1d">4.3. Conclusion</a></li>
<li><a href="#org0b606be">4.1. Simulation Setup</a></li>
<li><a href="#org2e0557a">4.2. Analysis</a></li>
<li><a href="#org6c8cc28">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org72f01ab">5. Tomography when the micro-hexapod is not centered</a>
<ul>
<li><a href="#org8a5fae6">5.1. Simulation Setup</a></li>
<li><a href="#orgf8b4f39">5.2. Analysis</a></li>
<li><a href="#orgdd34703">5.3. Conclusion</a></li>
<li><a href="#org98d14be">5.1. Simulation Setup</a></li>
<li><a href="#org6dc8ae4">5.2. Analysis</a></li>
<li><a href="#orgb632268">5.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8fa1632">6. Raster Scans with the translation stage</a>
<ul>
<li><a href="#orge3f0741">6.1. Simulation Setup</a></li>
<li><a href="#org1836f98">6.2. Analysis</a></li>
<li><a href="#org8cf54cb">6.3. Conclusion</a></li>
<li><a href="#orgdd9a5de">6.1. Simulation Setup</a></li>
<li><a href="#orgad49d2c">6.2. Analysis</a></li>
<li><a href="#org57c774f">6.3. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -103,8 +103,8 @@ The document in organized as follow:
We load the shared simulink configuration and we set the <code>StopTime</code>.
</p>
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simulink.mat'</span>);
<span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simulink</span>, <span class="org-string">'StopTime'</span>, <span class="org-string">'2'</span>);
<pre class="src src-matlab">load('mat/conf_simulink.mat');
set_param(conf_simulink, 'StopTime', '2');
</pre>
</div>
@@ -121,8 +121,8 @@ initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
initializeSample(<span class="org-string">'mass'</span>, 1);
initializeNanoHexapod('type', 'rigid');
initializeSample('mass', 1);
</pre>
</div>
@@ -130,7 +130,7 @@ initializeSample(<span class="org-string">'mass'</span>, 1);
No controller is used (Open Loop).
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
<pre class="src src-matlab">initializeController('type', 'open-loop');
</pre>
</div>
@@ -138,7 +138,7 @@ No controller is used (Open Loop).
We don&rsquo;t gravity.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSimscapeConfiguration(<span class="org-string">'gravity'</span>, <span class="org-constant">false</span>);
<pre class="src src-matlab">initializeSimscapeConfiguration('gravity', false);
</pre>
</div>
@@ -146,7 +146,7 @@ We don&rsquo;t gravity.
We log the signals for further analysis.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'all'</span>);
<pre class="src src-matlab">initializeLoggingConfiguration('log', 'all');
</pre>
</div>
</div>
@@ -163,20 +163,20 @@ In this section, a tomography experiment is performed with the sample aligned wi
No disturbance is included.
</p>
</div>
<div id="outline-container-orgdebc736" class="outline-3">
<h3 id="orgdebc736"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div id="outline-container-orge3f0741" class="outline-3">
<h3 id="orge3f0741"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-2-1">
<p>
And we initialize the disturbances to be equal to zero.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(...
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
'Dwx', false, ... % Ground Motion - X direction
'Dwy', false, ... % Ground Motion - Y direction
'Dwz', false, ... % Ground Motion - Z direction
'Fty_x', false, ... % Translation Stage - X direction
'Fty_z', false, ... % Translation Stage - Z direction
'Frz_z', false ... % Spindle - Z direction
);
</pre>
</div>
@@ -186,7 +186,7 @@ We initialize the reference path for all the stages.
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
</pre>
</div>
@@ -194,7 +194,7 @@ All stage is set to its zero position except the Spindle which is rotating at 60
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -203,17 +203,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_align_no_dist = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'tomo_align_no_dist', '-append');
</pre>
</div>
</div>
</div>
<div id="outline-container-orge0e2e88" class="outline-3">
<h3 id="orge0e2e88"><span class="section-number-3">2.2</span> Analysis</h3>
<div id="outline-container-org1836f98" class="outline-3">
<h3 id="org1836f98"><span class="section-number-3">2.2</span> Analysis</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'tomo_align_no_dist');
</pre>
</div>
@@ -226,8 +226,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-org38ba07f" class="outline-3">
<h3 id="org38ba07f"><span class="section-number-3">2.3</span> Conclusion</h3>
<div id="outline-container-org8cf54cb" class="outline-3">
<h3 id="org8cf54cb"><span class="section-number-3">2.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-3">
<div class="important">
<p>
@@ -251,20 +251,20 @@ In this section, we also perform a tomography experiment with the sample&rsquo;s
However this time, we include perturbations such as ground motion and stage vibrations.
</p>
</div>
<div id="outline-container-orgc2a0926" class="outline-3">
<h3 id="orgc2a0926"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div id="outline-container-org9d04c8b" class="outline-3">
<h3 id="org9d04c8b"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We now activate the disturbances.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(...
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
'Dwx', true, ... % Ground Motion - X direction
'Dwy', true, ... % Ground Motion - Y direction
'Dwz', true, ... % Ground Motion - Z direction
'Fty_x', false, ... % Translation Stage - X direction
'Fty_z', false, ... % Translation Stage - Z direction
'Frz_z', true ... % Spindle - Z direction
);
</pre>
</div>
@@ -274,7 +274,7 @@ We initialize the reference path for all the stages.
All stage is set to its zero position except the Spindle which is rotating at 60rpm.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
</pre>
</div>
@@ -282,7 +282,7 @@ All stage is set to its zero position except the Spindle which is rotating at 60
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -291,17 +291,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_align_dist = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'tomo_align_dist', '-append');
</pre>
</div>
</div>
</div>
<div id="outline-container-org388be58" class="outline-3">
<h3 id="org388be58"><span class="section-number-3">3.2</span> Analysis</h3>
<div id="outline-container-org746ee08" class="outline-3">
<h3 id="org746ee08"><span class="section-number-3">3.2</span> Analysis</h3>
<div class="outline-text-3" id="text-3-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_align_dist'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'tomo_align_dist', 'tomo_align_no_dist');
</pre>
</div>
@@ -314,8 +314,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-org51b3617" class="outline-3">
<h3 id="org51b3617"><span class="section-number-3">3.3</span> Conclusion</h3>
<div id="outline-container-org42ba456" class="outline-3">
<h3 id="org42ba456"><span class="section-number-3">3.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-3">
<div class="important">
<p>
@@ -338,20 +338,20 @@ In this section, we also perform a tomography experiment with scans of the Trans
All the perturbations are included.
</p>
</div>
<div id="outline-container-org94c3461" class="outline-3">
<h3 id="org94c3461"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div id="outline-container-org0b606be" class="outline-3">
<h3 id="org0b606be"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-4-1">
<p>
We now activate the disturbances.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(...
<span class="org-string">'Dwx'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
<span class="org-string">'Dwy'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
<span class="org-string">'Dwz'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
<span class="org-string">'Fty_x'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
<span class="org-string">'Fty_z'</span>, <span class="org-constant">true</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
<span class="org-string">'Frz_z'</span>, <span class="org-constant">true</span> ...<span class="org-comment"> % Spindle - Z direction</span>
'Dwx', true, ... % Ground Motion - X direction
'Dwy', true, ... % Ground Motion - Y direction
'Dwz', true, ... % Ground Motion - Z direction
'Fty_x', true, ... % Translation Stage - X direction
'Fty_z', true, ... % Translation Stage - Z direction
'Frz_z', true ... % Spindle - Z direction
);
</pre>
</div>
@@ -362,7 +362,7 @@ The Spindle which is rotating at 60rpm and the translation stage not moving as i
However, vibrations of the Ty stage are included.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
</pre>
</div>
@@ -370,7 +370,7 @@ However, vibrations of the Ty stage are included.
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -379,17 +379,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">scans_rz_align_dist = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'scans_rz_align_dist'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'scans_rz_align_dist', '-append');
</pre>
</div>
</div>
</div>
<div id="outline-container-org65d4246" class="outline-3">
<h3 id="org65d4246"><span class="section-number-3">4.2</span> Analysis</h3>
<div id="outline-container-org2e0557a" class="outline-3">
<h3 id="org2e0557a"><span class="section-number-3">4.2</span> Analysis</h3>
<div class="outline-text-3" id="text-4-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'scans_rz_align_dist'</span>);
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'scans_rz_align_dist');
</pre>
</div>
@@ -402,8 +402,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-org41a2a1d" class="outline-3">
<h3 id="org41a2a1d"><span class="section-number-3">4.3</span> Conclusion</h3>
<div id="outline-container-org6c8cc28" class="outline-3">
<h3 id="org6c8cc28"><span class="section-number-3">4.3</span> Conclusion</h3>
</div>
</div>
@@ -422,14 +422,14 @@ This is due to the fact that the micro-hexapod has performed some displacement.
No disturbances are included.
</p>
</div>
<div id="outline-container-org8a5fae6" class="outline-3">
<h3 id="org8a5fae6"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div id="outline-container-org98d14be" class="outline-3">
<h3 id="org98d14be"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-5-1">
<p>
We first set the wanted translation of the Micro Hexapod.
</p>
<div class="org-src-container">
<pre class="src src-matlab">P_micro_hexapod = [0.01; 0; 0]; <span class="org-comment">% [m]</span>
<pre class="src src-matlab">P_micro_hexapod = [0.01; 0; 0]; % [m]
</pre>
</div>
@@ -437,7 +437,7 @@ We first set the wanted translation of the Micro Hexapod.
We initialize the reference path.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dh_pos'</span>, [P_micro_hexapod; 0; 0; 0], <span class="org-string">'Rz_type'</span>, <span class="org-string">'rotating'</span>, <span class="org-string">'Rz_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Dh_pos', [P_micro_hexapod; 0; 0; 0], 'Rz_type', 'rotating', 'Rz_period', 1);
</pre>
</div>
@@ -445,7 +445,7 @@ We initialize the reference path.
We initialize the stages.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeMicroHexapod(<span class="org-string">'AP'</span>, P_micro_hexapod);
<pre class="src src-matlab">initializeMicroHexapod('AP', P_micro_hexapod);
</pre>
</div>
@@ -454,12 +454,12 @@ And we initialize the disturbances to zero.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(...
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
'Dwx', false, ... % Ground Motion - X direction
'Dwy', false, ... % Ground Motion - Y direction
'Dwz', false, ... % Ground Motion - Z direction
'Fty_x', false, ... % Translation Stage - X direction
'Fty_z', false, ... % Translation Stage - Z direction
'Frz_z', false ... % Spindle - Z direction
);
</pre>
</div>
@@ -468,7 +468,7 @@ And we initialize the disturbances to zero.
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -477,17 +477,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tomo_not_align = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'tomo_not_align', '-append');
</pre>
</div>
</div>
</div>
<div id="outline-container-orgf8b4f39" class="outline-3">
<h3 id="orgf8b4f39"><span class="section-number-3">5.2</span> Analysis</h3>
<div id="outline-container-org6dc8ae4" class="outline-3">
<h3 id="org6dc8ae4"><span class="section-number-3">5.2</span> Analysis</h3>
<div class="outline-text-3" id="text-5-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'tomo_not_align'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'tomo_not_align', 'tomo_align_no_dist');
</pre>
</div>
@@ -500,8 +500,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-orgdd34703" class="outline-3">
<h3 id="orgdd34703"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-orgb632268" class="outline-3">
<h3 id="orgb632268"><span class="section-number-3">5.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-3">
<div class="important">
<p>
@@ -524,8 +524,8 @@ This is mainly due to finite stiffness of the elements.
In this section, scans with the translation stage are performed.
</p>
</div>
<div id="outline-container-orge3f0741" class="outline-3">
<h3 id="orge3f0741"><span class="section-number-3">6.1</span> Simulation Setup</h3>
<div id="outline-container-orgdd9a5de" class="outline-3">
<h3 id="orgdd9a5de"><span class="section-number-3">6.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-6-1">
<p>
We initialize the stages.
@@ -539,8 +539,8 @@ initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();
initializeNanoHexapod(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>);
initializeSample(<span class="org-string">'mass'</span>, 1);
initializeNanoHexapod('type', 'rigid');
initializeSample('mass', 1);
</pre>
</div>
@@ -549,12 +549,12 @@ And we initialize the disturbances to zero.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeDisturbances(...
<span class="org-string">'Dwx'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - X direction</span>
<span class="org-string">'Dwy'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Y direction</span>
<span class="org-string">'Dwz'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Ground Motion - Z direction</span>
<span class="org-string">'Fty_x'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - X direction</span>
<span class="org-string">'Fty_z'</span>, <span class="org-constant">false</span>, ...<span class="org-comment"> % Translation Stage - Z direction</span>
<span class="org-string">'Frz_z'</span>, <span class="org-constant">false</span> ...<span class="org-comment"> % Spindle - Z direction</span>
'Dwx', false, ... % Ground Motion - X direction
'Dwy', false, ... % Ground Motion - Y direction
'Dwz', false, ... % Ground Motion - Z direction
'Fty_x', false, ... % Translation Stage - X direction
'Fty_z', false, ... % Translation Stage - Z direction
'Frz_z', false ... % Spindle - Z direction
);
</pre>
</div>
@@ -563,7 +563,7 @@ And we initialize the disturbances to zero.
We set the reference path to be a triangular signal for the Translation Stage.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'triangular'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Dy_type', 'triangular', 'Dy_amplitude', 10e-3, 'Dy_period', 1);
</pre>
</div>
@@ -571,7 +571,7 @@ We set the reference path to be a triangular signal for the Translation Stage.
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -580,7 +580,7 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">ty_scan_triangle = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_triangle'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'ty_scan_triangle', '-append');
</pre>
</div>
@@ -588,7 +588,7 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
We now set the reference path to be a sinusoidal signal for the Translation Stage.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeReferences(<span class="org-string">'Dy_type'</span>, <span class="org-string">'sinusoidal'</span>, <span class="org-string">'Dy_amplitude'</span>, 10e<span class="org-type">-</span>3, <span class="org-string">'Dy_period'</span>, 1);
<pre class="src src-matlab">initializeReferences('Dy_type', 'sinusoidal', 'Dy_amplitude', 10e-3, 'Dy_period', 1);
</pre>
</div>
@@ -596,7 +596,7 @@ We now set the reference path to be a sinusoidal signal for the Translation Stag
We simulate the model.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span>(<span class="org-string">'nass_model'</span>);
<pre class="src src-matlab">sim('nass_model');
</pre>
</div>
@@ -605,17 +605,17 @@ And we save the obtained data.
</p>
<div class="org-src-container">
<pre class="src src-matlab">ty_scan_sinus = simout;
save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_sinus'</span>, <span class="org-string">'-append'</span>);
save('./mat/experiment_tomography.mat', 'ty_scan_sinus', '-append');
</pre>
</div>
</div>
</div>
<div id="outline-container-org1836f98" class="outline-3">
<h3 id="org1836f98"><span class="section-number-3">6.2</span> Analysis</h3>
<div id="outline-container-orgad49d2c" class="outline-3">
<h3 id="orgad49d2c"><span class="section-number-3">6.2</span> Analysis</h3>
<div class="outline-text-3" id="text-6-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span class="org-string">'ty_scan_triangle'</span>, <span class="org-string">'ty_scan_sinus'</span>);
<pre class="src src-matlab">load('./mat/experiment_tomography.mat', 'ty_scan_triangle', 'ty_scan_sinus');
</pre>
</div>
@@ -628,8 +628,8 @@ save(<span class="org-string">'./mat/experiment_tomography.mat'</span>, <span cl
</div>
</div>
<div id="outline-container-org8cf54cb" class="outline-3">
<h3 id="org8cf54cb"><span class="section-number-3">6.3</span> Conclusion</h3>
<div id="outline-container-org57c774f" class="outline-3">
<h3 id="org57c774f"><span class="section-number-3">6.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-6-3">
<div class="important">
<p>
@@ -648,7 +648,7 @@ Thus, this should be preferred.
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 10:25</p>
<p class="date">Created: 2020-05-05 mar. 10:34</p>
</div>
</body>
</html>