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Add org-setup-file that all org file links to

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Thomas Dehaeze
2020-04-17 10:25:44 +02:00
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<title>Matlab Functions used for the NASS Project</title>
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<meta name="author" content="Dehaeze Thomas" />
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@@ -237,16 +27,332 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgdc168b9">1. computeReferencePose</a></li>
<li><a href="#org493ab7f">2. Compute the Sample Position Error w.r.t. the NASS</a></li>
<li><a href="#org3fa0f20">1. describeNassSetup</a>
<ul>
<li><a href="#org3615302">Function description</a></li>
<li><a href="#org3b8c4f7">Simscape Configuration</a></li>
<li><a href="#org5b65749">Disturbances</a></li>
<li><a href="#org59f7825">References</a></li>
<li><a href="#org90b1ac8">Controller</a></li>
<li><a href="#orgdd5b7a5">Micro-Station</a></li>
<li><a href="#org1687c05">Metrology</a></li>
<li><a href="#orgee5944e">Nano Hexapod</a></li>
<li><a href="#orga499c17">Sample</a></li>
</ul>
</li>
<li><a href="#orgdc168b9">2. computeReferencePose</a></li>
<li><a href="#org493ab7f">3. Compute the Sample Position Error w.r.t. the NASS</a></li>
</ul>
</div>
</div>
<div id="outline-container-orgdc168b9" class="outline-2">
<h2 id="orgdc168b9"><span class="section-number-2">1</span> computeReferencePose</h2>
<div id="outline-container-org3fa0f20" class="outline-2">
<h2 id="org3fa0f20"><span class="section-number-2">1</span> describeNassSetup</h2>
<div class="outline-text-2" id="text-1">
<p>
<a id="org0b9cc9d"></a>
</p>
</div>
<div id="outline-container-org3615302" class="outline-3">
<h3 id="org3615302">Function description</h3>
<div class="outline-text-3" id="text-org3615302">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">describeNassSetup</span>()
<span class="org-comment">% describeNassSetup -</span>
<span class="org-comment">%</span>
<span class="org-comment">% Syntax: [] = describeNassSetup()</span>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - -</span>
<span class="org-comment">%</span>
<span class="org-comment">% Outputs:</span>
<span class="org-comment">% - -</span>
</pre>
</div>
</div>
</div>
<div id="outline-container-org3b8c4f7" class="outline-3">
<h3 id="org3b8c4f7">Simscape Configuration</h3>
<div class="outline-text-3" id="text-org3b8c4f7">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/conf_simscape.mat'</span>, <span class="org-string">'conf_simscape'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Simscape Configuration:\n'</span>);
<span class="org-keyword">if</span> conf_simscape.type <span class="org-type">==</span> 1
fprintf(<span class="org-string">'- Gravity is included\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Gravity is not included\n'</span>);
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org5b65749" class="outline-3">
<h3 id="org5b65749">Disturbances</h3>
<div class="outline-text-3" id="text-org5b65749">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/nass_disturbances.mat'</span>, <span class="org-string">'args'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Disturbances:\n'</span>);
<span class="org-keyword">if</span> <span class="org-type">~</span>args.enable
fprintf(<span class="org-string">'- No disturbance is included\n'</span>);
<span class="org-keyword">else</span>
<span class="org-keyword">if</span> args.Dwx <span class="org-type">&amp;&amp;</span> args.Dwy <span class="org-type">&amp;&amp;</span> args.Dwz
fprintf(<span class="org-string">'- Ground motion\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> args.Fty_x <span class="org-type">&amp;&amp;</span> args.Fty_z
fprintf(<span class="org-string">'- Vibrations of the Translation Stage\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> args.Frz_z
fprintf(<span class="org-string">'- Vibrations of the Spindle\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org59f7825" class="outline-3">
<h3 id="org59f7825">References</h3>
<div class="outline-text-3" id="text-org59f7825">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/nass_references.mat'</span>, <span class="org-string">'args'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Reference Tracking:\n'</span>);
fprintf(<span class="org-string">'- Translation Stage:\n'</span>);
<span class="org-keyword">switch</span> <span class="org-constant">args.Dy_type</span>
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
fprintf(<span class="org-string">' - Constant Position\n'</span>);
fprintf(<span class="org-string">' - Dy = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
<span class="org-keyword">case</span> <span class="org-string">'triangular'</span>
fprintf(<span class="org-string">' - Triangular Path\n'</span>);
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Dy_period);
<span class="org-keyword">case</span> <span class="org-string">'sinusoidal'</span>
fprintf(<span class="org-string">' - Sinusoidal Path\n'</span>);
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Dy_amplitude<span class="org-type">*</span>1e3);
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Dy_period);
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'- Tilt Stage:\n'</span>);
<span class="org-keyword">switch</span> <span class="org-constant">args.Ry_type</span>
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
fprintf(<span class="org-string">' - Constant Position\n'</span>);
fprintf(<span class="org-string">' - Ry = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
<span class="org-keyword">case</span> <span class="org-string">'triangular'</span>
fprintf(<span class="org-string">' - Triangular Path\n'</span>);
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Ry_period);
<span class="org-keyword">case</span> <span class="org-string">'sinusoidal'</span>
fprintf(<span class="org-string">' - Sinusoidal Path\n'</span>);
fprintf(<span class="org-string">' - Amplitude = %.0f [mm]\n'</span>, args.Ry_amplitude<span class="org-type">*</span>1e3);
fprintf(<span class="org-string">' - Period = %.0f [s]\n'</span>, args.Ry_period);
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'- Spindle:\n'</span>);
<span class="org-keyword">switch</span> <span class="org-constant">args.Rz_type</span>
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
fprintf(<span class="org-string">' - Constant Position\n'</span>);
fprintf(<span class="org-string">' - Rz = %.0f [deg]\n'</span>, 180<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>args.Rz_amplitude);
<span class="org-keyword">case</span> { <span class="org-string">'rotating'</span>, <span class="org-string">'rotating-not-filtered'</span> }
fprintf(<span class="org-string">' - Rotating\n'</span>);
fprintf(<span class="org-string">' - Speed = %.0f [rpm]\n'</span>, 60<span class="org-type">/</span>Rz_period);
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'- Micro Hexapod:\n'</span>);
<span class="org-keyword">switch</span> <span class="org-constant">args.Dh_type</span>
<span class="org-keyword">case</span> <span class="org-string">'constant'</span>
fprintf(<span class="org-string">' - Constant Position\n'</span>);
fprintf(<span class="org-string">' - Dh = %.0f, %.0f, %.0f [mm]\n'</span>, args.Dh_pos(1), args.Dh_pos(2), args.Dh_pos(3));
fprintf(<span class="org-string">' - Rh = %.0f, %.0f, %.0f [deg]\n'</span>, args.Dh_pos(4), args.Dh_pos(5), args.Dh_pos(6));
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org90b1ac8" class="outline-3">
<h3 id="org90b1ac8">Controller</h3>
<div class="outline-text-3" id="text-org90b1ac8">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/controller.mat'</span>, <span class="org-string">'controller'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Controller:\n'</span>);
fprintf(<span class="org-string">'- %s\n'</span>, controller.name);
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-orgdd5b7a5" class="outline-3">
<h3 id="orgdd5b7a5">Micro-Station</h3>
<div class="outline-text-3" id="text-orgdd5b7a5">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'ground'</span>, <span class="org-string">'granite'</span>, <span class="org-string">'ty'</span>, <span class="org-string">'ry'</span>, <span class="org-string">'rz'</span>, <span class="org-string">'micro_hexapod'</span>, <span class="org-string">'axisc'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Micro Station:\n'</span>);
<span class="org-keyword">if</span> granite.type <span class="org-type">==</span> 1 <span class="org-type">&amp;&amp;</span> ...
ty.type <span class="org-type">==</span> 1 <span class="org-type">&amp;&amp;</span> ...
ry.type <span class="org-type">==</span> 1 <span class="org-type">&amp;&amp;</span> ...
rz.type <span class="org-type">==</span> 1 <span class="org-type">&amp;&amp;</span> ...
micro_hexapod.type <span class="org-type">==</span> 1;
fprintf(<span class="org-string">'- All stages are rigid\n'</span>);
<span class="org-keyword">elseif</span> granite.type <span class="org-type">==</span> 2 <span class="org-type">&amp;&amp;</span> ...
ty.type <span class="org-type">==</span> 2 <span class="org-type">&amp;&amp;</span> ...
ry.type <span class="org-type">==</span> 2 <span class="org-type">&amp;&amp;</span> ...
rz.type <span class="org-type">==</span> 2 <span class="org-type">&amp;&amp;</span> ...
micro_hexapod.type <span class="org-type">==</span> 2;
fprintf(<span class="org-string">'- All stages are flexible\n'</span>);
<span class="org-keyword">else</span>
<span class="org-keyword">if</span> granite.type <span class="org-type">==</span> 1 <span class="org-type">||</span> granite.type <span class="org-type">==</span> 4
fprintf(<span class="org-string">'- Granite is rigid\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Granite is flexible\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> ty.type <span class="org-type">==</span> 1 <span class="org-type">||</span> ty.type <span class="org-type">==</span> 4
fprintf(<span class="org-string">'- Translation Stage is rigid\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Translation Stage is flexible\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> ry.type <span class="org-type">==</span> 1 <span class="org-type">||</span> ry.type <span class="org-type">==</span> 4
fprintf(<span class="org-string">'- Tilt Stage is rigid\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Tilt Stage is flexible\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> rz.type <span class="org-type">==</span> 1 <span class="org-type">||</span> rz.type <span class="org-type">==</span> 4
fprintf(<span class="org-string">'- Spindle is rigid\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Spindle is flexible\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">if</span> micro_hexapod.type <span class="org-type">==</span> 1 <span class="org-type">||</span> micro_hexapod.type <span class="org-type">==</span> 4
fprintf(<span class="org-string">'- Micro Hexapod is rigid\n'</span>);
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- Micro Hexapod is flexible\n'</span>);
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-org1687c05" class="outline-3">
<h3 id="org1687c05">Metrology</h3>
<div class="outline-text-3" id="text-org1687c05">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'mirror'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Reference Mirror:\n'</span>);
<span class="org-keyword">if</span> mirror.type <span class="org-type">==</span> 2;
fprintf(<span class="org-string">'- flexible fixation\n'</span>);
fprintf(<span class="org-string">'- w = %.0f [Hz]\n'</span>, mirror.freq(1));
<span class="org-keyword">else</span>
fprintf(<span class="org-string">'- rigidly attached to the nano-hexapod\n'</span>);
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'- m = %.0f [kg]\n'</span>, mirror.mass);
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-orgee5944e" class="outline-3">
<h3 id="orgee5944e">Nano Hexapod</h3>
<div class="outline-text-3" id="text-orgee5944e">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'nano_hexapod'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Nano Hexapod:\n'</span>);
<span class="org-keyword">if</span> nano_hexapod.type <span class="org-type">==</span> 0;
fprintf(<span class="org-string">'- no included\n'</span>);
<span class="org-keyword">elseif</span> nano_hexapod.type <span class="org-type">==</span> 1 <span class="org-type">||</span> nano_hexapod.type <span class="org-type">==</span> 3;
fprintf(<span class="org-string">'- rigid\n'</span>);
<span class="org-keyword">elseif</span> nano_hexapod.type <span class="org-type">==</span> 2;
fprintf(<span class="org-string">'- flexible\n'</span>);
fprintf(<span class="org-string">'- Ki = %.0g [N/m]\n'</span>, nano_hexapod.Ki(1));
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
<div id="outline-container-orga499c17" class="outline-3">
<h3 id="orga499c17">Sample</h3>
<div class="outline-text-3" id="text-orga499c17">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/stages.mat'</span>, <span class="org-string">'sample'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">fprintf(<span class="org-string">'Sample:\n'</span>);
<span class="org-keyword">if</span> sample.type <span class="org-type">==</span> 0;
fprintf(<span class="org-string">'- no included\n'</span>);
<span class="org-keyword">elseif</span> sample.type <span class="org-type">==</span> 1 <span class="org-type">||</span> sample.type <span class="org-type">==</span> 3;
fprintf(<span class="org-string">'- rigid\n'</span>);
fprintf(<span class="org-string">'- mass = %.0f [kg]\n'</span>, sample.mass);
fprintf(<span class="org-string">'- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n'</span>, sample.inertia(1), sample.inertia(2), sample.inertia(3));
<span class="org-keyword">elseif</span> sample.type <span class="org-type">==</span> 2;
fprintf(<span class="org-string">'- flexible\n'</span>);
fprintf(<span class="org-string">'- mass = %.0f [kg]\n'</span>, sample.mass);
fprintf(<span class="org-string">'- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n'</span>, sample.inertia(1), sample.inertia(2), sample.inertia(3));
<span class="org-comment">% fprintf('- Kt = %.0g, %.0g, %.0g [N/m]\n', sample.K(1), sample.K(2), sample.K(3));</span>
<span class="org-comment">% fprintf('- Kr = %.0g, %.0g, %.0g [Nm/rad]\n', sample.K(4), sample.K(5), sample.K(6));</span>
fprintf(<span class="org-string">'- wt(x,y,z) = %.0f, %.0f, %.0f [Hz]\n'</span>, 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(1)<span class="org-type">/</span>sample.mass));
fprintf(<span class="org-string">'- wr(x,y,z) = %.0f, %.0f, %.0f [Hz]\n'</span>, 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(4)<span class="org-type">/</span>sample.inertia(1)), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(5)<span class="org-type">/</span>sample.inertia(2)), 1<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">*</span>sqrt(sample.K(6)<span class="org-type">/</span>sample.inertia(3)));
<span class="org-keyword">end</span>
fprintf(<span class="org-string">'\n'</span>);
</pre>
</div>
</div>
</div>
</div>
<div id="outline-container-orgdc168b9" class="outline-2">
<h2 id="orgdc168b9"><span class="section-number-2">2</span> computeReferencePose</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="org98cbe6e"></a>
</p>
@@ -338,8 +444,8 @@ This Matlab function is accessible <a href="..//src/computeReferencePose.m">here
</div>
<div id="outline-container-org493ab7f" class="outline-2">
<h2 id="org493ab7f"><span class="section-number-2">2</span> Compute the Sample Position Error w.r.t. the NASS</h2>
<div class="outline-text-2" id="text-2">
<h2 id="org493ab7f"><span class="section-number-2">3</span> Compute the Sample Position Error w.r.t. the NASS</h2>
<div class="outline-text-2" id="text-3">
<p>
<a id="org6dcd4fb"></a>
</p>
@@ -376,7 +482,7 @@ MTr = [WTm(1<span class="org-type">:</span>3,1<span class="org-type">:</span>3)<
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-17 mar. 17:28</p>
<p class="date">Created: 2020-04-17 ven. 09:35</p>
</div>
</body>
</html>