[major-changes] use of referenced model, use of variable step solver

demonstration/displacement_sim.m

@@ -2,4 +2,4 @@
 clear; close all; clc;
 
 %%
-sim('Micro_Station_Displacement.slx');
+sim('sim_nano_station_disp.slx');

demonstration/sample_pos_init.m

@@ -3,7 +3,7 @@ clear; close all; clc;
 
 %% Initialize simulation configuration
 opts_sim = struct(...
-    'Tsim', 1     ...
+    'Tsim', 0.1     ...
 );
 
 initializeSimConf(opts_sim);
@@ -14,36 +14,33 @@ load('./mat/sim_conf.mat', 'sim_conf')
 time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
 
 % Translation Stage
-ty = 0*ones(length(time_vector), 1);
+Ty = 0.20*ones(length(time_vector), 1);
 
 % Tilt Stage
-ry = 2*pi*(0/360)*ones(length(time_vector), 1);
-% ry = 2*pi*(3/360)*sin(2*pi*time_vector);
+Ry = 2*pi*(3/360)*ones(length(time_vector), 1);
+% Ry = 2*pi*(3/360)*sin(2*pi*time_vector);
 
 % Spindle
-rz = 2*pi*1*(time_vector);
-% rz = 2*pi*(190/360)*ones(length(time_vector), 1);
+Rz = 2*pi*3*(time_vector);
+% Rz = 2*pi*(190/360)*ones(length(time_vector), 1);
 
 % Micro Hexapod
-u_hexa = zeros(length(time_vector), 6);
+Dh = zeros(length(time_vector), 6);
 
 % Gravity Compensator system
-mass = zeros(length(time_vector), 2);
-mass(:, 2) = pi;
+Dm = zeros(length(time_vector), 2);
+Dm(:, 2) = pi;
 
 opts_inputs = struct(...
-    'ty', ty, ...
-    'ry', ry, ...
-    'rz', rz, ...
-    'u_hexa', u_hexa, ...
-    'mass', mass ...
+    'Ty', Ty, ...
+    'Ry', Ry, ...
+    'Rz', Rz, ...
+    'Dh', Dh, ...
+    'Dm', Dm ...
 );
 
 initializeInputs(opts_inputs);
 
-%% Initialize SolidWorks Data
-initializeSolids();
-
 %% Initialize Ground
 initializeGround();
 

demonstration/sample_pos_sim.m

@@ -2,4 +2,4 @@
 clear; close all; clc;
 
 %%
-sim('Micro_Station_Displacement.slx');
+sim('sim_nano_station_disp.slx');