[major-changes] use of referenced model, use of variable step solver
This commit is contained in:
Thomas Dehaeze
@@ -2,7 +2,27 @@ function [axisc] = initializeAxisc()
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%%
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axisc = struct();
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axisc.m = 40; % [kg]
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%% Axis Compensator - Static Properties
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% Structure
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axisc.structure.density = 3400; % [kg/m3]
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axisc.structure.color = [0.792 0.820 0.933];
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axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
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% Wheel
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axisc.wheel.density = 2700; % [kg/m3]
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axisc.wheel.color = [0.753 0.753 0.753];
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axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
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% Mass
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axisc.mass.density = 7800; % [kg/m3]
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axisc.mass.color = [0.792 0.820 0.933];
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axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
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% Gear
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axisc.gear.density = 7800; % [kg/m3]
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axisc.gear.color = [0.792 0.820 0.933];
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axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
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axisc.m = 40; % TODO [kg]
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%% Axis Compensator - Dynamical Properties
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axisc.k.ax = 1; % TODO [N*m/deg)]
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axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
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@@ -2,8 +2,14 @@ function [granite] = initializeGranite()
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%%
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granite = struct();
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granite.m = 2000; % [kg]
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%% Static Properties
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granite.density = 2800; % [kg/m3]
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granite.volume = 0.72; % [m3] TODO - should
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granite.mass = granite.density*granite.volume; % [kg]
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granite.color = [1 1 1];
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granite.STEP = './STEPS/granite/granite.STEP';
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%% Dynamical Properties
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granite.k.x = 1e8; % [N/m]
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granite.c.x = 1e4; % [N/(m/s)]
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@@ -101,10 +101,11 @@ function [inputs] = initializeInputs(opts_param)
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Fg = zeros(length(t), 3);
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%% External Forces applied on the Sample
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Fs = zeros(length(t), 3);
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Fs = zeros(length(t), 6);
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%% Create the input Structure that will contain all the inputs
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inputs = struct( ...
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'Ts', sim_conf.Ts, ...
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'Dw', timeseries(Dw, t), ...
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'Dy', timeseries(Dy, t), ...
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'Ry', timeseries(Ry, t), ...
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@@ -22,6 +22,7 @@ function [] = initializeMirror(opts_param)
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mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm]
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mirror.density = 2400; % Density of the mirror [kg/m3]
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mirror.color = [0.4 1.0 1.0]; % Color of the mirror
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mirror.cone_length = mirror.rad*tand(opts.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point
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@@ -12,8 +12,27 @@ function [ry] = initializeRy(opts_param)
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%%
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ry = struct();
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ry.m = 200; % [kg]
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%% Tilt Stage - Static Properties
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% Ry - Guide for the tilt stage
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ry.guide.density = 7800; % [kg/m3]
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ry.guide.color = [0.792 0.820 0.933];
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ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
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% Ry - Rotor of the motor
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ry.rotor.density = 2400; % [kg/m3]
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ry.rotor.color = [0.792 0.820 0.933];
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ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
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% Ry - Motor
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ry.motor.density = 3200; % [kg/m3]
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ry.motor.color = [0.792 0.820 0.933];
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ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP';
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% Ry - Plateau Tilt
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ry.stage.density = 7800; % [kg/m3]
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ry.stage.color = [0.792 0.820 0.933];
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ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
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ry.m = 200; % TODO [kg]
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%% Tilt Stage - Dynamical Properties
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if opts.rigid
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ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
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else
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@@ -12,9 +12,24 @@ function [rz] = initializeRz(opts_param)
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%%
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rz = struct();
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%% Spindle - Static Properties
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% Spindle - Slip Ring
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rz.slipring.density = 7800; % [kg/m3]
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rz.slipring.color = [0.792 0.820 0.933];
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rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
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% Spindle - Rotor
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rz.rotor.density = 7800; % [kg/m3]
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rz.rotor.color = [0.792 0.820 0.933];
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rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
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% Spindle - Stator
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rz.stator.density = 7800; % [kg/m3]
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rz.stator.color = [0.792 0.820 0.933];
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rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
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% Estimated mass of the mooving part
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rz.m = 250; % [kg]
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%% Spindle - Dynamical Properties
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% Estimated stiffnesses
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rz.k.ax = 2e9; % Axial Stiffness [N/m]
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rz.k.rad = 7e8; % Radial Stiffness [N/m]
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@@ -1,97 +0,0 @@
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function [solids] = initializeSolids()
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%% Granite
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solids.granite.density = 2800; % [kg/m3]
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solids.granite.color = [1 1 1];
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solids.granite.STEP = './STEPS/granite/granite.STEP';
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%% Y-Translation
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% Ty Granite frame
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solids.ty.granite_frame.density = 7800; % [kg/m3]
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solids.ty.granite_frame.color = [0.753 1 0.753];
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solids.ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
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% Guide Translation Ty
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solids.ty.guide.density = 7800; % [kg/m3]
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solids.ty.guide.color = [0.792 0.820 0.933];
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solids.ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
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% Ty - Guide_Translation12
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solids.ty.guide12.density = 7800; % [kg/m3]
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solids.ty.guide12.color = [0.792 0.820 0.933];
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solids.ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
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% Ty - Guide_Translation11
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solids.ty.guide11.density = 7800; % [kg/m3]
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solids.ty.guide11.color = [0.792 0.820 0.933];
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solids.ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
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% Ty - Guide_Translation22
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solids.ty.guide22.density = 7800; % [kg/m3]
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solids.ty.guide22.color = [0.792 0.820 0.933];
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solids.ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
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% Ty - Guide_Translation21
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solids.ty.guide21.density = 7800; % [kg/m3]
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solids.ty.guide21.color = [0.792 0.820 0.933];
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solids.ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
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% Ty - Plateau translation
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solids.ty.frame.density = 7800; % [kg/m3]
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solids.ty.frame.color = [0.792 0.820 0.933];
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solids.ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
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% Ty Stator Part
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solids.ty.stator.density = 5400; % [kg/m3]
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solids.ty.stator.color = [0.792 0.820 0.933];
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solids.ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
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% Ty Rotor Part
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solids.ty.rotor.density = 5400; % [kg/m3]
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solids.ty.rotor.color = [0.792 0.820 0.933];
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solids.ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
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%% Tilt Stage
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% Ry - Guide for the tilt stage
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solids.ry.guide.density = 7800; % [kg/m3]
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solids.ry.guide.color = [0.792 0.820 0.933];
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solids.ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
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% Ry - Rotor of the motor
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solids.ry.rotor.density = 2400; % [kg/m3]
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solids.ry.rotor.color = [0.792 0.820 0.933];
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solids.ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
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% Ry - Motor
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solids.ry.motor.density = 3200; % [kg/m3]
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solids.ry.motor.color = [0.792 0.820 0.933];
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solids.ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP';
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% Ry - Plateau Tilt
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solids.ry.stage.density = 7800; % [kg/m3]
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solids.ry.stage.color = [0.792 0.820 0.933];
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solids.ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
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%% Spindle
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% Spindle - Slip Ring
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solids.rz.slipring.density = 7800; % [kg/m3]
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solids.rz.slipring.color = [0.792 0.820 0.933];
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solids.rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
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% Spindle - Rotor
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solids.rz.rotor.density = 7800; % [kg/m3]
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solids.rz.rotor.color = [0.792 0.820 0.933];
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solids.rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
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% Spindle - Stator
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solids.rz.stator.density = 7800; % [kg/m3]
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solids.rz.stator.color = [0.792 0.820 0.933];
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solids.rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
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%% Axis Compensator
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% Structure
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solids.axisc.structure.density = 3400; % [kg/m3]
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solids.axisc.structure.color = [0.792 0.820 0.933];
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solids.axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
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% Wheel
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solids.axisc.wheel.density = 2700; % [kg/m3]
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solids.axisc.wheel.color = [0.753 0.753 0.753];
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solids.axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
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% Mass
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solids.axisc.mass.density = 7800; % [kg/m3]
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solids.axisc.mass.color = [0.792 0.820 0.933];
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solids.axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
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% Gear
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solids.axisc.gear.density = 7800; % [kg/m3]
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solids.axisc.gear.color = [0.792 0.820 0.933];
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solids.axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
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%% Save
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save('./mat/solids.mat', 'solids')
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end
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@@ -8,12 +8,51 @@ function [ty] = initializeTy(opts_param)
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%%
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ty = struct();
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ty.m = 250; % [kg]
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%% Y-Translation - Static Properties
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% Ty Granite frame
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ty.granite_frame.density = 7800; % [kg/m3]
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ty.granite_frame.color = [0.753 1 0.753];
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ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
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% Guide Translation Ty
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ty.guide.density = 7800; % [kg/m3]
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ty.guide.color = [0.792 0.820 0.933];
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ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
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% Ty - Guide_Translation12
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ty.guide12.density = 7800; % [kg/m3]
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ty.guide12.color = [0.792 0.820 0.933];
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ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
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% Ty - Guide_Translation11
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ty.guide11.density = 7800; % [kg/m3]
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ty.guide11.color = [0.792 0.820 0.933];
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ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
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% Ty - Guide_Translation22
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ty.guide22.density = 7800; % [kg/m3]
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ty.guide22.color = [0.792 0.820 0.933];
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ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
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% Ty - Guide_Translation21
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ty.guide21.density = 7800; % [kg/m3]
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ty.guide21.color = [0.792 0.820 0.933];
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ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
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% Ty - Plateau translation
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ty.frame.density = 7800; % [kg/m3]
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ty.frame.color = [0.792 0.820 0.933];
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ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
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% Ty Stator Part
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ty.stator.density = 5400; % [kg/m3]
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ty.stator.color = [0.792 0.820 0.933];
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ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
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% Ty Rotor Part
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ty.rotor.density = 5400; % [kg/m3]
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ty.rotor.color = [0.792 0.820 0.933];
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ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
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ty.m = 250; % TODO [kg]
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%% Y-Translation - Dynamicals Properties
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if opts.rigid
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ty.k.ax = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
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else
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