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

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This commit is contained in:
Thomas Dehaeze 2018-10-29 12:57:13 +01:00
parent 5e6f1dbc38
commit fa3658509c
43 changed files with 157 additions and 225 deletions
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75
Analysis/ground_motion_experiment.m
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@ -1,75 +0,0 @@
%% Load open loop data
% gm_ol = load('../data/ground_motion_001.mat');
%%
clear; close all; clc;
%%
sim Assemblage;
%%
Dsample.Data = Dsample.Data - Dsample.Data(1, :);
%% Time domain X-Y-Z
figure;
hold on;
plot(Dsample.Time, Dsample.Data(:, 1));
plot(Dsample.Time, Dsample.Data(:, 2));
plot(Dsample.Time, Dsample.Data(:, 3));
legend({'x', 'y', 'z'})
hold off;
xlabel('Time [s]'); ylabel('Displacement [m]');
exportFig('tomo_time_translations', 'normal-normal')
%% Time domain angles
figure;
hold on;
plot(Dsample.Time, Dsample.Data(:, 4));
plot(Dsample.Time, Dsample.Data(:, 5));
plot(Dsample.Time, Dsample.Data(:, 6));
legend({'$\theta_x$', '$\theta_y$', '$\theta_z$'})
hold off;
xlabel('Time [s]'); ylabel('Angle [rad]');
exportFig('tomo_time_rotations', 'normal-normal')
%% PSD X-Y-Z
han_windows = hanning(ceil(length(Dsample.Time)/10));
[psd_x, freqs_x] = pwelch(Dsample.Data(:, 1), han_windows, 0, [], 1/Ts);
[psd_y, freqs_y] = pwelch(Dsample.Data(:, 2), han_windows, 0, [], 1/Ts);
[psd_z, freqs_z] = pwelch(Dsample.Data(:, 3), han_windows, 0, [], 1/Ts);
figure;
hold on;
plot(freqs_x, sqrt(psd_x));
plot(freqs_y, sqrt(psd_y));
plot(freqs_z, sqrt(psd_z));
set(gca,'xscale','log'); set(gca,'yscale','log');
xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]');
legend({'x', 'y', 'z'})
hold off;
exportFig('tomo_psd_translations', 'normal-normal')
%% PSD
han_windows = hanning(ceil(length(Dsample.Time)/10));
[psd_x, freqs_x] = pwelch(Dsample.Data(:, 4), han_windows, 0, [], 1/Ts);
[psd_y, freqs_y] = pwelch(Dsample.Data(:, 5), han_windows, 0, [], 1/Ts);
[psd_z, freqs_z] = pwelch(Dsample.Data(:, 6), han_windows, 0, [], 1/Ts);
figure;
hold on;
plot(freqs_x, sqrt(psd_x));
plot(freqs_y, sqrt(psd_y));
plot(freqs_z, sqrt(psd_z));
set(gca,'xscale','log'); set(gca,'yscale','log');
xlabel('Frequency [Hz]'); ylabel('PSD [$rad/s/\sqrt{Hz}$]');
legend({'$\theta_x$', '$\theta_y$', '$\theta_z$'})
hold off;
exportFig('tomo_psd_rotations', 'normal-normal')
%%
save('./data/ground_motion.mat', 'Dsample')

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Assemblage.slx
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Micro_Station.slx
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demonstration/Micro_Station_Displacement.slx
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2
demonstration/displacement_sim.m
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@ -2,4 +2,4 @@
clear; close all; clc;
%%
sim('Micro_Station_Displacement.slx');
sim('sim_nano_station_disp.slx');

31
demonstration/sample_pos_init.m
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@ -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();

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

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2
identification/id_flexible_rigid.m
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@ -13,7 +13,7 @@ options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station';
mdl = 'sim_micro_station_id';
%% Micro-Hexapod
% Input/Output definition

2
identification/id_micro_station.m
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@ -11,7 +11,7 @@ options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_micro_station';
mdl = 'sim_micro_station_id';
%% Micro-Hexapod
% Input/Output definition

2
identification/id_stages.m
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@ -13,7 +13,7 @@ options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_nano_station';
mdl = 'sim_nano_station_id';
%% Y-Translation Stage
% Input/Output definition

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identification/sim_micro_station.slx
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identification/sim_nano_station.slx
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5
init_data.m
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@ -11,15 +11,12 @@ initializeSimConf(opts_sim);
%% Initialize Inputs
opts_inputs = struct(...
'Dw', true, ...
'ry', false, ...
'Ry', false, ...
'Rz', true ...
);
initializeInputs(opts_inputs);
%% Initialize Solids
initializeSolids();
%% Initialize Ground
initializeGround();

8
init_simulation.m
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@ -5,13 +5,15 @@
load('./mat/sim_conf.mat');
%% Load SolidWorks Data
load('./mat/solids.mat');
% load('./mat/solids.mat');
%% Load data of each stage
load('./mat/stages.mat');
% TODO - This is now loaded by mask of each stage
% load('./mat/stages.mat');
%% Load Signals Applied to the system
load('./mat/inputs.mat');
% TODO - This is now loaded by the input referenced system
% load('./mat/inputs.mat');
%% Load Controller
load('./mat/controllers.mat');

22
initialize/initializeAxisc.m
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@ -2,7 +2,27 @@ function [axisc] = initializeAxisc()
%%
axisc = struct();
axisc.m = 40; % [kg]
%% Axis Compensator - Static Properties
% Structure
axisc.structure.density = 3400; % [kg/m3]
axisc.structure.color = [0.792 0.820 0.933];
axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
% Wheel
axisc.wheel.density = 2700; % [kg/m3]
axisc.wheel.color = [0.753 0.753 0.753];
axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
% Mass
axisc.mass.density = 7800; % [kg/m3]
axisc.mass.color = [0.792 0.820 0.933];
axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
% Gear
axisc.gear.density = 7800; % [kg/m3]
axisc.gear.color = [0.792 0.820 0.933];
axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
axisc.m = 40; % TODO [kg]
%% Axis Compensator - Dynamical Properties
axisc.k.ax = 1; % TODO [N*m/deg)]
axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);

8
initialize/initializeGranite.m
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@ -2,8 +2,14 @@ function [granite] = initializeGranite()
%%
granite = struct();
granite.m = 2000; % [kg]
%% Static Properties
granite.density = 2800; % [kg/m3]
granite.volume = 0.72; % [m3] TODO - should
granite.mass = granite.density*granite.volume; % [kg]
granite.color = [1 1 1];
granite.STEP = './STEPS/granite/granite.STEP';
%% Dynamical Properties
granite.k.x = 1e8; % [N/m]
granite.c.x = 1e4; % [N/(m/s)]

3
initialize/initializeInputs.m
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@ -101,10 +101,11 @@ function [inputs] = initializeInputs(opts_param)
Fg = zeros(length(t), 3);
%% External Forces applied on the Sample
Fs = zeros(length(t), 3);
Fs = zeros(length(t), 6);
%% Create the input Structure that will contain all the inputs
inputs = struct( ...
'Ts', sim_conf.Ts, ...
'Dw', timeseries(Dw, t), ...
'Dy', timeseries(Dy, t), ...
'Ry', timeseries(Ry, t), ...

1
initialize/initializeMirror.m
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@ -22,6 +22,7 @@ function [] = initializeMirror(opts_param)
mirror.rad = 180; % radius of the mirror (at the bottom surface) [mm]
mirror.density = 2400; % Density of the mirror [kg/m3]
mirror.color = [0.4 1.0 1.0]; % Color of the mirror
mirror.cone_length = mirror.rad*tand(opts.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point

21
initialize/initializeRy.m
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@ -12,8 +12,27 @@ function [ry] = initializeRy(opts_param)
%%
ry = struct();
ry.m = 200; % [kg]
%% Tilt Stage - Static Properties
% Ry - Guide for the tilt stage
ry.guide.density = 7800; % [kg/m3]
ry.guide.color = [0.792 0.820 0.933];
ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
% Ry - Rotor of the motor
ry.rotor.density = 2400; % [kg/m3]
ry.rotor.color = [0.792 0.820 0.933];
ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
% Ry - Motor
ry.motor.density = 3200; % [kg/m3]
ry.motor.color = [0.792 0.820 0.933];
ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP';
% Ry - Plateau Tilt
ry.stage.density = 7800; % [kg/m3]
ry.stage.color = [0.792 0.820 0.933];
ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
ry.m = 200; % TODO [kg]
%% Tilt Stage - Dynamical Properties
if opts.rigid
ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
else

15
initialize/initializeRz.m
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@ -12,9 +12,24 @@ function [rz] = initializeRz(opts_param)
%%
rz = struct();
%% Spindle - Static Properties
% Spindle - Slip Ring
rz.slipring.density = 7800; % [kg/m3]
rz.slipring.color = [0.792 0.820 0.933];
rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
% Spindle - Rotor
rz.rotor.density = 7800; % [kg/m3]
rz.rotor.color = [0.792 0.820 0.933];
rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
% Spindle - Stator
rz.stator.density = 7800; % [kg/m3]
rz.stator.color = [0.792 0.820 0.933];
rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
% Estimated mass of the mooving part
rz.m = 250; % [kg]
%% Spindle - Dynamical Properties
% Estimated stiffnesses
rz.k.ax = 2e9; % Axial Stiffness [N/m]
rz.k.rad = 7e8; % Radial Stiffness [N/m]

97
initialize/initializeSolids.m
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@ -1,97 +0,0 @@
function [solids] = initializeSolids()
%% Granite
solids.granite.density = 2800; % [kg/m3]
solids.granite.color = [1 1 1];
solids.granite.STEP = './STEPS/granite/granite.STEP';
%% Y-Translation
% Ty Granite frame
solids.ty.granite_frame.density = 7800; % [kg/m3]
solids.ty.granite_frame.color = [0.753 1 0.753];
solids.ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
% Guide Translation Ty
solids.ty.guide.density = 7800; % [kg/m3]
solids.ty.guide.color = [0.792 0.820 0.933];
solids.ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
% Ty - Guide_Translation12
solids.ty.guide12.density = 7800; % [kg/m3]
solids.ty.guide12.color = [0.792 0.820 0.933];
solids.ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
% Ty - Guide_Translation11
solids.ty.guide11.density = 7800; % [kg/m3]
solids.ty.guide11.color = [0.792 0.820 0.933];
solids.ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
% Ty - Guide_Translation22
solids.ty.guide22.density = 7800; % [kg/m3]
solids.ty.guide22.color = [0.792 0.820 0.933];
solids.ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
% Ty - Guide_Translation21
solids.ty.guide21.density = 7800; % [kg/m3]
solids.ty.guide21.color = [0.792 0.820 0.933];
solids.ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
% Ty - Plateau translation
solids.ty.frame.density = 7800; % [kg/m3]
solids.ty.frame.color = [0.792 0.820 0.933];
solids.ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
% Ty Stator Part
solids.ty.stator.density = 5400; % [kg/m3]
solids.ty.stator.color = [0.792 0.820 0.933];
solids.ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
% Ty Rotor Part
solids.ty.rotor.density = 5400; % [kg/m3]
solids.ty.rotor.color = [0.792 0.820 0.933];
solids.ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
%% Tilt Stage
% Ry - Guide for the tilt stage
solids.ry.guide.density = 7800; % [kg/m3]
solids.ry.guide.color = [0.792 0.820 0.933];
solids.ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP';
% Ry - Rotor of the motor
solids.ry.rotor.density = 2400; % [kg/m3]
solids.ry.rotor.color = [0.792 0.820 0.933];
solids.ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP';
% Ry - Motor
solids.ry.motor.density = 3200; % [kg/m3]
solids.ry.motor.color = [0.792 0.820 0.933];
solids.ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP';
% Ry - Plateau Tilt
solids.ry.stage.density = 7800; % [kg/m3]
solids.ry.stage.color = [0.792 0.820 0.933];
solids.ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP';
%% Spindle
% Spindle - Slip Ring
solids.rz.slipring.density = 7800; % [kg/m3]
solids.rz.slipring.color = [0.792 0.820 0.933];
solids.rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP';
% Spindle - Rotor
solids.rz.rotor.density = 7800; % [kg/m3]
solids.rz.rotor.color = [0.792 0.820 0.933];
solids.rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP';
% Spindle - Stator
solids.rz.stator.density = 7800; % [kg/m3]
solids.rz.stator.color = [0.792 0.820 0.933];
solids.rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP';
%% Axis Compensator
% Structure
solids.axisc.structure.density = 3400; % [kg/m3]
solids.axisc.structure.color = [0.792 0.820 0.933];
solids.axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP';
% Wheel
solids.axisc.wheel.density = 2700; % [kg/m3]
solids.axisc.wheel.color = [0.753 0.753 0.753];
solids.axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP';
% Mass
solids.axisc.mass.density = 7800; % [kg/m3]
solids.axisc.mass.color = [0.792 0.820 0.933];
solids.axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP';
% Gear
solids.axisc.gear.density = 7800; % [kg/m3]
solids.axisc.gear.color = [0.792 0.820 0.933];
solids.axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP';
%% Save
save('./mat/solids.mat', 'solids')
end

41
initialize/initializeTy.m
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@ -12,8 +12,47 @@ function [ty] = initializeTy(opts_param)
%%
ty = struct();
ty.m = 250; % [kg]
%% Y-Translation - Static Properties
% Ty Granite frame
ty.granite_frame.density = 7800; % [kg/m3]
ty.granite_frame.color = [0.753 1 0.753];
ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP';
% Guide Translation Ty
ty.guide.density = 7800; % [kg/m3]
ty.guide.color = [0.792 0.820 0.933];
ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP';
% Ty - Guide_Translation12
ty.guide12.density = 7800; % [kg/m3]
ty.guide12.color = [0.792 0.820 0.933];
ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP';
% Ty - Guide_Translation11
ty.guide11.density = 7800; % [kg/m3]
ty.guide11.color = [0.792 0.820 0.933];
ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP';
% Ty - Guide_Translation22
ty.guide22.density = 7800; % [kg/m3]
ty.guide22.color = [0.792 0.820 0.933];
ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP';
% Ty - Guide_Translation21
ty.guide21.density = 7800; % [kg/m3]
ty.guide21.color = [0.792 0.820 0.933];
ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP';
% Ty - Plateau translation
ty.frame.density = 7800; % [kg/m3]
ty.frame.color = [0.792 0.820 0.933];
ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP';
% Ty Stator Part
ty.stator.density = 5400; % [kg/m3]
ty.stator.color = [0.792 0.820 0.933];
ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP';
% Ty Rotor Part
ty.rotor.density = 5400; % [kg/m3]
ty.rotor.color = [0.792 0.820 0.933];
ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP';
ty.m = 250; % TODO [kg]
%% Y-Translation - Dynamicals Properties
if opts.rigid
ty.k.ax = 1e10; % Axial Stiffness for each of the 4 guidance (y) [N/m]
else

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mat/stages.mat
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12
run_simulations.m
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@ -3,17 +3,17 @@ steady_time = 10;
initializeSimConf(struct('Tsim', steady_time, 'cl_time', steady_time));
set_param('Assemblage',...
set_param('sim_nano_station_ctrl',...
'SaveFinalState','on',...
'FinalStateName','myOperPoint',...
'SaveCompleteFinalSimState','on'...
);
sim('Assemblage');
sim('sim_nano_station_ctrl');
save('./data/myOperPoint.mat', 'myOperPoint');
set_param('Assemblage',...
set_param('sim_nano_station_ctrl',...
'SaveFinalState','off',...
'SaveCompleteFinalSimState','off'...
);
@ -27,14 +27,14 @@ initializeSimConf(struct('Tsim', steady_time+sim_time, 'cl_time', steady_time));
load('./data/myOperPoint.mat', 'myOperPoint');
set_param('Assemblage',...
set_param('sim_nano_station_ctrl',...
'LoadInitialState','on',...
'InitialState','myOperPoint'...
);
sim('Assemblage');
sim('sim_nano_station_ctrl');
set_param('Assemblage',...
set_param('sim_nano_station_ctrl',...
'LoadInitialState','off' ...
);

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29
src/identifyPlant.m
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@ -14,29 +14,36 @@ function [sys] = identifyPlant(opts_param)
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'sim_nano_station';
mdl = 'sim_nano_station_id';
%% Input/Output definition
io(1) = linio([mdl, '/Fn'], 1, 'input');
io(2) = linio([mdl, '/Gm'], 1, 'input');
io(3) = linio([mdl, '/Fs_ext'], 1, 'input');
io(4) = linio([mdl, '/F_legs'], 1, 'input');
io(5) = linio([mdl, '/Dsample_meas'], 1, 'output');
io(6) = linio([mdl, '/F_meas'], 1, 'output');
io(1) = linio([mdl, '/Fn'], 1, 'input'); % Cartesian forces applied by NASS
io(2) = linio([mdl, '/Dw'], 1, 'input'); % Ground Motion
io(3) = linio([mdl, '/Fs'], 1, 'input'); % External forces on the sample
io(4) = linio([mdl, '/Fnl'], 1, 'input'); % Forces applied on the NASS's legs
io(5) = linio([mdl, '/Dsm'], 1, 'output'); % Displacement of the sample
io(6) = linio([mdl, '/Fnlm'], 1, 'output'); % Force sensor in NASS's legs
io(7) = linio([mdl, '/Dnlm'], 1, 'output'); % Displacement of NASS's legs
%% Run the linearization
G = linearize(mdl, io, 0);
G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz', ...
'Dgx', 'Dgy', 'Dgz', ...
'Fsx', 'Fsy', 'Fsz', ...
'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz', ...
'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', ...
'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6', ...
'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
%% Create the sub transfer functions
% From forces applied in the cartesian frame to displacement of the sample in the cartesian frame
sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
% From ground motion to Sample displacement
sys.G_gm = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}));
sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz'}));
% From direct forces applied on the sample to displacement of the sample
sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz'}));
% From forces applied on NASS's legs to force sensor in each leg
sys.G_iff = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
% From forces applied on NASS's legs to displacement of each leg
sys.G_dleg = minreal(G({'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
end

2
src/runSimulation.m
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@ -43,7 +43,7 @@ function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
end
%% Run the simulation
sim('Assemblage.slx');
sim('sim_nano_station_ctrl.slx');
%% Split the Dsample matrix into vectors
[Dx, Dy, Dz, Rx, Ry, Rz] = matSplit(Dsample.Data, 1); %#ok

BIN
usefull-simscape-parts/inertial_sensor.slx
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