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

Analysis/ground_motion_experiment.m

@@ -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')

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');

identification/id_flexible_rigid.m

@@ -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

identification/id_micro_station.m

@@ -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

identification/id_stages.m

@@ -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

init_data.m

@@ -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();
 

init_simulation.m

@@ -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');

initialize/initializeAxisc.m

@@ -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);
 

initialize/initializeGranite.m

@@ -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)]
 

initialize/initializeInputs.m

@@ -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), ...

initialize/initializeMirror.m

@@ -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
 

initialize/initializeRy.m

@@ -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

initialize/initializeRz.m

@@ -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]

initialize/initializeSolids.m

@@ -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

initialize/initializeTy.m

@@ -8,12 +8,51 @@ function [ty] = initializeTy(opts_param)
             opts.(opt{1}) = opts_param.(opt{1});
         end
     end
-
+    
     %%
     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

run_simulations.m

@@ -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' ...
 );
 

src/identifyPlant.m

@@ -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
-

src/runSimulation.m

@@ -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