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Work on Control (HAC-LAC) + Models

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Thomas Dehaeze
2020-03-13 17:40:22 +01:00
parent 493268638b
commit fab78b6527
78 changed files with 5395 additions and 2475 deletions
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@@ -4,7 +4,7 @@
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<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Identification</title>
@@ -202,50 +202,28 @@
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@@ -330,11 +308,7 @@ Some of the springs and dampers values can be estimated from the joints/stages s
<div id="outline-container-org66149fc" class="outline-2">
<h2 id="org66149fc"><span class="section-number-2">2</span> Compare with measurements at the CoM of each element</h2>
<div class="outline-text-2" id="text-2">
<p>
<a href="../../meas/modal-analysis/index.html">here</a>
</p>
</div>
<div id="outline-container-orgcfb741d" class="outline-3">
<h3 id="orgcfb741d"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div class="outline-text-3" id="text-2-1">
@@ -636,7 +610,7 @@ ry_com = ry_com.Data(end, <span class="org-type">:</span>)<span class="org-type"
rz_com = rz_com.Data(end, <span class="org-type">:</span>)<span class="org-type">'</span>;
hexa_com = hexa_com.Data(end, <span class="org-type">:</span>)<span class="org-type">'</span>;
save(<span class="org-string">'mat/solids_com.mat'</span>, <span class="org-string">'granite_bot_com'</span>, <span class="org-string">'granite_top_com'</span>, <span class="org-string">'ty_com'</span>, <span class="org-string">'ry_com'</span>, <span class="org-string">'rz_com'</span>, <span class="org-string">'hexa_com'</span>);
save(<span class="org-string">'./mat/solids_com.mat'</span>, <span class="org-string">'granite_bot_com'</span>, <span class="org-string">'granite_top_com'</span>, <span class="org-string">'ty_com'</span>, <span class="org-string">'ry_com'</span>, <span class="org-string">'rz_com'</span>, <span class="org-string">'hexa_com'</span>);
</pre>
</div>
@@ -690,7 +664,6 @@ io(io_i) = linio([mdl, <span class="org-string">'/Micro-Station/Micro Hexapod/Mo
G_ms = linearize(mdl, io, 0);
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
clear io; io_i = 1;
G_ms.InputName = {<span class="org-string">'Fx'</span>, <span class="org-string">'Fy'</span>, <span class="org-string">'Fz'</span>};
G_ms.OutputName = {<span class="org-string">'gtop_x'</span>, <span class="org-string">'gtop_y'</span>, <span class="org-string">'gtop_z'</span>, <span class="org-string">'gtop_rx'</span>, <span class="org-string">'gtop_ry'</span>, <span class="org-string">'gtop_rz'</span>, ...
<span class="org-string">'ty_x'</span>, <span class="org-string">'ty_y'</span>, <span class="org-string">'ty_z'</span>, <span class="org-string">'ty_rx'</span>, <span class="org-string">'ty_ry'</span>, <span class="org-string">'ty_rz'</span>, ...
@@ -769,7 +742,7 @@ For such a complex system, we believe that the Simscape Model represents the dyn
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:20</p>
<p class="date">Created: 2020-03-13 ven. 17:39</p>
</div>
</body>
</html>