DVF and IFF analysis on the nano-hexapod model

First analysis of the nano-hexapod
Update Nano-Hexapod Model
2021-04-23 13:23:36 +02:00 · 2021-04-23 00:00:49 +02:00 · 2021-04-23 00:00:28 +02:00
70 changed files with 23257 additions and 1537 deletions
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--- a/docs/figs/nano_hexapod_cartesian_plant_encoder_comp.pdf
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--- a/docs/figs/nano_hexapod_comp_cartesian_plants_plates.pdf
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--- a/docs/figs/nano_hexapod_diagonal_plant_cok.pdf
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--- a/docs/figs/nano_hexapod_dvf_compare_compliance_plates.pdf
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--- a/docs/figs/nano_hexapod_dvf_loop_gain_plates.pdf
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--- a/docs/figs/nano_hexapod_effect_flexible_apa.pdf
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--- a/docs/index.html
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@ -3,11 +3,11 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2021-02-20 sam. 23:08 -->
+<!-- 2021-04-23 ven. 13:22 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Simscape Model of the Nano-Active-Stabilization-System</title>
-<meta name="generator" content="Org mode" />
 <meta name="author" content="Dehaeze Thomas" />
+<meta name="generator" content="Org Mode" />
 <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
 <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
 </head>
@ -39,7 +39,8 @@
 <li><a href="#org06c33c8">15. Dynamic Noise Budgeting (link)</a></li>
 <li><a href="#org4f2bb92">16. Active Damping Techniques on the full Simscape Model (link)</a></li>
 <li><a href="#org32aed6c">17. Control of the Nano-Active-Stabilization-System (link)</a></li>
-<li><a href="#org97e196a">18. Useful Matlab Functions (link)</a></li>
+<li><a href="#org9b612aa">18. Nano-Hexapod Simscape Model (link)</a></li>
+<li><a href="#org97e196a">19. Useful Matlab Functions (link)</a></li>
 </ul>
 </div>
 </div>
@ -239,9 +240,12 @@ In this file are gathered all studies about the control the Nano-Active-Stabiliz
 </div>
 </div>

+<div id="outline-container-org9b612aa" class="outline-2">
+<h2 id="org9b612aa"><span class="section-number-2">18</span> Nano-Hexapod Simscape Model (<a href="nano_hexapod.html">link</a>)</h2>
+</div>
 <div id="outline-container-org97e196a" class="outline-2">
-<h2 id="org97e196a"><span class="section-number-2">18</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
-<div class="outline-text-2" id="text-18">
+<h2 id="org97e196a"><span class="section-number-2">19</span> Useful Matlab Functions (<a href="./functions.html">link</a>)</h2>
+<div class="outline-text-2" id="text-19">
 <p>
 Many matlab functions are shared among all the files of the projects.
 </p>
@ -254,7 +258,7 @@ These functions are all defined <a href="./functions.html">here</a>.
 </div>
 <div id="postamble" class="status">
 <p class="author">Author: Dehaeze Thomas</p>
-<p class="date">Created: 2021-02-20 sam. 23:08</p>
+<p class="date">Created: 2021-04-23 ven. 13:22</p>
 </div>
 </body>
 </html>
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+-4.6812045940282448e-06,-3.1025104691272919e-03,-1.5377698713734422e-05,-1.6353201310745618e-04,2.5623725204854869e-08,-1.0685663395275263e-04,7.6080554131145197e-06,-2.9982630133594734e-03,-6.8311288952693023e-07,1.5652172827044340e-04,1.4050703116567984e-07,-1.0149600219414910e-04,-2.2532949574989803e-05,-6.4121834046156857e-03,-3.5374676331005905e-06,6.6709676252477444e-06,-3.8462217010480574e-08,-2.6782154632106800e-05,5.4339287700903742e-12,4.4210887013055602e-12,-5.0324569727524429e-12,-8.2525429972158425e-15,-7.6662395153113809e-16,7.6185318466825709e-15,2.3913388184361028e-05,1.0855537718400844e-02,2.5591847524782320e-06,-1.3726013554048109e-05,1.7732917063774981e-07,-1.5917184658560470e-04,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,0.0000000000000000e+00,1.0000000000000000e+00
--- a/mat/full_APA300ML_out_nodes_3D.txt
+++ b/mat/full_APA300ML_out_nodes_3D.txt
@ -0,0 +1,61 @@
+
+ LIST ALL SELECTED NODES.   DSYS=      0
+
+ *** ANSYS - ENGINEERING ANALYSIS SYSTEM  RELEASE 2020 R2          20.2     ***
+ DISTRIBUTED ANSYS Mechanical Enterprise                       
+
+ 00208316  VERSION=WINDOWS x64   10:10:05  MAR 26, 2021 CP=      2.188
+
+ Unknown                                                                       
+
+
+
+    NODE        X             Y             Z           THXY     THYZ     THZX
+        1   0.0000        0.0000       0.28000E-001     0.00     0.00     0.00
+  1228810   0.0000        0.0000      -0.28000E-001     0.00     0.00     0.00
+  1228811 -0.30000E-001   0.0000        0.0000          0.00     0.00     0.00
+  1228812  0.10000E-001   0.0000        0.0000          0.00     0.00     0.00
+  1228813  0.30000E-001   0.0000        0.0000          0.00     0.00     0.00
+
+ LIST MASTERS ON ALL SELECTED NODES.
+ CURRENT DOF SET= UX   UY   UZ   ROTX ROTY ROTZ
+
+ *** ANSYS - ENGINEERING ANALYSIS SYSTEM  RELEASE 2020 R2          20.2     ***
+ DISTRIBUTED ANSYS Mechanical Enterprise                       
+
+ 00208316  VERSION=WINDOWS x64   10:10:05  MAR 26, 2021 CP=      2.188
+
+ Unknown                                                                       
+
+
+     NODE  LABEL     SUPPORT
+         1  UX  
+         1  UY  
+         1  UZ  
+         1  ROTX
+         1  ROTY
+         1  ROTZ
+   1228810  UX  
+   1228810  UY  
+   1228810  UZ  
+   1228810  ROTX
+   1228810  ROTY
+   1228810  ROTZ
+   1228811  UX  
+   1228811  UY  
+   1228811  UZ  
+   1228811  ROTX
+   1228811  ROTY
+   1228811  ROTZ
+   1228812  UX  
+   1228812  UY  
+   1228812  UZ  
+   1228812  ROTX
+   1228812  ROTY
+   1228812  ROTZ
+   1228813  UX  
+   1228813  UY  
+   1228813  UZ  
+   1228813  ROTX
+   1228813  ROTY
+   1228813  ROTZ
--- a/mat/stages.mat
+++ b/mat/stages.mat
--- a/matlab/nano_hexapod/apa300ml_2dof.slx
+++ b/matlab/nano_hexapod/apa300ml_2dof.slx
--- a/matlab/nano_hexapod/apa300ml_flexible.slx
+++ b/matlab/nano_hexapod/apa300ml_flexible.slx
--- a/matlab/nano_hexapod/nano_hexapod.slx
+++ b/matlab/nano_hexapod/nano_hexapod.slx
--- a/matlab/nano_hexapod/nano_hexapod_left_strut.slx
+++ b/matlab/nano_hexapod/nano_hexapod_left_strut.slx
--- a/matlab/nano_hexapod/nano_hexapod_right_strut.slx
+++ b/matlab/nano_hexapod/nano_hexapod_right_strut.slx
--- a/org/index.org
+++ b/org/index.org
@ -81,6 +81,7 @@ Active damping techniques are applied to the full Simscape model.
 * Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
 In this file are gathered all studies about the control the Nano-Active-Stabilization-System.

+* Nano-Hexapod Simscape Model ([[file:nano_hexapod.org][link]])
 * Useful Matlab Functions ([[./functions.org][link]])
 Many matlab functions are shared among all the files of the projects.

--- a/org/nano_hexapod.org
+++ b/org/nano_hexapod.org
--- a/org/setup/org-setup-file.org
+++ b/org/setup/org-setup-file.org
@ -10,6 +10,15 @@
 #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
 #+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>

+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+#+BIND: org-latex-bib-compiler "biber"
+
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+#+LATEX_HEADER_EXTRA: \addbibresource{ref.bib}
+
 #+PROPERTY: header-args:matlab  :session *MATLAB*
 #+PROPERTY: header-args:matlab+ :comments org
 #+PROPERTY: header-args:matlab+ :results none
--- a/src/initializeNanoHexapodFinal.m
+++ b/src/initializeNanoHexapodFinal.m
@ -1,46 +1,50 @@
-  function [nano_hexapod] = initializeNanoHexapodFinal(args)
+function [nano_hexapod] = initializeNanoHexapodFinal(args)

-  arguments
-      %% Bottom Flexible Joints
-      args.flex_bot_type      char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
-      args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
-      args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
-      args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
-      args.flex_bot_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
-      args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
-      args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
-      args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
-      args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
-      %% Top Flexible Joints
-      args.flex_top_type      char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
-      args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
-      args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
-      args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
-      args.flex_top_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
-      args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
-      args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
-      args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
-      args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
-      %% Relative Motion Sensor
-      args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
-      %% Actuators
-      args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
-      args.actuator_Ga  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
-      args.actuator_Gs  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
-      % For 2DoF
-      args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
-      args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
-      args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
-      args.actuator_c   (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
-      args.actuator_ce  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
-      args.actuator_ca  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
-      args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
-      % For Flexible Frame
-      args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
-      args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
-      % For Flexible
-      args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Sensor gain [V/m]
-  end
+arguments
+    %% Bottom Flexible Joints
+    args.flex_bot_type      char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
+    args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
+    args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
+    args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
+    args.flex_bot_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
+    args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
+    args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
+    args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
+    args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    %% Top Flexible Joints
+    args.flex_top_type      char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
+    args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
+    args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
+    args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
+    args.flex_top_kz  (6,1) double {mustBeNumeric} = ones(6,1)*1e8 % Axial Stiffness [N/m]
+    args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % X bending Damping [Nm/(rad/s)]
+    args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Y bending Damping [Nm/(rad/s)]
+    args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.1 % Torsionnal Damping [Nm/(rad/s)]
+    args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    %% Jacobian - Location of frame {A} and {B}
+    args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
+    %% Relative Motion Sensor
+    args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
+    %% Actuators
+    args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
+    args.actuator_Ga  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Actuator gain [N/V]
+    args.actuator_Gs  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
+                                                                 % For 2DoF
+    args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
+    args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
+    args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
+    args.actuator_c   (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
+    args.actuator_ce  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
+    args.actuator_ca  (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
+    args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
+                                                                     % For Flexible Frame
+    args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
+    args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
+                                                                  % For Flexible
+    args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
+    %% Controller
+    args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none'
+end

 nano_hexapod = struct();

@ -129,9 +133,9 @@ switch args.actuator_type
    nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
    nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
  case 'flexible'
-    nano_hexapod.actuator.K = readmatrix('APA300ML_full_mat_K.CSV'); % Stiffness Matrix
-    nano_hexapod.actuator.M = readmatrix('APA300ML_full_mat_M.CSV'); % Mass Matrix
-    nano_hexapod.actuator.P = extractNodes('APA300ML_full_out_nodes_3D.txt'); % Node coordiantes [m]
+    nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
+    nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
+    nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
 end

 nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
@ -139,6 +143,64 @@ nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
 nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
 nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]

+nano_hexapod.geometry = struct();
+
+Fa = [[-86.05,  -74.78, 22.49],
+      [ 86.05,  -74.78, 22.49],
+      [ 107.79, -37.13, 22.49],
+      [ 21.74,  111.91, 22.49],
+      [-21.74,  111.91, 22.49],
+      [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
+
+Mb = [[-28.47, -106.25, -22.50],
+      [ 28.47, -106.25, -22.50],
+      [ 106.25, 28.47,  -22.50],
+      [ 77.78,  77.78,  -22.50],
+      [-77.78,  77.78,  -22.50],
+      [-106.25, 28.47,  -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
+
+Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]
+
+si = Fb - Fa;
+si = si./vecnorm(si); % Normalize
+
+Fc = [[-29.362, -105.765, 52.605]
+      [ 29.362, -105.765, 52.605]
+      [ 106.276, 27.454,  52.605]
+      [ 76.914,  78.31,   52.605]
+      [-76.914,  78.31,   52.605]
+      [-106.276, 27.454,  52.605]]'*1e-3; % Meas pos w.r.t. {F}
+Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}
+
+nano_hexapod.geometry.Fa = Fa;
+nano_hexapod.geometry.Fb = Fb;
+nano_hexapod.geometry.Fc = Fc;
+nano_hexapod.geometry.Mb = Mb;
+nano_hexapod.geometry.Mc = Mc;
+nano_hexapod.geometry.si = si;
+nano_hexapod.geometry.MO_B = args.MO_B;
+
+Bb = Mb - [0; 0; args.MO_B];
+
+nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];
+
+switch args.motion_sensor_type
+  case 'struts'
+    nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
+  case 'plates'
+    Bc = Mc - [0; 0; args.MO_B];
+    nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
+end
+
+switch args.controller_type
+  case 'none'
+    nano_hexapod.controller.type = 1;
+  case 'iff'
+    nano_hexapod.controller.type = 2;
+  case 'dvf'
+    nano_hexapod.controller.type = 3;
+end
+
 if nargout == 0
  save('./mat/stages.mat', 'nano_hexapod', '-append');
 end
Author	SHA1	Message	Date
Thomas Dehaeze	ba0a42be95	DVF and IFF analysis on the nano-hexapod model	2021-04-23 13:23:36 +02:00
Thomas Dehaeze	a3cf7fc537	First analysis of the nano-hexapod	2021-04-23 00:00:49 +02:00
Thomas Dehaeze	ecec6ab19b	Update Nano-Hexapod Model	2021-04-23 00:00:28 +02:00