Update nano-hexapod parameters

Update rotational stiffness of joints
Update signs for actuator/sensor/encoders
2021-06-30 22:46:03 +02:00 · 2021-06-09 18:15:11 +02:00 · 2021-06-09 11:46:09 +02:00 · 2021-06-09 11:05:14 +02:00 · 2021-05-06 21:39:19 +02:00 · 2021-04-23 17:41:19 +02:00
41 changed files with 1313 additions and 522 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,9 @@
 *.bbl
 *.synctex.gz
 .auctex-auto/
 _minted*
 auto/
 org/*.pdf
 *.tex
 nohup.out
--- a/docs/figs/2dof_apa_model.pdf
+++ b/docs/figs/2dof_apa_model.pdf
--- a/docs/figs/2dof_apa_model.png
+++ b/docs/figs/2dof_apa_model.png
--- a/docs/figs/encoder_struts.pdf
+++ b/docs/figs/encoder_struts.pdf
--- a/docs/figs/encoder_struts.png
+++ b/docs/figs/encoder_struts.png
--- a/docs/figs/encoders_plates_with_apa.pdf
+++ b/docs/figs/encoders_plates_with_apa.pdf
--- a/docs/figs/encoders_plates_with_apa.png
+++ b/docs/figs/encoders_plates_with_apa.png
--- a/docs/figs/flexible_joint_simscape.pdf
+++ b/docs/figs/flexible_joint_simscape.pdf
--- a/docs/figs/flexible_joint_simscape.png
+++ b/docs/figs/flexible_joint_simscape.png
--- a/docs/figs/nano_hexapod_cartesian_plant_encoder_comp.pdf
+++ b/docs/figs/nano_hexapod_cartesian_plant_encoder_comp.pdf
--- a/docs/figs/nano_hexapod_cartesian_plant_encoder_comp.png
+++ b/docs/figs/nano_hexapod_cartesian_plant_encoder_comp.png
--- a/docs/figs/nano_hexapod_cartesian_plant_perfect_joints.pdf
+++ b/docs/figs/nano_hexapod_cartesian_plant_perfect_joints.pdf
--- a/docs/figs/nano_hexapod_cartesian_plant_perfect_joints.png
+++ b/docs/figs/nano_hexapod_cartesian_plant_perfect_joints.png
--- a/docs/figs/nano_hexapod_comp_cartesian_plants_plates.pdf
+++ b/docs/figs/nano_hexapod_comp_cartesian_plants_plates.pdf
--- a/docs/figs/nano_hexapod_comp_cartesian_plants_plates.png
+++ b/docs/figs/nano_hexapod_comp_cartesian_plants_plates.png
--- a/docs/figs/nano_hexapod_comp_cartesian_plants_struts.pdf
+++ b/docs/figs/nano_hexapod_comp_cartesian_plants_struts.pdf
--- a/docs/figs/nano_hexapod_comp_cartesian_plants_struts.png
+++ b/docs/figs/nano_hexapod_comp_cartesian_plants_struts.png
--- a/docs/figs/nano_hexapod_effect_encoder.pdf
+++ b/docs/figs/nano_hexapod_effect_encoder.pdf
--- a/docs/figs/nano_hexapod_effect_encoder.png
+++ b/docs/figs/nano_hexapod_effect_encoder.png
--- a/docs/figs/nano_hexapod_simscape_encoder_plates.pdf
+++ b/docs/figs/nano_hexapod_simscape_encoder_plates.pdf
--- a/docs/figs/nano_hexapod_simscape_encoder_plates.png
+++ b/docs/figs/nano_hexapod_simscape_encoder_plates.png
--- a/docs/figs/nano_hexapod_simscape_encoder_struts.pdf
+++ b/docs/figs/nano_hexapod_simscape_encoder_struts.pdf
--- a/docs/figs/nano_hexapod_simscape_encoder_struts.png
+++ b/docs/figs/nano_hexapod_simscape_encoder_struts.png
--- a/docs/figs/simscape_encoder_model.pdf
+++ b/docs/figs/simscape_encoder_model.pdf
--- a/docs/figs/simscape_encoder_model.png
+++ b/docs/figs/simscape_encoder_model.png
--- a/docs/figs/simscape_encoder_model_disp.pdf
+++ b/docs/figs/simscape_encoder_model_disp.pdf
--- a/docs/figs/simscape_encoder_model_disp.png
+++ b/docs/figs/simscape_encoder_model_disp.png
--- a/docs/figs/simscape_model_flexible_joint.pdf
+++ b/docs/figs/simscape_model_flexible_joint.pdf
--- a/docs/figs/simscape_model_flexible_joint.png
+++ b/docs/figs/simscape_model_flexible_joint.png
--- a/docs/index.html
+++ b/docs/index.html
@@ -3,7 +3,7 @@
 "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
 <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
 <head>
-<!-- 2021-04-23 ven. 13:22 -->
+<!-- 2021-04-23 ven. 17:40 -->
 <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
 <title>Simscape Model of the Nano-Active-Stabilization-System</title>
 <meta name="author" content="Dehaeze Thomas" />
@@ -242,7 +242,13 @@ In this file are gathered all studies about the control the Nano-Active-Stabiliz
 <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 class="outline-text-2" id="text-18">
 <p>
 The nano-hexapod simscape model is described and used for simulations.
 </p>
 </div>
 </div>
 <div id="outline-container-org97e196a" class="outline-2">
 <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">
@@ -258,7 +264,7 @@ 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: 2021-04-23 ven. 13:22</p>
+<p class="date">Created: 2021-04-23 ven. 17:40</p>
 </div>
 </body>
 </html>
--- a/docs/nano_hexapod.html
+++ b/docs/nano_hexapod.html
--- a/docs/nano_hexapod.pdf
+++ b/docs/nano_hexapod.pdf
--- 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/matlab/nano_hexapod/nano_hexapod_subsystem.slx
+++ b/matlab/nano_hexapod/nano_hexapod_subsystem.slx
--- a/org/index.org
+++ b/org/index.org
@@ -82,6 +82,8 @@ Active damping techniques are applied to the full Simscape model.
 In this file are gathered all studies about the control the Nano-Active-Stabilization-System.
 * Nano-Hexapod Simscape Model ([[file:nano_hexapod.org][link]])
 The nano-hexapod simscape model is described and used for simulations.
 * 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/src/initializeNanoHexapodFinal.m
+++ b/src/initializeNanoHexapodFinal.m
@@ -6,44 +6,51 @@ arguments
    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_kz  (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % 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_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
-    args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    args.flex_bot_cz  (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_kz  (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % 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_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
-    args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*1e2 % Axial Damping [N/(m/s)]
+    args.flex_top_cz  (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % 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_Ga  (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
-    args.actuator_Gs  (6,1) double {mustBeNumeric} = ones(6,1)*1 % Sensor gain [V/m]
+    args.actuator_Gs  (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
-                                                                 % For 2DoF
+    % For 2DoF
-    args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.35e6 % [N/m]
+    args.actuator_k   (6,1) double {mustBeNumeric} = ones(6,1)*0.38e6 % [N/m]
-    args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.5e6 % [N/m]
+    args.actuator_ke  (6,1) double {mustBeNumeric} = ones(6,1)*1.75e6 % [N/m]
-    args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*43e6 % [N/m]
+    args.actuator_ka  (6,1) double {mustBeNumeric} = ones(6,1)*3e7 % [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
+    % 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
+    % Misalignment
    args.actuator_d_align (6,3) double {mustBeNumeric} = zeros(6,3) % [m]
    args.actuator_xi  (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
    %% Controller
-    args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf'})} = 'none'
+    args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf', 'hac-iff-struts'})} = 'none'
 end
 nano_hexapod = struct();
@@ -114,35 +121,65 @@ switch args.actuator_type
    nano_hexapod.actuator.type = 3;
 end
-nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
+%% Actuator gain [N/V]
-nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
+if all(args.actuator_Ga == 0)
    switch args.actuator_type
      case '2dof'
        nano_hexapod.actuator.Ga = ones(6,1)*(-30.0);
      case 'flexible frame'
        nano_hexapod.actuator.Ga = ones(6,1); % TODO
      case 'flexible'
        nano_hexapod.actuator.Ga = ones(6,1)*23.4;
    end
 else
    nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
 end
-nano_hexapod.actuator.k  = args.actuator_k;  % [N/m]
+%% Sensor gain [V/m]
-nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]
+if all(args.actuator_Gs == 0)
-nano_hexapod.actuator.ka = args.actuator_ka; % [N/m]
+    switch args.actuator_type
-
+      case '2dof'
-nano_hexapod.actuator.c  = args.actuator_c;  % [N/(m/s)]
+        nano_hexapod.actuator.Gs = ones(6,1)*0.098;
-nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)]
+      case 'flexible frame'
-nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)]
+        nano_hexapod.actuator.Gs = ones(6,1); % TODO
-
+      case 'flexible'
-nano_hexapod.actuator.Leq = args.actuator_Leq; % [m]
+        nano_hexapod.actuator.Gs = ones(6,1)*(-4674824);
    end
 else
    nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
 end
 switch args.actuator_type
  case '2dof'
    nano_hexapod.actuator.k  = args.actuator_k;  % [N/m]
    nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]
    nano_hexapod.actuator.ka = args.actuator_ka; % [N/m]
    nano_hexapod.actuator.c  = args.actuator_c;  % [N/(m/s)]
    nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)]
    nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)]
    nano_hexapod.actuator.Leq = args.actuator_Leq; % [m]
  case 'flexible frame'
    nano_hexapod.actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
    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]
    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.actuator.xi = args.actuator_xi; % Damping ratio
  case 'flexible'
    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]
    nano_hexapod.actuator.d_align = args.actuator_d_align; % Misalignment
    nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
 end
 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],
@@ -199,6 +236,8 @@ switch args.controller_type
    nano_hexapod.controller.type = 2;
  case 'dvf'
    nano_hexapod.controller.type = 3;
  case 'hac-iff-struts'
    nano_hexapod.controller.type = 4;
 end
 if nargout == 0
Author	SHA1	Message	Date
Thomas Dehaeze	f6194333a6	Update nano-hexapod parameters	2021-06-30 22:46:03 +02:00
Thomas Dehaeze	571dfbffb4	Update rotational stiffness of joints	2021-06-09 18:15:11 +02:00
Thomas Dehaeze	ef7d7a54d5	Update signs for actuator/sensor/encoders	2021-06-09 11:46:09 +02:00
Thomas Dehaeze	90d6582c7c	Update sensor/actuator constants	2021-06-09 11:05:14 +02:00
Thomas Dehaeze	2a6e6bab27	Add analysis on the DVF complex conjugate zero	2021-05-06 21:39:19 +02:00
Thomas Dehaeze	c4188955ba	Update main page	2021-04-23 17:41:19 +02:00
Thomas Dehaeze	6b225a90ea	Update Analysis	2021-04-23 17:37:19 +02:00
Thomas Dehaeze	f94effc9f4	Add pdf output	2021-04-23 15:51:03 +02:00
Thomas Dehaeze	5789df621b	Describe simscape model of nano-hexapod elements	2021-04-23 15:31:00 +02:00