Cedrat Actuator
Table of Contents
1 Documentation
- Blocked force: \(1400\ N\)
- Stiffness: \(10.8\ N/\mu m\)
- Resonance (free-free): \(6450\ Hz\)
- Resonance (blocked-free): \(1750\ Hz\)
- Height: \(H = 45\ mm\)
- Length: \(L = 80\ mm\)
- Width: \(22\ mm\)
- Mass: \(160\ g\)
2 Parameters
cedrat.L = 80; % Total Width of the Actuator[mm] cedrat.H = 45; % Total Height of the Actuator [mm] cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm] cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg] cedrat.mtot = 0.160; % Total mass of the Actuator [kg] cedrat.m = cedrat.mtot/6; % Mass of each single element [kg]
cedrat.k = 1e9; % Linear Stiffness of each "blade" [N/m] cedrat.c = 0.1*sqrt(cedrat.mtot*cedrat.k); % [N/(m/s)] cedrat.ka = 5e7; % Linear Stiffness of the stack [N/m] cedrat.ca = 0.1*sqrt(cedrat.mtot*cedrat.ka); % [N/(m/s)] cedrat.kr = 10; % Rotation Stiffness [N*m/(deg)] cedrat.cr = 0.0001; % Rotation Damping [N*m/(deg/s)]
K_iff = tf(0);
% dummy_mass = 140; % [kg] dummy_mass = 1; % [kg]
3 Identification
%% Options for Linearized options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File mdl = 'cedrat_piezo'; %% Input/Output definition io(1) = linio([mdl, '/F'], 1, 'input'); io(2) = linio([mdl, '/Fz'], 1, 'input'); io(3) = linio([mdl, '/Dw'], 1, 'input'); io(4) = linio([mdl, '/Dz'], 1, 'output'); io(5) = linio([mdl, '/Fm'], 1, 'output'); %% Run the linearization G = linearize(mdl, io, options); G.InputName = {'F', 'Fz', 'Dw'}; G.OutputName = {'Dz', 'Fm'};
4 Integral Force Feedback
5 Damped System
%% Options for Linearized options = linearizeOptions; options.SampleTime = 0; %% Name of the Simulink File mdl = 'cedrat_piezo'; %% Input/Output definition io(1) = linio([mdl, '/F'], 1, 'input'); io(2) = linio([mdl, '/Fz'], 1, 'input'); io(3) = linio([mdl, '/Dw'], 1, 'input'); io(4) = linio([mdl, '/Dz'], 1, 'output'); io(5) = linio([mdl, '/Fm'], 1, 'output'); %% Run the linearization G_iff = linearize(mdl, io, options); G_iff.InputName = {'F', 'Fz', 'Dw'}; G_iff.OutputName = {'Dz', 'Fm'};