59 lines
1.6 KiB
Matlab
59 lines
1.6 KiB
Matlab
%% Script Description
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% Make the same identification as Marc did
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% Should comment out the nano-hexapod and sample before
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% runing this script.
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%%
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clear; close all; clc;
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'Micro_Station_Identification';
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%% Micro-Hexapod
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Micro_Hexapod_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_h_h_raw = linearize(mdl,io, 0);
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G_h_h_raw = G_h_h_raw(1:3, 1:3);
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G_h_h = preprocessIdTf(G_h_h_raw, 10, 10000);
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% Input/Output names
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G_h_h.InputName = {'Fux', 'Fuy', 'Fuz'};
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G_h_h.OutputName = {'Dux', 'Duy', 'Duz'};
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%% Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/F_granite'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_g_g_raw = linearize(mdl,io, 0);
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G_g_g = preprocessIdTf(G_g_g_raw, 10, 10000);
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% Input/Output names
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G_g_g.InputName = {'Fgx', 'Fgy', 'Fgz'};
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G_g_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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%% Micro Hexapod to Granite
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Granite_Inertial_Sensor'],1,'output');
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% Run the linearization
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G_h_g_raw = linearize(mdl,io, 0);
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G_h_g_raw = G_h_g_raw(1:3, 1:3);
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G_h_g = preprocessIdTf(G_h_g_raw, 10, 10000);
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% Input/Output names
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G_h_g.InputName = {'Fhx', 'Fhy', 'Fhz'};
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G_h_g.OutputName = {'Dgx', 'Dgy', 'Dgz'};
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%% Save the obtained transfer functions
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save('./mat/id_micro_station.mat', 'G_h_h', 'G_g_g', 'G_h_g');
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