38 lines
1.1 KiB
Matlab
38 lines
1.1 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 = 'sim_micro_station_id';
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%% Micro-Hexapod
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
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io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
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io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
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io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
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io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
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io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');
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% Run the linearization
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G_ms = linearize(mdl, io, 0);
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% Input/Output names
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G_ms.InputName = {'Fmx', 'Fmy', 'Fmz',...
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'Fgx', 'Fgy', 'Fgz'};
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G_ms.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
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'Tyx', 'Tyy', 'Tyz', ...
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'Ryx', 'Ryy', 'Ryz', ...
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'Dgx', 'Dgy', 'Dgz'};
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%% Save the obtained transfer functions
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save('./mat/id_micro_station.mat', 'G_ms');
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