167 lines
4.7 KiB
Matlab
167 lines
4.7 KiB
Matlab
%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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open('active_damping/matlab/sim_nass_active_damping.slx')
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initializeGround();
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initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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initializeReferences();
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K = tf(zeros(6));
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save('./mat/controllers.mat', 'K', '-append');
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K_ine = tf(zeros(6));
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save('./mat/controllers.mat', 'K_ine', '-append');
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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K_dvf = tf(zeros(6));
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save('./mat/controllers.mat', 'K_dvf', '-append');
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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_nass_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Fnl'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Fnlm'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Vlm'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'};
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G.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6', ...
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'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6', ...
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'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'};
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G_iff = minreal(G({'Fnlm1', 'Fnlm2', 'Fnlm3', 'Fnlm4', 'Fnlm5', 'Fnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
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G_dvf = minreal(G({'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
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G_ine = minreal(G({'Vnlm1', 'Vnlm2', 'Vnlm3', 'Vnlm4', 'Vnlm5', 'Vnlm6'}, {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}));
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save('./active_damping/mat/undamped_plants.mat', 'G_iff', 'G_dvf', 'G_ine');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Fnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Dnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [(m/s)/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G(['Vnlm', num2str(i)], ['Fnl', num2str(i)]), freqs, 'Hz'))));
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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initDisturbances();
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initializeReferences('Rz_type', 'rotating', 'Rz_period', 1);
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load('mat/conf_simscape.mat');
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set_param(conf_simscape, 'StopTime', '3');
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sim('sim_nass_active_damping');
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save('./active_damping/mat/tomo_exp.mat', 'Ern', 't');
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figure;
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hold on;
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plot(t, Ern(:,1), 'DisplayName', '$\epsilon_{x}$')
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plot(t, Ern(:,2), 'DisplayName', '$\epsilon_{y}$')
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plot(t, Ern(:,3), 'DisplayName', '$\epsilon_{z}$')
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hold off;
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xlim([1,inf]);
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legend();
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xlabel('Time [s]'); ylabel('Position Error [m]');
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figure;
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hold on;
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plot(t, Ern(:,4), 'DisplayName', '$\epsilon_{\theta_x}$')
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plot(t, Ern(:,5), 'DisplayName', '$\epsilon_{\theta_y}$')
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plot(t, Ern(:,6), 'DisplayName', '$\epsilon_{\theta_z}$')
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hold off;
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xlim([1,inf]);
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legend();
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xlabel('Time [s]'); ylabel('Position Error [rad]');
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