139 lines
3.3 KiB
Matlab
139 lines
3.3 KiB
Matlab
%% Script Description
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% Run an identification of each stage from input to output
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% Save all computed transfer functions into one .mat file
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%%
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clear;
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close all;
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clc
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%% Define options for bode plots
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bode_opts = bodeoptions;
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bode_opts.Title.FontSize = 12;
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bode_opts.XLabel.FontSize = 12;
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bode_opts.YLabel.FontSize = 12;
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bode_opts.FreqUnits = 'Hz';
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bode_opts.MagUnits = 'abs';
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bode_opts.MagScale = 'log';
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bode_opts.PhaseWrapping = 'on';
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bode_opts.PhaseVisible = 'off';
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%% Options for preprocessing the identified transfer functions
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f_low = 10;
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f_high = 1000;
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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 = 'Assemblage';
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%% Y-Translation Stage
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% Input/Output definition
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io(1) = linio([mdl, '/Fy'],1,'input');
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io(2) = linio([mdl, '/Translation y'],1,'output');
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% Run the linearization
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G_ty_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ty = preprocessIdTf(G_ty_raw, f_low, f_high);
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% Input/Output names
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G_ty.InputName = {'Fy'};
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G_ty.OutputName = {'Dy'};
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% Bode Plot of the linearized function
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figure;
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bode(G_ty, bode_opts)
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%% Tilt Stage
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% Input/Output definition
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io(1) = linio([mdl, '/My'],1,'input');
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io(2) = linio([mdl, '/Tilt'],1,'output');
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% Run the linearization
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G_ry_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_ry = preprocessIdTf(G_ry_raw, f_low, f_high);
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% Input/Output names
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G_ry.InputName = {'My'};
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G_ry.OutputName = {'Ry'};
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% Bode Plot of the linearized function
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figure;
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bode(G_ry, bode_opts)
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%% Spindle
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% Input/Output definition
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io(1) = linio([mdl, '/Mz'],1,'input');
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io(2) = linio([mdl, '/Spindle'],1,'output');
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% Run the linearization
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G_rz_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_rz = preprocessIdTf(G_rz_raw, f_low, f_high);
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% Input/Output names
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G_rz.InputName = {'Mz'};
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G_rz.OutputName = {'Rz'};
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% Bode Plot of the linearized function
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figure;
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bode(G_rz, bode_opts)
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%% Hexapod Symetrie
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% Input/Output definition
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io(1) = linio([mdl, '/Fhexa_cart'],1,'input');
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io(2) = linio([mdl, '/Hexapod Symetrie'],1,'output');
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% Run the linearization
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G_hexa_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_hexa = preprocessIdTf(G_hexa_raw, f_low, f_high);
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% Input/Output names
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G_hexa.InputName = {'Fhexa_x', 'Fhexa_y', 'Fhexa_z', 'Mhexa_x', 'Mhexa_y', 'Mhexa_z'};
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G_hexa.OutputName = {'Dhexa_x', 'Dhexa_y', 'Dhexa_z', 'Dhexa_x', 'Dhexa_y', 'Dhexa_z'};
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% Bode Plot of the linearized function
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figure;
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bode(G_hexa, bode_opts)
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%% NASS
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% Input/Output definition
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io(1) = linio([mdl, '/Fnass_cart'],1,'input');
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io(2) = linio([mdl, '/NASS'],1,'output');
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% Run the linearization
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G_nass_raw = linearize(mdl,io, 0);
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% Post-process the linearized function
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G_nass = preprocessIdTf(G_nass_raw, f_low, f_high);
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% Input/Output names
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G_nass.InputName = {'Fnass_x', 'Fnass_y', 'Fnass_z', 'Mnass_x', 'Mnass_y', 'Mnass_z'};
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G_nass.OutputName = {'Dnass_x', 'Dnass_y', 'Dnass_z', 'Dnass_x', 'Dnass_y', 'Dnass_z'};
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% Bode Plot of the linearized function
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figure;
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bode(G_nass, bode_opts)
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%% Save all transfer function
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save('./data/identified_tf.mat', 'G_ty', 'G_ry', 'G_rz', 'G_hexa', 'G_nass')
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%% Functions
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function G = preprocessIdTf(G0, f_low, f_high)
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[~,G1] = freqsep(G0, 2*pi*f_low);
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[G2,~] = freqsep(G1, 2*pi*f_high);
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G = minreal(G2);
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end
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