5587309cfa
Add many scripts to: - define all the inputs for various experiments - plot the time and frequency data - identify the plant
42 lines
1.2 KiB
Matlab
42 lines
1.2 KiB
Matlab
%%
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time_vector = 0:Ts:Tsim;
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%% Ground motion
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r_Gm = timeseries(zeros(length(time_vector), 3), time_vector);
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% Wxg = 1e-5*(s/(2e2)^(1/3) + 2*pi*0.1)^3/(s + 2*pi*0.1)^3;
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% Wxg = Wxg*(s/(0.5e6)^(1/3) + 2*pi*10)^3/(s + 2*pi*10)^3;
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% Wxg = Wxg/(1+s/(2*pi*2000));
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%
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% xg = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
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% xg(:, 1) = lsim(Wxg, xg(:, 1), time_vector);
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% xg(:, 2) = lsim(Wxg, xg(:, 2), time_vector);
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% xg(:, 3) = lsim(Wxg, xg(:, 3), time_vector);
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%
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% r_Gm = timeseries(xg, time_vector);
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%
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% figure;
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% plot(r_Gm)
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%% Translation stage
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r_Ty = timeseries(zeros(length(time_vector), 1), time_vector);
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%% Tilt Stage
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r_My = timeseries(zeros(length(time_vector), 1), time_vector);
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%% Spindle
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% r_Mz = timeseries(zeros(length(time_vector), 1), time_vector);
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r_Mz = timeseries(360*time_vector*rz.k.rot', time_vector);
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%% Micro Hexapod
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r_u_hexa = timeseries(zeros(length(time_vector), 6), time_vector);
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%% Center of gravity compensation
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r_mass = timeseries(zeros(length(time_vector), 2), time_vector);
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%% Nano Hexapod
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r_n_hexa = timeseries(zeros(length(time_vector), 6), time_vector);
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%%
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save('./mat/inputs_spindle.mat', 'r_Gm', 'r_Ty', 'r_My', 'r_u_hexa', 'r_mass', 'r_n_hexa'); |