7575aee987
Lot's of new things: - try to use less .mat files - computation of setpoint and error in the cartesian frame fixed to the granite - change of base to have the errors w.r.t. the NASS base - add script to plot setpoint, position and error
35 lines
968 B
Matlab
35 lines
968 B
Matlab
function [ry] = initializeRy(opts_param)
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%% Default values for opts
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opts = struct('rigid', false);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%%
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ry = struct();
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ry.m = 200; % [kg]
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if opts.rigid
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ry.k.tilt = 1e10; % Rotation stiffness around y [N*m/deg]
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else
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ry.k.tilt = 1e4; % Rotation stiffness around y [N*m/deg]
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end
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ry.k.h = 357e6/4; % Stiffness in the direction of the guidance [N/m]
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ry.k.rad = 555e6/4; % Stiffness in the top direction [N/m]
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ry.k.rrad = 238e6/4; % Stiffness in the side direction [N/m]
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ry.c.h = 10*(1/5)*sqrt(ry.k.h/ry.m);
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ry.c.rad = 10*(1/5)*sqrt(ry.k.rad/ry.m);
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ry.c.rrad = 10*(1/5)*sqrt(ry.k.rrad/ry.m);
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ry.c.tilt = 10*(1/1)*sqrt(ry.k.tilt/ry.m);
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%% Save
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save('./mat/stages.mat', 'ry', '-append');
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end
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