134 lines
4.3 KiB
Matlab
134 lines
4.3 KiB
Matlab
function [inputs] = initializeInputs(opts_param)
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%% Default values for opts
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opts = struct('setpoint', false, ...
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'ground_motion', false, ...
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'ty', false, ...
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'ry', false, ...
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'rz', false, ... % If numerical value, rpm speed of the spindle
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'u_hexa', false, ...
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'mass', false, ...
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'n_hexa', false ...
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);
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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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%% Load Sampling Time and Simulation Time
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load('./mat/sim_conf.mat', 'sim_conf');
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%% Define the time vector
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time_vector = 0:sim_conf.Ts:sim_conf.Tsim;
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%% Create the input Structure that will contain all the inputs
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inputs = struct();
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%% Ground motion
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if islogical(opts.ground_motion) && opts.ground_motion == true
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load('./mat/weight_Wxg.mat', 'Wxg');
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ground_motion = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
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ground_motion(:, 1) = lsim(Wxg, ground_motion(:, 1), time_vector);
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ground_motion(:, 2) = lsim(Wxg, ground_motion(:, 2), time_vector);
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ground_motion(:, 3) = lsim(Wxg, ground_motion(:, 3), time_vector);
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elseif islogical(opts.ground_motion) && opts.ground_motion == false
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ground_motion = zeros(length(time_vector), 3);
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else
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ground_motion = opts.ground_motion;
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end
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inputs.ground_motion = timeseries(ground_motion, time_vector);
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%% Translation stage [m]
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if islogical(opts.ty) && opts.ty == true
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ty = zeros(length(time_vector), 1);
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elseif islogical(opts.ty) && opts.ty == false
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ty = zeros(length(time_vector), 1);
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else
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ty = opts.ty;
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end
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inputs.ty = timeseries(ty, time_vector);
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%% Tilt Stage [rad]
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if islogical(opts.ry) && opts.ry == true
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ry = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
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elseif islogical(opts.ry) && opts.ry == false
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ry = zeros(length(time_vector), 1);
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else
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ry = opts.ry;
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end
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inputs.ry = timeseries(ry, time_vector);
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%% Spindle [rad]
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if islogical(opts.rz) && opts.rz == true
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rz = 2*pi*0.5*time_vector;
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elseif islogical(opts.rz) && opts.rz == false
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rz = zeros(length(time_vector), 1);
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elseif isnumeric(opts.rz) && length(opts.rz) == 1
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rz = 2*pi*(opts.rz/60)*time_vector;
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else
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rz = opts.rz;
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end
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inputs.rz = timeseries(rz, time_vector);
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%% Micro Hexapod
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if islogical(opts.u_hexa) && opts.setpoint == true
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u_hexa = zeros(length(time_vector), 6);
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elseif islogical(opts.u_hexa) && opts.setpoint == false
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u_hexa = zeros(length(time_vector), 6);
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else
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u_hexa = opts.u_hexa;
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end
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inputs.micro_hexapod = timeseries(u_hexa, time_vector);
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%% Center of gravity compensation
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if islogical(opts.mass) && opts.setpoint == true
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mass = zeros(length(time_vector), 2);
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elseif islogical(opts.mass) && opts.setpoint == false
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mass = zeros(length(time_vector), 2);
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else
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mass = opts.mass;
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end
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inputs.axisc = timeseries(mass, time_vector);
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%% Nano Hexapod
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if islogical(opts.n_hexa) && opts.setpoint == true
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n_hexa = zeros(length(time_vector), 6);
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elseif islogical(opts.n_hexa) && opts.setpoint == false
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n_hexa = zeros(length(time_vector), 6);
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else
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n_hexa = opts.n_hexa;
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end
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inputs.nano_hexapod = timeseries(n_hexa, time_vector);
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%% Set point [m, rad]
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if islogical(opts.setpoint) && opts.setpoint == true
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setpoint = zeros(length(time_vector), 6);
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setpoint(ceil(10/sim_conf.Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
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elseif islogical(opts.setpoint) && opts.setpoint == false
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setpoint = zeros(length(time_vector), 6);
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else
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setpoint = opts.setpoint;
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end
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% The setpoint in rotation should be the same as the rotation of the Spindle
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% Should change that. And think how to include all the setpoint of each stage in this
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% global setpoint. Maybe do everything in simulink
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setpoint(:, 6) = rz;
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inputs.setpoint = timeseries(setpoint, time_vector);
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%% Save if no output argument
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if nargout == 0
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save('./mat/inputs.mat', 'inputs');
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end
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end
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