65 lines
3.0 KiB
Matlab
65 lines
3.0 KiB
Matlab
% identifyPlant
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% :PROPERTIES:
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% :header-args:matlab+: :tangle src/identifyPlant.m
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% :header-args:matlab+: :comments org :mkdirp yes
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% :header-args:matlab+: :eval no :results none
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% :END:
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% <<sec:identifyPlant>>
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% This Matlab function is accessible [[file:src/identifyPlant.m][here]].
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function [sys] = identifyPlant(opts_param)
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%% Default values for opts
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opts = struct();
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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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%% 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_nano_station_id';
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%% Input/Output definition
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io(1) = linio([mdl, '/Fn'], 1, 'input'); % Cartesian forces applied by NASS
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io(2) = linio([mdl, '/Dw'], 1, 'input'); % Ground Motion
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io(3) = linio([mdl, '/Fs'], 1, 'input'); % External forces on the sample
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io(4) = linio([mdl, '/Fnl'], 1, 'input'); % Forces applied on the NASS's legs
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io(5) = linio([mdl, '/Dsm'], 1, 'output'); % Displacement of the sample
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io(6) = linio([mdl, '/Fnlm'], 1, 'output'); % Force sensor in NASS's legs
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io(7) = linio([mdl, '/Dnlm'], 1, 'output'); % Displacement of NASS's legs
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io(8) = linio([mdl, '/Es'], 1, 'output'); % Position Error w.r.t. NASS base
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%% Run the linearization
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G = linearize(mdl, io, 0);
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G.InputName = {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz', ...
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'Dgx', 'Dgy', 'Dgz', ...
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'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz', ...
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'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
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G.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', ...
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'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6', ...
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'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', ...
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'Edx', 'Rdy', 'Edz', 'Erx', 'Ery', 'Erz'};
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%% Create the sub transfer functions
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% From forces applied in the cartesian frame to displacement of the sample in the cartesian frame
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sys.G_cart = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
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% From ground motion to Sample displacement
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sys.G_gm = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Dgx', 'Dgy', 'Dgz'}));
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% From direct forces applied on the sample to displacement of the sample
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sys.G_fs = minreal(G({'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'}, {'Fsx', 'Fsy', 'Fsz', 'Msx', 'Msy', 'Msz'}));
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% From forces applied on NASS's legs to force sensor in each leg
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sys.G_iff = minreal(G({'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
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% From forces applied on NASS's legs to displacement of each leg
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sys.G_dleg = minreal(G({'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
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% From forces applied on NASS's legs to displacement of each leg
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sys.G_plant = minreal(G({'Edx', 'Rdy', 'Edz', 'Erx', 'Ery', 'Erz'}, {'Fnx', 'Fny', 'Fnz', 'Mnx', 'Mny', 'Mnz'}));
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end
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