37 lines
940 B
Matlab
37 lines
940 B
Matlab
%% Script Description
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%
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%%
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clear; close all; clc;
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%% Options for preprocessing the identified transfer functions
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f_low = 10;
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f_high = 10000;
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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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%% NASS
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% Input/Output definition
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io(1) = linio([mdl, '/Micro-Station/Fn'],1,'input');
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io(2) = linio([mdl, '/Micro-Station/Nano_Hexapod'],1,'output');
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% Run the linearization
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G_f_to_d = linearize(mdl,io, 0);
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G_f_to_d = preprocessIdTf(G_f_to_d, 10, 10000);
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% Input/Output names
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G_f_to_d.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
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G_f_to_d.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
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% Bode Plot of the linearized function
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bodeFig({G_f_to_d(1, 1), G_f_to_d(2, 2), G_f_to_d(3, 3)}, struct('phase', true))
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legend({'$F_{n_x} \rightarrow D_{x}$', '$F_{n_y} \rightarrow D_{y}$', '$F_{n_z} \rightarrow D_{z}$'})
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%%
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save('./mat/G_f_to_d.mat', 'G_f_to_d');
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