67 lines
1.5 KiB
Matlab
67 lines
1.5 KiB
Matlab
%%
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run init_sim_configuration.m
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run init_data.m
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%%
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time_vector = 0:Ts:Tsim;
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%% Set point [m, rad]
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setpoint = zeros(length(time_vector), 6);
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% setpoint(ceil(10/Ts):end, 2) = 1e-6; % Step of 1 micro-meter in y direction
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r_setpoint = timeseries(setpoint, time_vector);
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%% Ground motion
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xg = zeros(length(time_vector), 3);
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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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r_Gm = timeseries(xg, time_vector);
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% figure;
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% plot(r_Gm)
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%% Translation stage [m]
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ty = zeros(length(time_vector), 1);
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r_Ty = timeseries(ty, time_vector);
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%% Tilt Stage [rad]
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r_tilt = zeros(length(time_vector), 1);
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% r_tilt = 3*(2*pi/360)*sin(2*pi*0.2*time_vector);
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r_My = timeseries(r_tilt, time_vector);
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%% Spindle [rad]
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r_spindle = zeros(length(time_vector), 1);
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% r_spindle = 2*pi*0.5*time_vector;
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r_Mz = timeseries(r_spindle, time_vector);
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%% Micro Hexapod
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u_hexa = zeros(length(time_vector), 6);
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r_u_hexa = timeseries(u_hexa, time_vector);
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%% Center of gravity compensation
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mass = zeros(length(time_vector), 2);
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r_mass = timeseries(mass, time_vector);
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%% Nano Hexapod
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n_hexa = zeros(length(time_vector), 6);
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r_n_hexa = timeseries(n_hexa, time_vector);
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%%
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save('./mat/inputs_setpoint.mat', 'r_setpoint', 'r_Gm', 'r_Ty', 'r_My', 'r_Mz', 'r_u_hexa', 'r_mass', 'r_n_hexa'); |