105 lines
2.4 KiB
Matlab
105 lines
2.4 KiB
Matlab
%%
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run Assemblage_DataFile.m
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run Sample.m
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%% Solver Configuration
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Ts = 1e-4; % Sampling time [s]
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Tsim = 1; % Simulation time [s]
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%% Gravity
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g = 0 ; % Gravity along the z axis [m/s^2]
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%% Granite
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granite = struct();
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granite.m = smiData.Solid(5).mass;
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granite.k.ax = 1e10; % x-y-z Stiffness of the granite [N/m]
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granite.ksi.ax = 10;
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granite = updateDamping(granite);
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%% Translation stage
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ty = struct();
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ty.m = smiData.Solid(4).mass+smiData.Solid(6).mass+smiData.Solid(7).mass+smiData.Solid(8).mass+smiData.Solid(9).mass+4*smiData.Solid(11).mass+smiData.Solid(24).mass+smiData.Solid(25).mass+smiData.Solid(28).mass;
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ty.k.ax = 1e7/4; % Axial Stiffness for each of the 4 guidance (y) [N/m]
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ty.k.rad = 9e9/4; % Radial Stiffness for each of the 4 guidance (x-z) [N/m]
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ty.ksi.ax = 10;
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ty.ksi.rad = 10;
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ty = updateDamping(ty);
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%% Tilt Stage
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ry = struct();
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ry.m = smiData.Solid(26).mass+smiData.Solid(18).mass+smiData.Solid(10).mass;
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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.k.tilt = 1e4 ; % Rotation stiffness around y [N*m/deg]
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ry.ksi.h = 10;
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ry.ksi.rad = 10;
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ry.ksi.rrad = 10;
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ry.ksi.tilt = 10;
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ry = updateDamping(ry);
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%% Spindle
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rz = struct();
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rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
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rz.k.ax = 2e9; % Axial Stiffness [N/m]
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rz.k.rad = 7e8; % Radial Stiffness [N/m]
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rz.k.tilt = 1e5; % TODO
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rz.k.rot = 1e5; % TODO
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rz.ksi.ax = 10;
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rz.ksi.rad = 10;
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rz.ksi.tilt = 1;
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rz.ksi.rot = 1;
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rz = updateDamping(rz);
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%% Hexapod Symétrie
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% TODO - is now defined by the stewart-simscape project
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hexapod = struct();
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hexapod.m = smiData.Solid(16).mass;
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hexapod.k.ax = (138e6/6)*1.2; % Leg stiffness [N/m]
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hexapod.ksi.ax = 10;
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hexapod = updateDamping(hexapod);
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%% Center of gravity compensation
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axisc = struct();
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axisc.m = smiData.Solid(30).mass;
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axisc.k.ax = 1; % TODO [N*m/deg)]
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axisc.ksi.ax = 1;
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axisc = updateDamping(axisc);
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%% NASS
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% TODO - is now defined by the stewart-simscape project
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nass = struct();
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nass.m = smiData.Solid(27).mass;
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nass.k.ax = 5e7; % Leg stiffness [N/m]
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nass.ksi.ax = 10;
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nass = updateDamping(nass);
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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