127 lines
3.7 KiB
Matlab
127 lines
3.7 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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'Dw', false, ...
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'ty', false, ...
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'ry', false, ...
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'Rz', false, ...
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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.Dw) && opts.Dw == true
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load('./mat/weight_Wxg.mat', 'Wxg');
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Dw = 1/sqrt(2)*100*random('norm', 0, 1, length(time_vector), 3);
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Dw(:, 1) = lsim(Wxg, Dw(:, 1), time_vector);
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Dw(:, 2) = lsim(Wxg, Dw(:, 2), time_vector);
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Dw(:, 3) = lsim(Wxg, Dw(:, 3), time_vector);
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elseif islogical(opts.Dw) && opts.Dw == false
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Dw = zeros(length(time_vector), 3);
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else
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Dw = opts.Dw;
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end
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inputs.Dw = timeseries(Dw, 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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Rm = zeros(length(time_vector), 2);
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elseif islogical(opts.mass) && opts.setpoint == false
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Rm = zeros(length(time_vector), 2);
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Rm(:, 2) = pi*ones(length(time_vector), 1);
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else
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Rm = opts.mass;
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end
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inputs.Rm = timeseries(Rm, 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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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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inputs.setpoint = timeseries(setpoint, time_vector);
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%% Save
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save('./mat/inputs.mat', 'inputs');
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end
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