nass-simscape/src/initializeNanoHexapodFinal.m

246 lines
9.4 KiB
Matlab

function [nano_hexapod] = initializeNanoHexapodFinal(args)
arguments
%% Bottom Flexible Joints
args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m]
args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)]
args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)]
args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)]
%% Top Flexible Joints
args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof'
args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad]
args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad]
args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad]
args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m]
args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)]
args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)]
args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)]
args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)]
%% Jacobian - Location of frame {A} and {B}
args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m]
%% Relative Motion Sensor
args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts'
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible'
args.actuator_Ga (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V]
args.actuator_Gs (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m]
% For 2DoF
args.actuator_k (6,1) double {mustBeNumeric} = ones(6,1)*0.38e6 % [N/m]
args.actuator_ke (6,1) double {mustBeNumeric} = ones(6,1)*1.75e6 % [N/m]
args.actuator_ka (6,1) double {mustBeNumeric} = ones(6,1)*3e7 % [N/m]
args.actuator_c (6,1) double {mustBeNumeric} = ones(6,1)*3e1 % [N/(m/s)]
args.actuator_ce (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_ca (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % [N/(m/s)]
args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m]
% For Flexible Frame
args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m]
args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m]
% Misalignment
args.actuator_d_align (6,3) double {mustBeNumeric} = zeros(6,3) % [m]
args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio
%% Controller
args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf', 'hac-iff-struts'})} = 'none'
end
nano_hexapod = struct();
nano_hexapod.flex_bot = struct();
switch args.flex_bot_type
case '2dof'
nano_hexapod.flex_bot.type = 1;
case '3dof'
nano_hexapod.flex_bot.type = 2;
case '4dof'
nano_hexapod.flex_bot.type = 3;
case 'flexible'
nano_hexapod.flex_bot.type = 4;
end
nano_hexapod.flex_bot.kRx = args.flex_bot_kRx; % X bending stiffness [Nm/rad]
nano_hexapod.flex_bot.kRy = args.flex_bot_kRy; % Y bending stiffness [Nm/rad]
nano_hexapod.flex_bot.kRz = args.flex_bot_kRz; % Torsionnal stiffness [Nm/rad]
nano_hexapod.flex_bot.kz = args.flex_bot_kz; % Axial stiffness [N/m]
nano_hexapod.flex_bot.cRx = args.flex_bot_cRx; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cRy = args.flex_bot_cRy; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cRz = args.flex_bot_cRz; % [Nm/(rad/s)]
nano_hexapod.flex_bot.cz = args.flex_bot_cz; %[N/(m/s)]
nano_hexapod.flex_top = struct();
switch args.flex_top_type
case '2dof'
nano_hexapod.flex_top.type = 1;
case '3dof'
nano_hexapod.flex_top.type = 2;
case '4dof'
nano_hexapod.flex_top.type = 3;
case 'flexible'
nano_hexapod.flex_top.type = 4;
end
nano_hexapod.flex_top.kRx = args.flex_top_kRx; % X bending stiffness [Nm/rad]
nano_hexapod.flex_top.kRy = args.flex_top_kRy; % Y bending stiffness [Nm/rad]
nano_hexapod.flex_top.kRz = args.flex_top_kRz; % Torsionnal stiffness [Nm/rad]
nano_hexapod.flex_top.kz = args.flex_top_kz; % Axial stiffness [N/m]
nano_hexapod.flex_top.cRx = args.flex_top_cRx; % [Nm/(rad/s)]
nano_hexapod.flex_top.cRy = args.flex_top_cRy; % [Nm/(rad/s)]
nano_hexapod.flex_top.cRz = args.flex_top_cRz; % [Nm/(rad/s)]
nano_hexapod.flex_top.cz = args.flex_top_cz; %[N/(m/s)]
nano_hexapod.motion_sensor = struct();
switch args.motion_sensor_type
case 'struts'
nano_hexapod.motion_sensor.type = 1;
case 'plates'
nano_hexapod.motion_sensor.type = 2;
end
nano_hexapod.actuator = struct();
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.type = 1;
case 'flexible frame'
nano_hexapod.actuator.type = 2;
case 'flexible'
nano_hexapod.actuator.type = 3;
end
%% Actuator gain [N/V]
if all(args.actuator_Ga == 0)
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.Ga = ones(6,1)*(-30.0);
case 'flexible frame'
nano_hexapod.actuator.Ga = ones(6,1); % TODO
case 'flexible'
nano_hexapod.actuator.Ga = ones(6,1)*23.4;
end
else
nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V]
end
%% Sensor gain [V/m]
if all(args.actuator_Gs == 0)
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.Gs = ones(6,1)*0.098;
case 'flexible frame'
nano_hexapod.actuator.Gs = ones(6,1); % TODO
case 'flexible'
nano_hexapod.actuator.Gs = ones(6,1)*(-4674824);
end
else
nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m]
end
switch args.actuator_type
case '2dof'
nano_hexapod.actuator.k = args.actuator_k; % [N/m]
nano_hexapod.actuator.ke = args.actuator_ke; % [N/m]
nano_hexapod.actuator.ka = args.actuator_ka; % [N/m]
nano_hexapod.actuator.c = args.actuator_c; % [N/(m/s)]
nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)]
nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)]
nano_hexapod.actuator.Leq = args.actuator_Leq; % [m]
case 'flexible frame'
nano_hexapod.actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m]
nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m]
nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
case 'flexible'
nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
nano_hexapod.actuator.d_align = args.actuator_d_align; % Misalignment
nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio
end
nano_hexapod.geometry = struct();
Fa = [[-86.05, -74.78, 22.49],
[ 86.05, -74.78, 22.49],
[ 107.79, -37.13, 22.49],
[ 21.74, 111.91, 22.49],
[-21.74, 111.91, 22.49],
[-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
Mb = [[-28.47, -106.25, -22.50],
[ 28.47, -106.25, -22.50],
[ 106.25, 28.47, -22.50],
[ 77.78, 77.78, -22.50],
[-77.78, 77.78, -22.50],
[-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m]
si = Fb - Fa;
si = si./vecnorm(si); % Normalize
Fc = [[-29.362, -105.765, 52.605]
[ 29.362, -105.765, 52.605]
[ 106.276, 27.454, 52.605]
[ 76.914, 78.31, 52.605]
[-76.914, 78.31, 52.605]
[-106.276, 27.454, 52.605]]'*1e-3; % Meas pos w.r.t. {F}
Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M}
nano_hexapod.geometry.Fa = Fa;
nano_hexapod.geometry.Fb = Fb;
nano_hexapod.geometry.Fc = Fc;
nano_hexapod.geometry.Mb = Mb;
nano_hexapod.geometry.Mc = Mc;
nano_hexapod.geometry.si = si;
nano_hexapod.geometry.MO_B = args.MO_B;
Bb = Mb - [0; 0; args.MO_B];
nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)'];
switch args.motion_sensor_type
case 'struts'
nano_hexapod.geometry.Js = nano_hexapod.geometry.J;
case 'plates'
Bc = Mc - [0; 0; args.MO_B];
nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)'];
end
switch args.controller_type
case 'none'
nano_hexapod.controller.type = 1;
case 'iff'
nano_hexapod.controller.type = 2;
case 'dvf'
nano_hexapod.controller.type = 3;
case 'hac-iff-struts'
nano_hexapod.controller.type = 4;
end
if nargout == 0
save('./mat/stages.mat', 'nano_hexapod', '-append');
end