tdehaeze/phd-nass-rotating-3dof-model
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Correct Matlab script

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This commit is contained in:
Thomas Dehaeze 2025-04-15 14:07:45 +02:00
parent 6e9f050efe
commit 3ea609f7ce
3 changed files with 10 additions and 16 deletions
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10
matlab/rotating_7_nano_hexapod.m
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@ -405,6 +405,11 @@ for kp_i = 1:length(kps_pz)
opt_iff_kp_gain_pz(kp_i) = g_opt;
end
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'};
@ -418,11 +423,6 @@ Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
Kiff_kp_pz.InputName = {'fu', 'fv'};
Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Identify plants with choosen Parallel stiffnesses
model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage

2
matlab/rotating_8_nass.m
View File

@ -465,6 +465,4 @@ xticks([1e-1, 1e0, 1e1, 1e2, 1e3]);
xtickangle(0)
ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
ldg.ItemTokenSize = [20, 1];
linkaxes([ax1,ax2,ax3], 'y')
ylim([1e-8, 1e-2])

14
nass-rotating-3dof-model.org
View File

@ -3172,6 +3172,11 @@ end
#+end_src
#+begin_src matlab
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'};
@ -3184,13 +3189,6 @@ Kiff_kp_md.OutputName = {'Fu', 'Fv'};
Kiff_kp_pz = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
Kiff_kp_pz.InputName = {'fu', 'fv'};
Kiff_kp_pz.OutputName = {'Fu', 'Fv'};
#+end_src
#+begin_src matlab
%% Find result with wanted parallel stiffness
[~, i_kp_vc] = min(abs(kps_vc - 1e3));
[~, i_kp_md] = min(abs(kps_md - 1e4));
[~, i_kp_pz] = min(abs(kps_pz - 1e6));
%% Identify plants with choosen Parallel stiffnesses
model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage
@ -4276,8 +4274,6 @@ xticks([1e-1, 1e0, 1e1, 1e2, 1e3]);
xtickangle(0)
ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
ldg.ItemTokenSize = [20, 1];
linkaxes([ax1,ax2,ax3], 'y')
ylim([1e-8, 1e-2])
#+end_src