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

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Thomas Dehaeze
2025-04-15 14:07:45 +02:00
parent 6e9f050efe
commit 418ca84de6
2 changed files with 10 additions and 12 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; opt_iff_kp_gain_pz(kp_i) = g_opt;
end 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 %% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc); Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'}; 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.InputName = {'fu', 'fv'};
Kiff_kp_pz.OutputName = {'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 %% Identify plants with choosen Parallel stiffnesses
model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage

12
nass-rotating-3dof-model.org
View File

@@ -3172,6 +3172,11 @@ end
#+end_src #+end_src
#+begin_src matlab #+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 %% Define the obtained controllers
Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc); Kiff_kp_vc = Kiff_vc*opt_iff_kp_gain_vc(i_kp_vc);
Kiff_kp_vc.InputName = {'fu', 'fv'}; 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 = Kiff_pz*opt_iff_kp_gain_pz(i_kp_pz);
Kiff_kp_pz.InputName = {'fu', 'fv'}; Kiff_kp_pz.InputName = {'fu', 'fv'};
Kiff_kp_pz.OutputName = {'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 %% Identify plants with choosen Parallel stiffnesses
model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage