Update simulink file. Redifined parameters

rotating_frame.org

@@ -454,7 +454,34 @@ The loop gain is $L = G K$.
   open rotating_frame.slx
 #+end_src
 
+** Parameter for the Simscape simulations
+#+begin_src matlab :exports code :results silent
+  w = 2*pi; % Rotation speed [rad/s]
+
+  theta_e = 0; % Static measurement error on the angle theta [rad]
+
+  m = 5; % mass of the sample [kg]
+
+  mTuv = 30;% Mass of the moving part of the Tuv stage [kg]
+  kTuv = 1e8; % Stiffness of the Tuv stage [N/m]
+  cTuv = 0; % Damping of the Tuv stage [N/(m/s)]
+#+end_src
+
+#+begin_src matlab :exports code :results silent
+  mlight = 5; % Mass for light sample [kg]
+  mheavy = 55; % Mass for heavy sample [kg]
+
+  wlight = 2*pi; % Max rot. speed for light sample [rad/s]
+  wheavy = 2*pi/60; % Max rot. speed for heavy sample [rad/s]
+
+  kvc = 1e3; % Voice Coil Stiffness [N/m]
+  kpz = 1e8; % Piezo Stiffness [N/m]
+
+  d = 0.01; % Maximum excentricity from rotational axis [m]
+#+end_src
+
 ** Identification in the rotating referenced frame
+
 We initialize the inputs and outputs of the system to identify.
 #+begin_src matlab :exports code :results silent
   %% Options for Linearized
@@ -472,27 +499,72 @@ We initialize the inputs and outputs of the system to identify.
   io(4) = linio([mdl, '/dv'], 1, 'output');
 #+end_src
 
-*** Piezo and Voice coil
 We start we identify the transfer functions at high speed with the light sample.
 #+begin_src matlab :exports code :results silent
-  rot_speed = wlight;
-  angle_e = 0;
-  m = mlight;
+  w = wlight; % Rotation speed [rad/s]
+  m = mlight; % mass of the sample [kg]
 
-  k = kpz;
-  c = 1e3;
+  kTuv = kpz;
   Gpz_light = linearize(mdl, io, 0.1);
-
-  k = kvc;
-  c = 1e3;
-  Gvc_light = linearize(mdl, io, 0.1);
-
   Gpz_light.InputName  = {'Fu', 'Fv'};
   Gpz_light.OutputName = {'Du', 'Dv'};
+
+  kTuv = kvc;
+  Gvc_light = linearize(mdl, io, 0.1);
   Gvc_light.InputName  = {'Fu', 'Fv'};
   Gvc_light.OutputName = {'Du', 'Dv'};
 #+end_src
 
+Then we identify the system with an heavy mass and low speed.
+#+begin_src matlab :exports code :results silent
+  w = wheavy; % Rotation speed [rad/s]
+  m = mheavy; % mass of the sample [kg]
+
+  kTuv = kpz;
+  Gpz_heavy = linearize(mdl, io, 0.1);
+  Gpz_heavy.InputName  = {'Fu', 'Fv'};
+  Gpz_heavy.OutputName = {'Du', 'Dv'};
+
+  kTuv = kvc;
+  Gvc_heavy = linearize(mdl, io, 0.1);
+  Gvc_heavy.InputName  = {'Fu', 'Fv'};
+  Gvc_heavy.OutputName = {'Du', 'Dv'};
+#+end_src
+
+Finally, we plot the coupling ratio in both case (figure [[fig:coupling_ration_light_heavy]]).
+We obtain the same result than the analytical case (figures [[fig:coupling_light]] and [[fig:coupling_heavy]]).
+#+begin_src matlab :results silent :exports none
+  freqs = logspace(-2, 3, 1000);
+
+  figure;
+  hold on;
+  plot(freqs, abs(squeeze(freqresp(Gvc_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_light('Dv', 'Fu'), freqs, 'Hz'))));
+  plot(freqs, abs(squeeze(freqresp(Gpz_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_light('Dv', 'Fu'), freqs, 'Hz'))));
+  set(gca,'ColorOrderIndex',1);
+  plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--');
+  plot(freqs, abs(squeeze(freqresp(Gpz_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--');
+  hold off;
+  xlim([freqs(1), freqs(end)]);
+  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('Coupling ratio');
+  legend({'light - VC', 'light - PZ', 'heavy - VC',  'heavy - PZ'})
+#+end_src
+
+#+HEADER: :tangle no :exports results :results file :noweb yes
+#+HEADER: :var filepath="Figures/coupling_ration_light_heavy.png" :var figsize="wide-tall"
+#+begin_src matlab
+  <<plt-matlab>>
+#+end_src
+
+#+NAME: fig:coupling_ration_light_heavy
+#+RESULTS:
+[[file:Figures/coupling_ration_light_heavy.png]]
+
+
+
+
+
+
 #+begin_src matlab :exports none :results silent
   figure;
   bode(Gpz_light, Gvc_light);