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Update beam height (remove 25mm to match the experiments)

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This commit is contained in:
Thomas Dehaeze 2024-11-13 11:52:49 +01:00
parent fb81352caf
commit 647b360342
8 changed files with 690 additions and 835 deletions
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11
matlab/src/initializeGranite.m
View File

@ -1,4 +1,4 @@
function [granite] = initializeGranite(args)
function [granite] = initializeGranite(args)
arguments
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
@ -8,7 +8,7 @@
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
end
granite = struct();
@ -25,21 +25,24 @@
granite.density = args.density; % [kg/m3]
granite.STEP = 'granite.STEP';
% Z-offset for the initial position of the sample with respect to the granite top surface.
granite.sample_pos = args.sample_pos; % [m]
granite.K = args.K; % [N/m]
granite.C = args.C; % [N/(m/s)]
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'granite', '-append');
else
save('mat/nass_model_stages.mat', 'granite');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'granite');
end
end
end

7
matlab/src/initializeGround.m
View File

@ -1,4 +1,4 @@
function [ground] = initializeGround(args)
function [ground] = initializeGround(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
@ -19,16 +19,17 @@
ground.rot_point = args.rot_point;
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ground', '-append');
else
save('mat/nass_model_stages.mat', 'ground');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ground');
end
end
end

9
matlab/src/initializeMicroHexapod.m
View File

@ -1,4 +1,4 @@
function [micro_hexapod] = initializeMicroHexapod(args)
function [micro_hexapod] = initializeMicroHexapod(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
@ -91,17 +91,18 @@
stewart.type = 2;
end
micro_hexapod = stewart;
if exist('./mat', 'dir')
micro_hexapod = stewart;
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
else
save('mat/nass_model_stages.mat', 'micro_hexapod');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
end
end
end

9
matlab/src/initializeRy.m
View File

@ -1,4 +1,4 @@
function [ry] = initializeRy(args)
function [ry] = initializeRy(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
@ -32,6 +32,7 @@
ry.stage.density = 7800; % [kg/m3]
ry.stage.STEP = 'Tilt_Stage.STEP';
% Z-Offset so that the center of rotation matches the sample center;
ry.z_offset = 0.58178; % [m]
ry.Ry_init = args.Ry_init; % [rad]
@ -39,16 +40,18 @@
ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
ry.C = [1e5; 1e5; 1e5; 3e4; 1e3; 3e4];
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ry', '-append');
else
save('mat/nass_model_stages.mat', 'ry');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ry');
end
end
end

8
matlab/src/initializeRz.m
View File

@ -1,4 +1,4 @@
function [rz] = initializeRz(args)
function [rz] = initializeRz(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
@ -30,16 +30,18 @@
rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'rz', '-append');
else
save('mat/nass_model_stages.mat', 'rz');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'rz');
end
end
end

8
matlab/src/initializeTy.m
View File

@ -1,4 +1,4 @@
function [ty] = initializeTy(args)
function [ty] = initializeTy(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
@ -54,16 +54,18 @@
ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ty', '-append');
else
save('mat/nass_model_stages.mat', 'ty');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ty');
end
end
end

BIN
matlab/ustation_simscape.slx
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Binary file not shown.

233
simscape-micro-station.org
View File

@ -3202,83 +3202,48 @@ function [xc,yc,R,a] = circlefit(x,y)
** Initialize Micro-Station Stages
*** =initializeGround=: Ground
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeGround.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
#+begin_src matlab :tangle matlab/src/initializeGround.m :comments none :mkdirp yes :eval no
function [ground] = initializeGround(args)
**** Function description
#+begin_src matlab
function [ground] = initializeGround(args)
#+end_src
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
end
#+end_src
**** Structure initialization
First, we initialize the =granite= structure.
#+begin_src matlab
ground = struct();
#+end_src
**** Add Type
#+begin_src matlab
switch args.type
case 'none'
ground.type = 0;
case 'rigid'
ground.type = 1;
end
#+end_src
**** Ground Solid properties
We set the shape and density of the ground solid element.
#+begin_src matlab
ground.shape = [2, 2, 0.5]; % [m]
ground.density = 2800; % [kg/m3]
#+end_src
**** Rotation Point
#+begin_src matlab
ground.rot_point = args.rot_point;
#+end_src
**** Save the Structure
#+begin_src matlab
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ground', '-append');
else
save('mat/nass_model_stages.mat', 'ground');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ground');
end
end
end
#+end_src
*** =initializeGranite=: Granite
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeGranite.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
#+begin_src matlab :tangle matlab/src/initializeGranite.m :comments none :mkdirp yes :eval no
function [granite] = initializeGranite(args)
**** Function description
#+begin_src matlab
function [granite] = initializeGranite(args)
#+end_src
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
@ -3287,18 +3252,11 @@ end
args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
end
#+end_src
**** Structure initialization
First, we initialize the =granite= structure.
#+begin_src matlab
granite = struct();
#+end_src
**** Add Granite Type
#+begin_src matlab
switch args.type
case 'none'
granite.type = 0;
@ -3307,71 +3265,43 @@ First, we initialize the =granite= structure.
case 'flexible'
granite.type = 2;
end
#+end_src
**** Material and Geometry
Properties of the Material and link to the geometry of the granite.
#+begin_src matlab
granite.density = args.density; % [kg/m3]
granite.STEP = 'granite.STEP';
#+end_src
Z-offset for the initial position of the sample with respect to the granite top surface.
#+begin_src matlab
% Z-offset for the initial position of the sample with respect to the granite top surface.
granite.sample_pos = args.sample_pos; % [m]
#+end_src
**** Stiffness and Damping properties
#+begin_src matlab
granite.K = args.K; % [N/m]
granite.C = args.C; % [N/(m/s)]
#+end_src
**** Save the Structure
#+begin_src matlab
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'granite', '-append');
else
save('mat/nass_model_stages.mat', 'granite');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'granite');
end
end
end
#+end_src
*** =initializeTy=: Translation Stage
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeTy.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
#+begin_src matlab :tangle matlab/src/initializeTy.m :comments none :mkdirp yes :eval no
function [ty] = initializeTy(args)
**** Function description
#+begin_src matlab
function [ty] = initializeTy(args)
#+end_src
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
end
#+end_src
**** Structure initialization
First, we initialize the =ty= structure.
#+begin_src matlab
ty = struct();
#+end_src
**** Add Translation Stage Type
#+begin_src matlab
switch args.type
case 'none'
ty.type = 0;
@ -3380,11 +3310,7 @@ First, we initialize the =ty= structure.
case 'flexible'
ty.type = 2;
end
#+end_src
**** Material and Geometry
Define the density of the materials as well as the geometry (STEP files).
#+begin_src matlab
% Ty Granite frame
ty.granite_frame.density = 7800; % [kg/m3] => 43kg
ty.granite_frame.STEP = 'Ty_Granite_Frame.STEP';
@ -3420,60 +3346,38 @@ Define the density of the materials as well as the geometry (STEP files).
% Ty Rotor Part
ty.rotor.density = 5400; % [kg/m3]
ty.rotor.STEP = 'Ty_Motor_Rotor.STEP';
#+end_src
**** Stiffness and Damping properties
#+begin_src matlab
ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad]
ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 1e4]; % [N/(m/s), N*m/(rad/s)]
#+end_src
**** Save the Structure
#+begin_src matlab
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ty', '-append');
else
save('mat/nass_model_stages.mat', 'ty');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ty', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ty');
end
end
end
#+end_src
*** =initializeRy=: Tilt Stage
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeRy.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
#+begin_src matlab :tangle matlab/src/initializeRy.m :comments none :mkdirp yes :eval no
function [ry] = initializeRy(args)
**** Function description
#+begin_src matlab
function [ry] = initializeRy(args)
#+end_src
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
args.Ry_init (1,1) double {mustBeNumeric} = 0
end
#+end_src
**** Structure initialization
First, we initialize the =ry= structure.
#+begin_src matlab
ry = struct();
#+end_src
**** Add Tilt Type
#+begin_src matlab
switch args.type
case 'none'
ry.type = 0;
@ -3482,11 +3386,7 @@ First, we initialize the =ry= structure.
case 'flexible'
ry.type = 2;
end
#+end_src
**** Material and Geometry
Properties of the Material and link to the geometry of the Tilt stage.
#+begin_src matlab
% Ry - Guide for the tilt stage
ry.guide.density = 7800; % [kg/m3]
ry.guide.STEP = 'Tilt_Guide.STEP';
@ -3502,67 +3402,42 @@ Properties of the Material and link to the geometry of the Tilt stage.
% Ry - Plateau Tilt
ry.stage.density = 7800; % [kg/m3]
ry.stage.STEP = 'Tilt_Stage.STEP';
#+end_src
Z-Offset so that the center of rotation matches the sample center;
#+begin_src matlab
% Z-Offset so that the center of rotation matches the sample center;
ry.z_offset = 0.58178; % [m]
#+end_src
#+begin_src matlab
ry.Ry_init = args.Ry_init; % [rad]
#+end_src
**** Stiffness and Damping properties
#+begin_src matlab
ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8];
ry.C = [1e5; 1e5; 1e5; 3e4; 1e3; 3e4];
#+end_src
**** Save the Structure
#+begin_src matlab
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'ry', '-append');
else
save('mat/nass_model_stages.mat', 'ry');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'ry', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'ry');
end
end
end
#+end_src
*** =initializeRz=: Spindle
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeRz.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
#+begin_src matlab :tangle matlab/src/initializeRz.m :comments none :mkdirp yes :eval no
function [rz] = initializeRz(args)
**** Function description
#+begin_src matlab
function [rz] = initializeRz(args)
#+end_src
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
end
#+end_src
**** Structure initialization
First, we initialize the =rz= structure.
#+begin_src matlab
rz = struct();
#+end_src
**** Add Spindle Type
#+begin_src matlab
switch args.type
case 'none'
rz.type = 0;
@ -3571,12 +3446,7 @@ First, we initialize the =rz= structure.
case 'flexible'
rz.type = 2;
end
#+end_src
**** Material and Geometry
Properties of the Material and link to the geometry of the spindle.
#+begin_src matlab
% Spindle - Slip Ring
rz.slipring.density = 7800; % [kg/m3]
rz.slipring.STEP = 'Spindle_Slip_Ring.STEP';
@ -3588,45 +3458,32 @@ Properties of the Material and link to the geometry of the spindle.
% Spindle - Stator
rz.stator.density = 7800; % [kg/m3]
rz.stator.STEP = 'Spindle_Stator.STEP';
#+end_src
**** Stiffness and Damping properties
#+begin_src matlab
rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
#+end_src
**** Save the Structure
#+begin_src matlab
if exist('./mat', 'dir')
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'rz', '-append');
else
save('mat/nass_model_stages.mat', 'rz');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'rz', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'rz');
end
end
end
#+end_src
*** =initializeMicroHexapod=: Micro Hexapod
:PROPERTIES:
:header-args:matlab+: :tangle matlab/src/initializeMicroHexapod.m
:header-args:matlab+: :comments none :mkdirp yes :eval no
:END:
**** Function description
#+begin_src matlab
function [micro_hexapod] = initializeMicroHexapod(args)
#+end_src
#+begin_src matlab :tangle matlab/src/initializeMicroHexapod.m :comments none :mkdirp yes :eval no
function [micro_hexapod] = initializeMicroHexapod(args)
**** Optional Parameters
#+begin_src matlab
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
% initializeFramesPositions
@ -3660,10 +3517,7 @@ end
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
args.ARB (3,3) double {mustBeNumeric} = eye(3)
end
#+end_src
**** Function content
#+begin_src matlab
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, ...
@ -3679,9 +3533,7 @@ end
'MTh', args.MTh);
stewart = computeJointsPose(stewart);
#+end_src
#+begin_src matlab
stewart = initializeStrutDynamics(stewart, ...
'K', args.Ki, ...
'C', args.Ci);
@ -3689,9 +3541,7 @@ end
stewart = initializeJointDynamics(stewart, ...
'type_F', 'universal_p', ...
'type_M', 'spherical_p');
#+end_src
#+begin_src matlab
stewart = initializeCylindricalPlatforms(stewart, ...
'Fpm', args.Fpm, ...
'Fph', args.Fph, ...
@ -3713,14 +3563,9 @@ end
stewart = initializeStewartPose(stewart, ...
'AP', args.AP, ...
'ARB', args.ARB);
#+end_src
#+begin_src matlab
stewart = initializeInertialSensor(stewart, 'type', 'none');
#+end_src
**** Add Type
#+begin_src matlab
switch args.type
case 'none'
stewart.type = 0;
@ -3729,23 +3574,21 @@ end
case 'flexible'
stewart.type = 2;
end
#+end_src
**** Save the Structure
#+begin_src matlab
micro_hexapod = stewart;
if exist('./mat', 'dir')
micro_hexapod = stewart;
if exist('./mat', 'dir')
if exist('./mat/nass_model_stages.mat', 'file')
save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
else
save('mat/nass_model_stages.mat', 'micro_hexapod');
end
elseif exist('./matlab', 'dir')
elseif exist('./matlab', 'dir')
if exist('./matlab/mat/nass_model_stages.mat', 'file')
save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
else
save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
end
end
end
#+end_src