Update beam height (remove 25mm to match the experiments)
This commit is contained in:
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fb81352caf
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647b360342
@ -1,45 +1,48 @@
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function [granite] = initializeGranite(args)
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function [granite] = initializeGranite(args)
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arguments
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args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
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args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
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args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9; 5e9; 5e9; 2.5e7; 2.5e7; 1e7] % [N/m]
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args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4; 2e4; 1e4] % [N/(m/s)]
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args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
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args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
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args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m]
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end
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granite = struct();
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switch args.type
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case 'none'
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granite.type = 0;
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case 'rigid'
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granite.type = 1;
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case 'flexible'
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granite.type = 2;
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end
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granite.density = args.density; % [kg/m3]
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granite.STEP = 'granite.STEP';
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granite.sample_pos = args.sample_pos; % [m]
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granite.K = args.K; % [N/m]
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granite.C = args.C; % [N/(m/s)]
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'granite', '-append');
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else
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save('mat/nass_model_stages.mat', 'granite');
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arguments
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args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
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args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
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args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9; 5e9; 5e9; 2.5e7; 2.5e7; 1e7] % [N/m]
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args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4; 2e4; 1e4] % [N/(m/s)]
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args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m]
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args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m]
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args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m]
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args.sample_pos (1,1) double {mustBeNumeric} = 0.775 % Height of the measurment point [m]
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'granite');
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granite = struct();
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switch args.type
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case 'none'
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granite.type = 0;
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case 'rigid'
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granite.type = 1;
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case 'flexible'
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granite.type = 2;
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end
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granite.density = args.density; % [kg/m3]
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granite.STEP = 'granite.STEP';
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% Z-offset for the initial position of the sample with respect to the granite top surface.
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granite.sample_pos = args.sample_pos; % [m]
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granite.K = args.K; % [N/m]
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granite.C = args.C; % [N/(m/s)]
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'granite', '-append');
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else
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save('mat/nass_model_stages.mat', 'granite');
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'granite', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'granite');
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end
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end
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end
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@ -1,34 +1,35 @@
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function [ground] = initializeGround(args)
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function [ground] = initializeGround(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
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args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
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end
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ground = struct();
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switch args.type
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case 'none'
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ground.type = 0;
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case 'rigid'
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ground.type = 1;
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end
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ground.shape = [2, 2, 0.5]; % [m]
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ground.density = 2800; % [kg/m3]
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ground.rot_point = args.rot_point;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'ground', '-append');
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else
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save('mat/nass_model_stages.mat', 'ground');
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid'
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args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m]
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'ground');
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ground = struct();
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switch args.type
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case 'none'
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ground.type = 0;
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case 'rigid'
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ground.type = 1;
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end
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ground.shape = [2, 2, 0.5]; % [m]
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ground.density = 2800; % [kg/m3]
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ground.rot_point = args.rot_point;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'ground', '-append');
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else
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save('mat/nass_model_stages.mat', 'ground');
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'ground', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'ground');
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end
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end
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end
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@ -1,107 +1,108 @@
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function [micro_hexapod] = initializeMicroHexapod(args)
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function [micro_hexapod] = initializeMicroHexapod(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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% initializeFramesPositions
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args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
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args.MO_B (1,1) double {mustBeNumeric} = 270e-3
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% generateGeneralConfiguration
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args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
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args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
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args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
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args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
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args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
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% initializeStrutDynamics
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args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
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args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
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% initializeCylindricalStruts
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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% inverseKinematics
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, ...
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'H', args.H, ...
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'MO_B', args.MO_B);
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stewart = generateGeneralConfiguration(stewart, ...
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'FH', args.FH, ...
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'FR', args.FR, ...
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'FTh', args.FTh, ...
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'MH', args.MH, ...
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'MR', args.MR, ...
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'MTh', args.MTh);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, ...
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'K', args.Ki, ...
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'C', args.Ci);
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stewart = initializeJointDynamics(stewart, ...
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'type_F', 'universal_p', ...
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'type_M', 'spherical_p');
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stewart = initializeCylindricalPlatforms(stewart, ...
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'Fpm', args.Fpm, ...
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'Fph', args.Fph, ...
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'Fpr', args.Fpr, ...
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'Mpm', args.Mpm, ...
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'Mph', args.Mph, ...
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'Mpr', args.Mpr);
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stewart = initializeCylindricalStruts(stewart, ...
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'Fsm', args.Fsm, ...
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'Fsh', args.Fsh, ...
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'Fsr', args.Fsr, ...
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'Msm', args.Msm, ...
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'Msh', args.Msh, ...
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'Msr', args.Msr);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart, ...
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'AP', args.AP, ...
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'ARB', args.ARB);
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stewart = initializeInertialSensor(stewart, 'type', 'none');
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switch args.type
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case 'none'
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stewart.type = 0;
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case 'rigid'
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stewart.type = 1;
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case 'flexible'
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stewart.type = 2;
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end
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micro_hexapod = stewart;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('mat/nass_model_stages.mat', 'micro_hexapod');
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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% initializeFramesPositions
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args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
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args.MO_B (1,1) double {mustBeNumeric} = 270e-3
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% generateGeneralConfiguration
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args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
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args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
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args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
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args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
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args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
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% initializeStrutDynamics
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args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
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args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
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% initializeCylindricalStruts
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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% inverseKinematics
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, ...
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'H', args.H, ...
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'MO_B', args.MO_B);
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stewart = generateGeneralConfiguration(stewart, ...
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'FH', args.FH, ...
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'FR', args.FR, ...
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'FTh', args.FTh, ...
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'MH', args.MH, ...
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'MR', args.MR, ...
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'MTh', args.MTh);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, ...
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'K', args.Ki, ...
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'C', args.Ci);
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stewart = initializeJointDynamics(stewart, ...
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'type_F', 'universal_p', ...
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'type_M', 'spherical_p');
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stewart = initializeCylindricalPlatforms(stewart, ...
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'Fpm', args.Fpm, ...
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'Fph', args.Fph, ...
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'Fpr', args.Fpr, ...
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'Mpm', args.Mpm, ...
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'Mph', args.Mph, ...
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'Mpr', args.Mpr);
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stewart = initializeCylindricalStruts(stewart, ...
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'Fsm', args.Fsm, ...
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'Fsh', args.Fsh, ...
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'Fsr', args.Fsr, ...
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'Msm', args.Msm, ...
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'Msh', args.Msh, ...
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'Msr', args.Msr);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart, ...
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'AP', args.AP, ...
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'ARB', args.ARB);
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stewart = initializeInertialSensor(stewart, 'type', 'none');
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switch args.type
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case 'none'
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stewart.type = 0;
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case 'rigid'
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stewart.type = 1;
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case 'flexible'
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stewart.type = 2;
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end
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micro_hexapod = stewart;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('mat/nass_model_stages.mat', 'micro_hexapod');
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
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end
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end
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end
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@ -1,54 +1,57 @@
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function [ry] = initializeRy(args)
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function [ry] = initializeRy(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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args.Ry_init (1,1) double {mustBeNumeric} = 0
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end
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ry = struct();
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switch args.type
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case 'none'
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ry.type = 0;
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case 'rigid'
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ry.type = 1;
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case 'flexible'
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ry.type = 2;
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end
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% Ry - Guide for the tilt stage
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ry.guide.density = 7800; % [kg/m3]
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ry.guide.STEP = 'Tilt_Guide.STEP';
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% Ry - Rotor of the motor
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ry.rotor.density = 2400; % [kg/m3]
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ry.rotor.STEP = 'Tilt_Motor_Axis.STEP';
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% Ry - Motor
|
||||
ry.motor.density = 3200; % [kg/m3]
|
||||
ry.motor.STEP = 'Tilt_Motor.STEP';
|
||||
|
||||
% Ry - Plateau Tilt
|
||||
ry.stage.density = 7800; % [kg/m3]
|
||||
ry.stage.STEP = 'Tilt_Stage.STEP';
|
||||
|
||||
ry.z_offset = 0.58178; % [m]
|
||||
|
||||
ry.Ry_init = args.Ry_init; % [rad]
|
||||
|
||||
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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'ry', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'ry');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
args.Ry_init (1,1) double {mustBeNumeric} = 0
|
||||
end
|
||||
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');
|
||||
|
||||
ry = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ry.type = 0;
|
||||
case 'rigid'
|
||||
ry.type = 1;
|
||||
case 'flexible'
|
||||
ry.type = 2;
|
||||
end
|
||||
|
||||
% Ry - Guide for the tilt stage
|
||||
ry.guide.density = 7800; % [kg/m3]
|
||||
ry.guide.STEP = 'Tilt_Guide.STEP';
|
||||
|
||||
% Ry - Rotor of the motor
|
||||
ry.rotor.density = 2400; % [kg/m3]
|
||||
ry.rotor.STEP = 'Tilt_Motor_Axis.STEP';
|
||||
|
||||
% Ry - Motor
|
||||
ry.motor.density = 3200; % [kg/m3]
|
||||
ry.motor.STEP = 'Tilt_Motor.STEP';
|
||||
|
||||
% Ry - Plateau Tilt
|
||||
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]
|
||||
|
||||
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/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')
|
||||
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
|
||||
|
||||
@ -1,45 +1,47 @@
|
||||
function [rz] = initializeRz(args)
|
||||
function [rz] = initializeRz(args)
|
||||
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
|
||||
rz = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
rz.type = 0;
|
||||
case 'rigid'
|
||||
rz.type = 1;
|
||||
case 'flexible'
|
||||
rz.type = 2;
|
||||
end
|
||||
|
||||
% Spindle - Slip Ring
|
||||
rz.slipring.density = 7800; % [kg/m3]
|
||||
rz.slipring.STEP = 'Spindle_Slip_Ring.STEP';
|
||||
|
||||
% Spindle - Rotor
|
||||
rz.rotor.density = 7800; % [kg/m3]
|
||||
rz.rotor.STEP = 'Spindle_Rotor.STEP';
|
||||
|
||||
% Spindle - Stator
|
||||
rz.stator.density = 7800; % [kg/m3]
|
||||
rz.stator.STEP = 'Spindle_Stator.STEP';
|
||||
|
||||
rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
|
||||
rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
|
||||
|
||||
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');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
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');
|
||||
|
||||
rz = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
rz.type = 0;
|
||||
case 'rigid'
|
||||
rz.type = 1;
|
||||
case 'flexible'
|
||||
rz.type = 2;
|
||||
end
|
||||
|
||||
% Spindle - Slip Ring
|
||||
rz.slipring.density = 7800; % [kg/m3]
|
||||
rz.slipring.STEP = 'Spindle_Slip_Ring.STEP';
|
||||
|
||||
% Spindle - Rotor
|
||||
rz.rotor.density = 7800; % [kg/m3]
|
||||
rz.rotor.STEP = 'Spindle_Rotor.STEP';
|
||||
|
||||
% Spindle - Stator
|
||||
rz.stator.density = 7800; % [kg/m3]
|
||||
rz.stator.STEP = 'Spindle_Stator.STEP';
|
||||
|
||||
rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
|
||||
rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
|
||||
|
||||
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')
|
||||
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
|
||||
|
||||
@ -1,69 +1,71 @@
|
||||
function [ty] = initializeTy(args)
|
||||
function [ty] = initializeTy(args)
|
||||
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
|
||||
ty = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ty.type = 0;
|
||||
case 'rigid'
|
||||
ty.type = 1;
|
||||
case 'flexible'
|
||||
ty.type = 2;
|
||||
end
|
||||
|
||||
% Ty Granite frame
|
||||
ty.granite_frame.density = 7800; % [kg/m3] => 43kg
|
||||
ty.granite_frame.STEP = 'Ty_Granite_Frame.STEP';
|
||||
|
||||
% Guide Translation Ty
|
||||
ty.guide.density = 7800; % [kg/m3] => 76kg
|
||||
ty.guide.STEP = 'Ty_Guide.STEP';
|
||||
|
||||
% Ty - Guide_Translation12
|
||||
ty.guide12.density = 7800; % [kg/m3]
|
||||
ty.guide12.STEP = 'Ty_Guide_12.STEP';
|
||||
|
||||
% Ty - Guide_Translation11
|
||||
ty.guide11.density = 7800; % [kg/m3]
|
||||
ty.guide11.STEP = 'Ty_Guide_11.STEP';
|
||||
|
||||
% Ty - Guide_Translation22
|
||||
ty.guide22.density = 7800; % [kg/m3]
|
||||
ty.guide22.STEP = 'Ty_Guide_22.STEP';
|
||||
|
||||
% Ty - Guide_Translation21
|
||||
ty.guide21.density = 7800; % [kg/m3]
|
||||
ty.guide21.STEP = 'Ty_Guide_21.STEP';
|
||||
|
||||
% Ty - Plateau translation
|
||||
ty.frame.density = 7800; % [kg/m3]
|
||||
ty.frame.STEP = 'Ty_Stage.STEP';
|
||||
|
||||
% Ty Stator Part
|
||||
ty.stator.density = 5400; % [kg/m3]
|
||||
ty.stator.STEP = 'Ty_Motor_Stator.STEP';
|
||||
|
||||
% Ty Rotor Part
|
||||
ty.rotor.density = 5400; % [kg/m3]
|
||||
ty.rotor.STEP = 'Ty_Motor_Rotor.STEP';
|
||||
|
||||
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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'ty', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'ty');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
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');
|
||||
|
||||
ty = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ty.type = 0;
|
||||
case 'rigid'
|
||||
ty.type = 1;
|
||||
case 'flexible'
|
||||
ty.type = 2;
|
||||
end
|
||||
|
||||
% Ty Granite frame
|
||||
ty.granite_frame.density = 7800; % [kg/m3] => 43kg
|
||||
ty.granite_frame.STEP = 'Ty_Granite_Frame.STEP';
|
||||
|
||||
% Guide Translation Ty
|
||||
ty.guide.density = 7800; % [kg/m3] => 76kg
|
||||
ty.guide.STEP = 'Ty_Guide.STEP';
|
||||
|
||||
% Ty - Guide_Translation12
|
||||
ty.guide12.density = 7800; % [kg/m3]
|
||||
ty.guide12.STEP = 'Ty_Guide_12.STEP';
|
||||
|
||||
% Ty - Guide_Translation11
|
||||
ty.guide11.density = 7800; % [kg/m3]
|
||||
ty.guide11.STEP = 'Ty_Guide_11.STEP';
|
||||
|
||||
% Ty - Guide_Translation22
|
||||
ty.guide22.density = 7800; % [kg/m3]
|
||||
ty.guide22.STEP = 'Ty_Guide_22.STEP';
|
||||
|
||||
% Ty - Guide_Translation21
|
||||
ty.guide21.density = 7800; % [kg/m3]
|
||||
ty.guide21.STEP = 'Ty_Guide_21.STEP';
|
||||
|
||||
% Ty - Plateau translation
|
||||
ty.frame.density = 7800; % [kg/m3]
|
||||
ty.frame.STEP = 'Ty_Stage.STEP';
|
||||
|
||||
% Ty Stator Part
|
||||
ty.stator.density = 5400; % [kg/m3]
|
||||
ty.stator.STEP = 'Ty_Motor_Stator.STEP';
|
||||
|
||||
% Ty Rotor Part
|
||||
ty.rotor.density = 5400; % [kg/m3]
|
||||
ty.rotor.STEP = 'Ty_Motor_Rotor.STEP';
|
||||
|
||||
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/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')
|
||||
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
|
||||
|
||||
Binary file not shown.
@ -3202,549 +3202,392 @@ 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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'ground', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'ground');
|
||||
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
|
||||
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');
|
||||
|
||||
ground = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ground.type = 0;
|
||||
case 'rigid'
|
||||
ground.type = 1;
|
||||
end
|
||||
|
||||
ground.shape = [2, 2, 0.5]; % [m]
|
||||
ground.density = 2800; % [kg/m3]
|
||||
|
||||
ground.rot_point = args.rot_point;
|
||||
|
||||
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')
|
||||
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]
|
||||
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9; 5e9; 5e9; 2.5e7; 2.5e7; 1e7] % [N/m]
|
||||
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4; 2e4; 1e4] % [N/(m/s)]
|
||||
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]
|
||||
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;
|
||||
case 'rigid'
|
||||
granite.type = 1;
|
||||
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
|
||||
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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'granite', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'granite');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
|
||||
args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
|
||||
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = [5e9; 5e9; 5e9; 2.5e7; 2.5e7; 1e7] % [N/m]
|
||||
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5; 2e4; 2e4; 1e4] % [N/(m/s)]
|
||||
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} = 0.775 % Height of the measurment point [m]
|
||||
end
|
||||
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');
|
||||
|
||||
granite = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
granite.type = 0;
|
||||
case 'rigid'
|
||||
granite.type = 1;
|
||||
case 'flexible'
|
||||
granite.type = 2;
|
||||
end
|
||||
|
||||
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/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')
|
||||
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;
|
||||
case 'rigid'
|
||||
ty.type = 1;
|
||||
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';
|
||||
|
||||
% Guide Translation Ty
|
||||
ty.guide.density = 7800; % [kg/m3] => 76kg
|
||||
ty.guide.STEP = 'Ty_Guide.STEP';
|
||||
|
||||
% Ty - Guide_Translation12
|
||||
ty.guide12.density = 7800; % [kg/m3]
|
||||
ty.guide12.STEP = 'Ty_Guide_12.STEP';
|
||||
|
||||
% Ty - Guide_Translation11
|
||||
ty.guide11.density = 7800; % [kg/m3]
|
||||
ty.guide11.STEP = 'Ty_Guide_11.STEP';
|
||||
|
||||
% Ty - Guide_Translation22
|
||||
ty.guide22.density = 7800; % [kg/m3]
|
||||
ty.guide22.STEP = 'Ty_Guide_22.STEP';
|
||||
|
||||
% Ty - Guide_Translation21
|
||||
ty.guide21.density = 7800; % [kg/m3]
|
||||
ty.guide21.STEP = 'Ty_Guide_21.STEP';
|
||||
|
||||
% Ty - Plateau translation
|
||||
ty.frame.density = 7800; % [kg/m3]
|
||||
ty.frame.STEP = 'Ty_Stage.STEP';
|
||||
|
||||
% Ty Stator Part
|
||||
ty.stator.density = 5400; % [kg/m3]
|
||||
ty.stator.STEP = 'Ty_Motor_Stator.STEP';
|
||||
|
||||
% 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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'ty', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'ty');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
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');
|
||||
|
||||
ty = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ty.type = 0;
|
||||
case 'rigid'
|
||||
ty.type = 1;
|
||||
case 'flexible'
|
||||
ty.type = 2;
|
||||
end
|
||||
|
||||
% Ty Granite frame
|
||||
ty.granite_frame.density = 7800; % [kg/m3] => 43kg
|
||||
ty.granite_frame.STEP = 'Ty_Granite_Frame.STEP';
|
||||
|
||||
% Guide Translation Ty
|
||||
ty.guide.density = 7800; % [kg/m3] => 76kg
|
||||
ty.guide.STEP = 'Ty_Guide.STEP';
|
||||
|
||||
% Ty - Guide_Translation12
|
||||
ty.guide12.density = 7800; % [kg/m3]
|
||||
ty.guide12.STEP = 'Ty_Guide_12.STEP';
|
||||
|
||||
% Ty - Guide_Translation11
|
||||
ty.guide11.density = 7800; % [kg/m3]
|
||||
ty.guide11.STEP = 'Ty_Guide_11.STEP';
|
||||
|
||||
% Ty - Guide_Translation22
|
||||
ty.guide22.density = 7800; % [kg/m3]
|
||||
ty.guide22.STEP = 'Ty_Guide_22.STEP';
|
||||
|
||||
% Ty - Guide_Translation21
|
||||
ty.guide21.density = 7800; % [kg/m3]
|
||||
ty.guide21.STEP = 'Ty_Guide_21.STEP';
|
||||
|
||||
% Ty - Plateau translation
|
||||
ty.frame.density = 7800; % [kg/m3]
|
||||
ty.frame.STEP = 'Ty_Stage.STEP';
|
||||
|
||||
% Ty Stator Part
|
||||
ty.stator.density = 5400; % [kg/m3]
|
||||
ty.stator.STEP = 'Ty_Motor_Stator.STEP';
|
||||
|
||||
% Ty Rotor Part
|
||||
ty.rotor.density = 5400; % [kg/m3]
|
||||
ty.rotor.STEP = 'Ty_Motor_Rotor.STEP';
|
||||
|
||||
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/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')
|
||||
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;
|
||||
case 'rigid'
|
||||
ry.type = 1;
|
||||
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';
|
||||
|
||||
% Ry - Rotor of the motor
|
||||
ry.rotor.density = 2400; % [kg/m3]
|
||||
ry.rotor.STEP = 'Tilt_Motor_Axis.STEP';
|
||||
|
||||
% Ry - Motor
|
||||
ry.motor.density = 3200; % [kg/m3]
|
||||
ry.motor.STEP = 'Tilt_Motor.STEP';
|
||||
|
||||
% 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
|
||||
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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'ry', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'ry');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
args.Ry_init (1,1) double {mustBeNumeric} = 0
|
||||
end
|
||||
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');
|
||||
|
||||
ry = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
ry.type = 0;
|
||||
case 'rigid'
|
||||
ry.type = 1;
|
||||
case 'flexible'
|
||||
ry.type = 2;
|
||||
end
|
||||
|
||||
% Ry - Guide for the tilt stage
|
||||
ry.guide.density = 7800; % [kg/m3]
|
||||
ry.guide.STEP = 'Tilt_Guide.STEP';
|
||||
|
||||
% Ry - Rotor of the motor
|
||||
ry.rotor.density = 2400; % [kg/m3]
|
||||
ry.rotor.STEP = 'Tilt_Motor_Axis.STEP';
|
||||
|
||||
% Ry - Motor
|
||||
ry.motor.density = 3200; % [kg/m3]
|
||||
ry.motor.STEP = 'Tilt_Motor.STEP';
|
||||
|
||||
% Ry - Plateau Tilt
|
||||
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]
|
||||
|
||||
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/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')
|
||||
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;
|
||||
case 'rigid'
|
||||
rz.type = 1;
|
||||
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';
|
||||
|
||||
% Spindle - Rotor
|
||||
rz.rotor.density = 7800; % [kg/m3]
|
||||
rz.rotor.STEP = 'Spindle_Rotor.STEP';
|
||||
|
||||
% 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/nass_model_stages.mat', 'file')
|
||||
save('mat/nass_model_stages.mat', 'rz', '-append');
|
||||
else
|
||||
save('mat/nass_model_stages.mat', 'rz');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
end
|
||||
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');
|
||||
|
||||
rz = struct();
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
rz.type = 0;
|
||||
case 'rigid'
|
||||
rz.type = 1;
|
||||
case 'flexible'
|
||||
rz.type = 2;
|
||||
end
|
||||
|
||||
% Spindle - Slip Ring
|
||||
rz.slipring.density = 7800; % [kg/m3]
|
||||
rz.slipring.STEP = 'Spindle_Slip_Ring.STEP';
|
||||
|
||||
% Spindle - Rotor
|
||||
rz.rotor.density = 7800; % [kg/m3]
|
||||
rz.rotor.STEP = 'Spindle_Rotor.STEP';
|
||||
|
||||
% Spindle - Stator
|
||||
rz.stator.density = 7800; % [kg/m3]
|
||||
rz.stator.STEP = 'Spindle_Stator.STEP';
|
||||
|
||||
rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7];
|
||||
rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4];
|
||||
|
||||
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')
|
||||
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
|
||||
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
|
||||
args.MO_B (1,1) double {mustBeNumeric} = 270e-3
|
||||
% generateGeneralConfiguration
|
||||
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
|
||||
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
|
||||
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
|
||||
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
|
||||
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
|
||||
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
|
||||
% initializeStrutDynamics
|
||||
args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
|
||||
args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
|
||||
% initializeCylindricalPlatforms
|
||||
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
|
||||
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
|
||||
% initializeCylindricalStruts
|
||||
args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||
args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||
% inverseKinematics
|
||||
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, ...
|
||||
'H', args.H, ...
|
||||
'MO_B', args.MO_B);
|
||||
|
||||
stewart = generateGeneralConfiguration(stewart, ...
|
||||
'FH', args.FH, ...
|
||||
'FR', args.FR, ...
|
||||
'FTh', args.FTh, ...
|
||||
'MH', args.MH, ...
|
||||
'MR', args.MR, ...
|
||||
'MTh', args.MTh);
|
||||
|
||||
stewart = computeJointsPose(stewart);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
stewart = initializeStrutDynamics(stewart, ...
|
||||
'K', args.Ki, ...
|
||||
'C', args.Ci);
|
||||
|
||||
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, ...
|
||||
'Fpr', args.Fpr, ...
|
||||
'Mpm', args.Mpm, ...
|
||||
'Mph', args.Mph, ...
|
||||
'Mpr', args.Mpr);
|
||||
|
||||
stewart = initializeCylindricalStruts(stewart, ...
|
||||
'Fsm', args.Fsm, ...
|
||||
'Fsh', args.Fsh, ...
|
||||
'Fsr', args.Fsr, ...
|
||||
'Msm', args.Msm, ...
|
||||
'Msh', args.Msh, ...
|
||||
'Msr', args.Msr);
|
||||
|
||||
stewart = computeJacobian(stewart);
|
||||
|
||||
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;
|
||||
case 'rigid'
|
||||
stewart.type = 1;
|
||||
case 'flexible'
|
||||
stewart.type = 2;
|
||||
end
|
||||
#+end_src
|
||||
|
||||
**** Save the Structure
|
||||
#+begin_src matlab
|
||||
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');
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
|
||||
% initializeFramesPositions
|
||||
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
|
||||
args.MO_B (1,1) double {mustBeNumeric} = 270e-3
|
||||
% generateGeneralConfiguration
|
||||
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
|
||||
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
|
||||
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
|
||||
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
|
||||
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
|
||||
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
|
||||
% initializeStrutDynamics
|
||||
args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
|
||||
args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
|
||||
% initializeCylindricalPlatforms
|
||||
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
|
||||
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
|
||||
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
|
||||
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
|
||||
% initializeCylindricalStruts
|
||||
args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||
args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
|
||||
% inverseKinematics
|
||||
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
||||
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
||||
end
|
||||
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');
|
||||
|
||||
stewart = initializeStewartPlatform();
|
||||
|
||||
stewart = initializeFramesPositions(stewart, ...
|
||||
'H', args.H, ...
|
||||
'MO_B', args.MO_B);
|
||||
|
||||
stewart = generateGeneralConfiguration(stewart, ...
|
||||
'FH', args.FH, ...
|
||||
'FR', args.FR, ...
|
||||
'FTh', args.FTh, ...
|
||||
'MH', args.MH, ...
|
||||
'MR', args.MR, ...
|
||||
'MTh', args.MTh);
|
||||
|
||||
stewart = computeJointsPose(stewart);
|
||||
|
||||
stewart = initializeStrutDynamics(stewart, ...
|
||||
'K', args.Ki, ...
|
||||
'C', args.Ci);
|
||||
|
||||
stewart = initializeJointDynamics(stewart, ...
|
||||
'type_F', 'universal_p', ...
|
||||
'type_M', 'spherical_p');
|
||||
|
||||
stewart = initializeCylindricalPlatforms(stewart, ...
|
||||
'Fpm', args.Fpm, ...
|
||||
'Fph', args.Fph, ...
|
||||
'Fpr', args.Fpr, ...
|
||||
'Mpm', args.Mpm, ...
|
||||
'Mph', args.Mph, ...
|
||||
'Mpr', args.Mpr);
|
||||
|
||||
stewart = initializeCylindricalStruts(stewart, ...
|
||||
'Fsm', args.Fsm, ...
|
||||
'Fsh', args.Fsh, ...
|
||||
'Fsr', args.Fsr, ...
|
||||
'Msm', args.Msm, ...
|
||||
'Msh', args.Msh, ...
|
||||
'Msr', args.Msr);
|
||||
|
||||
stewart = computeJacobian(stewart);
|
||||
|
||||
stewart = initializeStewartPose(stewart, ...
|
||||
'AP', args.AP, ...
|
||||
'ARB', args.ARB);
|
||||
|
||||
stewart = initializeInertialSensor(stewart, 'type', 'none');
|
||||
|
||||
switch args.type
|
||||
case 'none'
|
||||
stewart.type = 0;
|
||||
case 'rigid'
|
||||
stewart.type = 1;
|
||||
case 'flexible'
|
||||
stewart.type = 2;
|
||||
end
|
||||
|
||||
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')
|
||||
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
|
||||
|
||||
Loading…
Reference in New Issue
Block a user