Made sure all Matlab scripts are working fine

matlab/ustation_1_kinematics.m

@@ -126,9 +126,9 @@ Ttot = Rty*Rry*Rrz;
 ustation_dx = Ttot(1,4);
 ustation_dy = Ttot(2,4);
 ustation_dz = Ttot(3,4);
-ustation_ry = atan2( Ttot(1, 3),          sqrt(Ttot(1, 1)^2 + Ttot(1, 2)^2));
-ustation_rx = atan2(-Ttot(2, 3)/cos(Ery), Ttot(3, 3)/cos(Ery));
-ustation_rz = atan2(-Ttot(1, 2)/cos(Ery), Ttot(1, 1)/cos(Ery));
+ustation_ry = atan2( Ttot(1, 3),                  sqrt(Ttot(1, 1)^2 + Ttot(1, 2)^2));
+ustation_rx = atan2(-Ttot(2, 3)/cos(ustation_ry), Ttot(3, 3)/cos(ustation_ry));
+ustation_rz = atan2(-Ttot(1, 2)/cos(ustation_ry), Ttot(1, 1)/cos(ustation_ry));
 
 %% Verification using the Simscape model
 % All stages are initialized as rigid bodies to avoid any guiding error
@@ -157,6 +157,6 @@ T_sim = [simout.y.R.Data(:,:,end), [simout.y.x.Data(end); simout.y.y.Data(end);
 sim_dx = T_sim(1,4);
 sim_dy = T_sim(2,4);
 sim_dz = T_sim(3,4);
-sim_ry = atan2( T_sim(1, 3),          sqrt(T_sim(1, 1)^2 + T_sim(1, 2)^2));
-sim_rx = atan2(-T_sim(2, 3)/cos(Ery), T_sim(3, 3)/cos(Ery));
-sim_rz = atan2(-T_sim(1, 2)/cos(Ery), T_sim(1, 1)/cos(Ery));
+sim_ry = atan2( T_sim(1, 3),             sqrt(T_sim(1, 1)^2 + T_sim(1, 2)^2));
+sim_rx = atan2(-T_sim(2, 3)/cos(sim_ry), T_sim(3, 3)/cos(sim_ry));
+sim_rz = atan2(-T_sim(1, 2)/cos(sim_ry), T_sim(1, 1)/cos(sim_ry));

matlab/ustation_2_modeling.m

@@ -77,7 +77,7 @@ load('ustation_frf_com.mat', 'frfs_CoM');
 
 % Initialization of some variables to the figures
 dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
-stages = {'gbot', 'gtop', 'ty', 'ry', 'rz', 'hexa'}
+stages = {'gbot', 'gtop', 'ty', 'ry', 'rz', 'hexa'};
 f = logspace(log10(10), log10(500), 1000);
 
 %% Spindle - X response

matlab/ustation_3_disturbances.m

@@ -139,7 +139,7 @@ xlim([-5, 5]); ylim([-0.4, 0.4]);
 delta_ty = (ty_errors.setpoint(end) - ty_errors.setpoint(1))/(length(ty_errors.setpoint) - 1); % [mm]
 ty_vel = 8*1.125; % [mm/s]
 Ts = delta_ty/ty_vel;
-Fs = 1/Ts
+Fs = 1/Ts;
 
 % Frequency Analysis
 Nfft = floor(length(ty_errors.setpoint)); % Number of frequency points
@@ -259,7 +259,7 @@ yticks([-30, -15, 0, 15, 30]);
 % Search the best angular match
 fun = @(theta)rms((spindle_errors.Dx - (x0 + R*cos(pi/180*spindle_errors.deg+theta(1)))).^2 + (spindle_errors.Dy - (y0 - R*sin(pi/180*spindle_errors.deg+theta(1)))).^2);
 x0 = [0];
-delta_theta = fminsearch(fun, 0)
+delta_theta = fminsearch(fun, 0);
 
 % Compute the remaining error after removing the best circular fit
 spindle_errors.Dx_err = spindle_errors.Dx - (x0 + R*cos(pi/180*spindle_errors.deg+delta_theta));
@@ -496,6 +496,6 @@ plot(Dw.t, 1e6*Dw.x, 'DisplayName', '$D_{xf}$');
 plot(Dw.t, 1e6*Dw.y, 'DisplayName', '$D_{yf}$');
 plot(Dw.t, 1e6*Dw.z, 'DisplayName', '$D_{zf}$');
 xlabel('Time [s]'); ylabel('Amplitude [$\mu$m]')
-xlim([0, 1]); ylim([-0.15, 0.15])
+xlim([0, 1]); ylim([-0.6, 0.6])
 leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
 leg.ItemTokenSize(1) = 15;