Simplify even more the Simscape model
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@ -142,11 +142,11 @@ initializeSimscapeConfiguration('gravity', false);
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initializeLoggingConfiguration('log', 'none');
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initializeGround( 'type', 'rigid');
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initializeGranite( 'type', 'modal-analysis');
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initializeTy( 'type', 'modal-analysis');
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initializeRy( 'type', 'modal-analysis');
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initializeRz( 'type', 'modal-analysis');
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initializeMicroHexapod('type', 'modal-analysis');
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initializeGranite( 'type', 'flexible');
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initializeTy( 'type', 'flexible');
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initializeRy( 'type', 'flexible');
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initializeRz( 'type', 'flexible');
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initializeMicroHexapod('type', 'flexible');
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initializeReferences();
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initializeDisturbances('enable', false);
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@ -166,14 +166,21 @@ initializeController( 'type', 'open-loop');
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** TODO [#B] Make good "init" for the Simscape model
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** TODO [#A] Verify that we get "correct" compliance
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SCHEDULED: <2024-10-30 Wed>
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** TODO [#B] Just keep smallest number of variants for each stage
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- [ ] none
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- [ ] rigid
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- [ ] flexible
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- [X] Init => Removed
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- [X] modal analysis => Removed
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** TODO [#A] Verify that we get "correct" compliance
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SCHEDULED: <2024-10-30 Wed>
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- [ ] Find the compliance measurements
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- [ ] See if it matches somehow the current model
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- [ ] If not, see if model parameters can be tuned to have better match
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For instance from values here: file:/home/thomas/Cloud/meetings/esrf-meetings/2018-04-24-Simscape-Model/2018-04-24-Simscape-Model.pdf
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* Introduction :ignore:
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@ -741,11 +748,11 @@ set_param(conf_simulink, 'StopTime', '0.5');
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%% We initialize all the stages.
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initializeGround( 'type', 'rigid');
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initializeGranite( 'type', 'modal-analysis');
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initializeTy( 'type', 'modal-analysis');
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initializeRy( 'type', 'modal-analysis');
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initializeRz( 'type', 'modal-analysis');
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initializeMicroHexapod('type', 'modal-analysis');
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initializeGranite( 'type', 'flexible');
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initializeTy( 'type', 'flexible');
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initializeRy( 'type', 'flexible');
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initializeRz( 'type', 'flexible');
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initializeMicroHexapod('type', 'flexible');
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initializeLoggingConfiguration('log', 'none');
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@ -760,12 +767,12 @@ We use the =linearize= function in order to estimate the dynamics from forces ap
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%% Identification
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% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/F_hammer'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Spindle/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Flexible/F_hammer'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Granite/Flexible/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Flexible/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Flexible/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Spindle/Flexible/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Flexible/accelerometer'], 1, 'openoutput'); io_i = io_i + 1;
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% Run the linearization
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G_ms = linearize(mdl, io, 0);
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@ -895,7 +902,7 @@ initializeGranite();
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initializeTy();
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initializeRy();
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initializeRz();
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initializeMicroHexapod('type', 'compliance');
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initializeMicroHexapod();
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initializeReferences();
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initializeDisturbances();
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@ -909,8 +916,8 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
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%% Identification of the compliance
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% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Compliance/Fm'], 1, 'openinput'); io_i = io_i + 1; % Direct Forces/Torques applied on the micro-hexapod top platform
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Compliance/Dm'], 1, 'output'); io_i = io_i + 1; % Absolute displacement of the top platform
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Flexible/Fm'], 1, 'openinput'); io_i = io_i + 1; % Direct Forces/Torques applied on the micro-hexapod top platform
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io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Flexible/Dm'], 1, 'output'); io_i = io_i + 1; % Absolute displacement of the top platform
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% Run the linearization
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Gm = linearize(mdl, io, 0);
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@ -1249,7 +1256,7 @@ end
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis'})} = 'flexible'
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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 (3,1) double {mustBeNumeric, mustBeNonnegative} = [4e9; 3e8; 8e8] % [N/m]
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args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5] % [N/(m/s)]
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@ -1281,8 +1288,6 @@ First, we initialize the =granite= structure.
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granite.type = 1;
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case 'flexible'
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granite.type = 2;
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case 'modal-analysis'
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granite.type = 3;
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end
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#+end_src
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@ -1349,7 +1354,7 @@ end
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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#+end_src
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@ -1374,8 +1379,6 @@ First, we initialize the =ty= structure.
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ty.type = 1;
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case 'flexible'
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ty.type = 2;
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case 'modal-analysis'
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ty.type = 3;
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end
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#+end_src
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@ -1469,7 +1472,7 @@ end
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
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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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#+end_src
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@ -1496,8 +1499,6 @@ First, we initialize the =ry= structure.
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ry.type = 1;
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case 'flexible'
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ry.type = 2;
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case 'modal-analysis'
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ry.type = 3;
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end
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#+end_src
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@ -1580,7 +1581,7 @@ end
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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end
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#+end_src
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@ -1605,8 +1606,6 @@ First, we initialize the =rz= structure.
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rz.type = 1;
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case 'flexible'
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rz.type = 2;
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case 'modal-analysis'
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rz.type = 3;
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end
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#+end_src
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@ -1677,7 +1676,7 @@ end
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'compliance'})} = 'flexible'
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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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@ -1783,10 +1782,6 @@ end
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stewart.type = 1;
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case 'flexible'
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stewart.type = 2;
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case 'modal-analysis'
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stewart.type = 3;
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case 'compliance'
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stewart.type = 5;
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end
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#+end_src
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