Simplify even more the Simscape model

simscape-micro-station.org

@@ -142,11 +142,11 @@ initializeSimscapeConfiguration('gravity', false);
 initializeLoggingConfiguration('log', 'none');
 
 initializeGround(      'type', 'rigid');
-initializeGranite(     'type', 'modal-analysis');
+initializeGranite(     'type', 'flexible');
-initializeTy(          'type', 'modal-analysis');
+initializeTy(          'type', 'flexible');
-initializeRy(          'type', 'modal-analysis');
+initializeRy(          'type', 'flexible');
-initializeRz(          'type', 'modal-analysis');
+initializeRz(          'type', 'flexible');
-initializeMicroHexapod('type', 'modal-analysis');
+initializeMicroHexapod('type', 'flexible');
 
 initializeReferences();
 initializeDisturbances('enable', false);
@@ -166,14 +166,21 @@ initializeController(  'type', 'open-loop');
 
 ** TODO [#B] Make good "init" for the Simscape model
 
-** TODO [#A] Verify that we get "correct" compliance
-SCHEDULED: <2024-10-30 Wed>
-
 ** TODO [#B] Just keep smallest number of variants for each stage
 
+- [ ] none
 - [ ] rigid
 - [ ] flexible
 - [X] Init => Removed
+- [X] modal analysis => Removed
+
+** TODO [#A] Verify that we get "correct" compliance
+SCHEDULED: <2024-10-30 Wed>
+
+- [ ] Find the compliance measurements
+- [ ] See if it matches somehow the current model
+- [ ] If not, see if model parameters can be tuned to have better match
+      For instance from values here: file:/home/thomas/Cloud/meetings/esrf-meetings/2018-04-24-Simscape-Model/2018-04-24-Simscape-Model.pdf
 
 * Introduction                                                        :ignore:
 
@@ -741,11 +748,11 @@ set_param(conf_simulink, 'StopTime', '0.5');
 
 %% We initialize all the stages.
 initializeGround(      'type', 'rigid');
-initializeGranite(     'type', 'modal-analysis');
+initializeGranite(     'type', 'flexible');
-initializeTy(          'type', 'modal-analysis');
+initializeTy(          'type', 'flexible');
-initializeRy(          'type', 'modal-analysis');
+initializeRy(          'type', 'flexible');
-initializeRz(          'type', 'modal-analysis');
+initializeRz(          'type', 'flexible');
-initializeMicroHexapod('type', 'modal-analysis');
+initializeMicroHexapod('type', 'flexible');
 
 initializeLoggingConfiguration('log', 'none');
 
@@ -760,12 +767,12 @@ We use the =linearize= function in order to estimate the dynamics from forces ap
 %% Identification
 % Input/Output definition
 clear io; io_i = 1;
-io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/F_hammer'],          1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Flexible/F_hammer'],          1, 'openinput');  io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Micro-Station/Granite/Modal Analysis/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Granite/Flexible/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Modal Analysis/accelerometer'],     1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Translation Stage/Flexible/accelerometer'],     1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Modal Analysis/accelerometer'],            1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Tilt Stage/Flexible/accelerometer'],            1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Micro-Station/Spindle/Modal Analysis/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Spindle/Flexible/accelerometer'],               1, 'openoutput'); io_i = io_i + 1;
-io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Modal Analysis/accelerometer'],         1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Flexible/accelerometer'],         1, 'openoutput'); io_i = io_i + 1;
 
 % Run the linearization
 G_ms = linearize(mdl, io, 0);
@@ -895,7 +902,7 @@ initializeGranite();
 initializeTy();
 initializeRy();
 initializeRz();
-initializeMicroHexapod('type', 'compliance');
+initializeMicroHexapod();
 
 initializeReferences();
 initializeDisturbances();
@@ -909,8 +916,8 @@ And we identify the dynamics from forces/torques applied on the micro-hexapod to
 %% Identification of the compliance
 % Input/Output definition
 clear io; io_i = 1;
-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
+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
-io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Compliance/Dm'], 1, 'output'); io_i = io_i + 1; % Absolute displacement of the top platform
+io(io_i) = linio([mdl, '/Micro-Station/Micro Hexapod/Flexible/Dm'], 1, 'output'); io_i = io_i + 1; % Absolute displacement of the top platform
 
 % Run the linearization
 Gm = linearize(mdl, io, 0);
@@ -1249,7 +1256,7 @@ end
 :END:
 #+begin_src matlab
   arguments
-    args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis'})} = 'flexible'
+    args.type          char    {mustBeMember(args.type,{'rigid', 'flexible', 'none'})} = 'flexible'
     args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3]
     args.K  (3,1) double {mustBeNumeric, mustBeNonnegative} = [4e9; 3e8; 8e8] % [N/m]
     args.C  (3,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5] % [N/(m/s)]
@@ -1281,8 +1288,6 @@ First, we initialize the =granite= structure.
       granite.type = 1;
     case 'flexible'
       granite.type = 2;
-    case 'modal-analysis'
-      granite.type = 3;
   end
 #+end_src
 
@@ -1349,7 +1354,7 @@ end
 :END:
 #+begin_src matlab
   arguments
-    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
+    args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
   end
 #+end_src
 
@@ -1374,8 +1379,6 @@ First, we initialize the =ty= structure.
       ty.type = 1;
     case 'flexible'
       ty.type = 2;
-    case 'modal-analysis'
-      ty.type = 3;
   end
 #+end_src
 
@@ -1469,7 +1472,7 @@ end
 :END:
 #+begin_src matlab
   arguments
-    args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
+    args.type          char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
     args.Ry_init (1,1) double  {mustBeNumeric} = 0
   end
 #+end_src
@@ -1496,8 +1499,6 @@ First, we initialize the =ry= structure.
       ry.type = 1;
     case 'flexible'
       ry.type = 2;
-    case 'modal-analysis'
-      ry.type = 3;
   end
 #+end_src
 
@@ -1580,7 +1581,7 @@ end
 :END:
 #+begin_src matlab
   arguments
-    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis'})} = 'flexible'
+    args.type    char    {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
   end
 #+end_src
 
@@ -1605,8 +1606,6 @@ First, we initialize the =rz= structure.
       rz.type = 1;
     case 'flexible'
       rz.type = 2;
-    case 'modal-analysis'
-      rz.type = 3;
   end
 #+end_src
 
@@ -1677,7 +1676,7 @@ end
 :END:
 #+begin_src matlab
   arguments
-      args.type      char   {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'compliance'})} = 'flexible'
+      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
@@ -1783,10 +1782,6 @@ end
       stewart.type = 1;
     case 'flexible'
       stewart.type = 2;
-    case 'modal-analysis'
-      stewart.type = 3;
-    case 'compliance'
-      stewart.type = 5;
   end
 #+end_src