tdehaeze/phd-simscape-nano-hexapod
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Remove several control architectures

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This commit is contained in:
Thomas Dehaeze 2025-02-12 10:42:44 +01:00
parent 8ba31906c7
commit 0800dc609e
3 changed files with 17 additions and 55 deletions
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matlab/nano_hexapod_model.slx
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25
matlab/src/initializeController.m
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@ -1,7 +1,7 @@
function [] = initializeController(args)
arguments
args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
end
controller = struct();
@ -10,30 +10,9 @@ function [] = initializeController(args)
case 'open-loop'
controller.type = 1;
controller.name = 'Open-Loop';
case 'dvf'
controller.type = 2;
controller.name = 'Decentralized Direct Velocity Feedback';
case 'iff'
controller.type = 3;
controller.type = 2;
controller.name = 'Decentralized Integral Force Feedback';
case 'hac-dvf'
controller.type = 4;
controller.name = 'HAC-DVF';
case 'ref-track-L'
controller.type = 5;
controller.name = 'Reference Tracking in the frame of the legs';
case 'ref-track-iff-L'
controller.type = 6;
controller.name = 'Reference Tracking in the frame of the legs + IFF';
case 'cascade-hac-lac'
controller.type = 7;
controller.name = 'Cascade Control + HAC-LAC';
case 'hac-iff'
controller.type = 8;
controller.name = 'HAC-IFF';
case 'stabilizing'
controller.type = 9;
controller.name = 'Stabilizing Controller';
end
if exist('./mat', 'dir')

47
simscape-nano-hexapod.org
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@ -222,18 +222,19 @@ CLOSED: [2025-02-11 Tue 23:00]
- *Add parallel stiffness*
- High pass filter
** TODO [#A] Check all figures
** DONE [#A] Check all figures
CLOSED: [2025-02-12 Wed 10:30]
- [ ] Captions
- [ ] Legend, units, etc...
** TODO [#A] Make sure the Simulink file for the Stewart platform is working well
SCHEDULED: <2025-02-10 Mon>
** DONE [#A] Make sure the Simulink file for the Stewart platform is working well
CLOSED: [2025-02-12 Wed 10:30] SCHEDULED: <2025-02-10 Mon>
It should be the exact model reference that will be included in the NASS model (referenced subsystem).
- [X] Check what was already done for the toolbox
- [ ] Same parameters for the APA as in previous model (1N/um ?)
- [X] Same parameters for the APA as in previous model (1N/um ?)
*kn = 1N/um*
nano hexapod mass: *15kg*
cn = 2*0.01*sqrt((ms + mn)*kn)
@ -249,18 +250,18 @@ It should be the exact model reference that will be included in the NASS model (
- [X] 3dof
- [X] 4dof
- [X] flexible => will be added for chapter 2
- [-] actuator:
- [X] actuator:
- [X] 1dof
- [X] 2dof (APA)
- [ ] FEM => will be added for chapter 2
- [X] FEM => will be added for chapter 2
- [X] plates: cylindrical or .STEP
Only cylindrical for now
- [X] Add payload:
- size: height, diameter/radius
- Weight
- [ ] Control configuration
- [X] Control configuration
- [X] Log configuration
- [ ] *Do I want to be able to change each individual parameter value of each strut => no*
- [X] *Do I want to be able to change each individual parameter value of each strut => no*
** TODO [#A] For simplicity, maybe not talk at all about parallel stiffness with the force sensor
This could be the topic of the NASS section.
@ -1664,7 +1665,10 @@ This high gain, combined with the bounded phase, enables effective damping of th
#+begin_src matlab
%% Identify the IFF Plant
initializeSimplifiedNanoHexapod('actuator_kp', 0); % Ignoring parallel stiffness for now
stewart = initializeSimplifiedNanoHexapod('actuator_kp', 0); % Ignoring parallel stiffness for now
initializeSample('type', 'cylindrical', 'm', 10, 'H', 300e-3);
initializeLoggingConfiguration('log', 'none');
initializeController('type', 'open-loop');
% Input/Output definition
clear io; io_i = 1;
@ -2228,7 +2232,7 @@ end
function [] = initializeController(args)
arguments
args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
end
controller = struct();
@ -2237,30 +2241,9 @@ function [] = initializeController(args)
case 'open-loop'
controller.type = 1;
controller.name = 'Open-Loop';
case 'dvf'
controller.type = 2;
controller.name = 'Decentralized Direct Velocity Feedback';
case 'iff'
controller.type = 3;
controller.type = 2;
controller.name = 'Decentralized Integral Force Feedback';
case 'hac-dvf'
controller.type = 4;
controller.name = 'HAC-DVF';
case 'ref-track-L'
controller.type = 5;
controller.name = 'Reference Tracking in the frame of the legs';
case 'ref-track-iff-L'
controller.type = 6;
controller.name = 'Reference Tracking in the frame of the legs + IFF';
case 'cascade-hac-lac'
controller.type = 7;
controller.name = 'Cascade Control + HAC-LAC';
case 'hac-iff'
controller.type = 8;
controller.name = 'HAC-IFF';
case 'stabilizing'
controller.type = 9;
controller.name = 'Stabilizing Controller';
end
if exist('./mat', 'dir')