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Add configuration for added parallel stiffness

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This commit is contained in:
Thomas Dehaeze
2025-02-10 16:31:23 +01:00
parent a7f85ba00b
commit 8153a9d87b
6 changed files with 156 additions and 51 deletions
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9
matlab/src/describeStewartPlatform.m
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@@ -29,13 +29,16 @@ fprintf('ACTUATORS:\n')
if stewart.actuators.type == 1
fprintf('- The actuators are modelled as 1DoF.\n')
fprintf('- The Stiffness and Damping of each actuators is:\n')
fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.k(1), stewart.actuators.c(1))
if stewart.actuators.kp > 0
fprintf('\t Added parallel stiffness: kp = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.kp(1))
end
elseif stewart.actuators.type == 2
fprintf('- The actuators are modelled as 2DoF (APA).\n')
fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.ka(1), stewart.actuators.ca(1))
fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.kr(1), stewart.actuators.cr(1))
elseif stewart.actuators.type == 3
fprintf('- The actuators are modelled with a flexible element (FEM).\n')
end