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Add sample initialization

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Thomas Dehaeze 2025-02-12 14:10:49 +01:00
parent 85635d4087
commit 0bc6857290
3 changed files with 26 additions and 19 deletions
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matlab/nass_model.slx
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16
matlab/src/initializeSample.m
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@ -1,22 +1,24 @@
function [sample] = initializeSample(args) function [sample] = initializeSample(args)
arguments arguments
args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none'
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m] args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m]
args.R (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Radius [m] args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m]
args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg] args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg]
end end
sample = struct(); sample = struct();
switch args.type switch args.type
case '0' case 'none'
sample.type = 0; sample.type = 0;
case '1' sample.m = 0;
case 'cylindrical'
sample.type = 1; sample.type = 1;
case '2'
sample.type = 2; sample.H = args.H;
case '3' sample.R = args.R;
sample.type = 3; sample.m = args.m;
end end
if exist('./mat', 'dir') if exist('./mat', 'dir')

29
simscape-nass.org
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@ -210,15 +210,18 @@ Goal: validation of the concept
- Take into account disturbances, sensor noise, etc... - Take into account disturbances, sensor noise, etc...
- Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]]) - Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]])
** TODO [#A] Merge the micro-station model with the nano-hexapod model ** DONE [#A] Merge the micro-station model with the nano-hexapod model
SCHEDULED: <2025-02-12 Wed> CLOSED: [2025-02-12 Wed 12:10] SCHEDULED: <2025-02-12 Wed>
- [X] *Start from the Simscape model of the ID31 tests* - [X] *Start from the Simscape model of the ID31 tests*
=/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C5-test-bench-id31/matlab/nass_model_id31.slx= =/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/C5-test-bench-id31/matlab/nass_model_id31.slx=
- [X] Remove LION metrology to have perfect measurement - [X] Remove LION metrology to have perfect measurement
- [ ] Remove nano-hexapod model and add simplified model - [X] Remove nano-hexapod model and add simplified model
- [ ] Add "cylindrical" payloads (configurable in mass) - [ ] Add "cylindrical" payloads (configurable in mass)
** TODO [#B] Add payload configurable subsystem
SCHEDULED: <2025-02-12 Wed>
** TODO [#B] Discuss the necessity of estimated Rz? ** TODO [#B] Discuss the necessity of estimated Rz?
One big advantage of doing the control in the cartesian plane, is that we don't need the estimation of nano-hexapod Rz, therefore we don't need the encoders anymore! One big advantage of doing the control in the cartesian plane, is that we don't need the estimation of nano-hexapod Rz, therefore we don't need the encoders anymore!
@ -364,7 +367,7 @@ initializeRy();
initializeRz(); initializeRz();
initializeMicroHexapod(); initializeMicroHexapod();
initializeSimplifiedNanoHexapod(); initializeSimplifiedNanoHexapod();
% initializeSample('type', '0'); initializeSample('type', 'cylindrical');
initializeSimscapeConfiguration('gravity', false); initializeSimscapeConfiguration('gravity', false);
initializeDisturbances('enable', false); initializeDisturbances('enable', false);
@ -1943,28 +1946,30 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
end end
#+end_src #+end_src
*** TODO [#A] =initializeSample=: Sample *** =initializeSample=: Sample
#+begin_src matlab :tangle matlab/src/initializeSample.m :comments none :mkdirp yes :eval no #+begin_src matlab :tangle matlab/src/initializeSample.m :comments none :mkdirp yes :eval no
function [sample] = initializeSample(args) function [sample] = initializeSample(args)
arguments arguments
args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none'
args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m] args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Height [m]
args.R (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 % Radius [m] args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m]
args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg] args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg]
end end
sample = struct(); sample = struct();
switch args.type switch args.type
case '0' case 'none'
sample.type = 0; sample.type = 0;
case '1' sample.m = 0;
case 'cylindrical'
sample.type = 1; sample.type = 1;
case '2'
sample.type = 2; sample.H = args.H;
case '3' sample.R = args.R;
sample.type = 3; sample.m = args.m;
end end
if exist('./mat', 'dir') if exist('./mat', 'dir')