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Thomas Dehaeze 2025-02-17 22:57:56 +01:00
parent b22253dcc8
commit 8fd71134d4
38 changed files with 4436 additions and 4525 deletions
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74
simscape-nass.org
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@ -248,6 +248,22 @@ One big advantage of doing the control in the cartesian plane, is that we don't
Maybe this should be done *here*.
Here it can be reminded when doing the control in the cartesian frame.
** TODO [#B] Determine which .mat files are used and which are not
- [ ] matlab/mat/conf_log.mat
- [ ] matlab/mat/conf_simscape.mat
- [ ] matlab/mat/conf_simulink.mat
- [ ] matlab/mat/nano_hexapod.mat
- [ ] matlab/mat/nass_disturbances.mat
- [ ] matlab/mat/nass_model_conf_log.mat
- [ ] matlab/mat/nass_model_conf_simscape.mat
- [ ] matlab/mat/nass_model_controller.mat
- [ ] matlab/mat/nass_model_disturbances.mat
- [ ] matlab/mat/nass_model_references.mat
- [ ] matlab/mat/nass_model_stages.mat
- [ ] matlab/mat/nass_references.mat
- [ ] matlab/mat/nass_stages.mat
** TODO [#B] Check if things are compatible to results of uniaxial model
** DONE [#C] Check if it would be interesting to show soft/stiff nano-hexapod plants
@ -1013,36 +1029,36 @@ ax1 = nexttile([2,1]);
hold on;
for i = 1:5
for j = i+1:6
plot(freqs, abs(squeeze(freqresp(G_iff_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.1], ...
'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.1], ...
'HandleVisibility', 'off');
end
end
plot(freqs, abs(squeeze(freqresp(G_iff_m1(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 0$ deg/s')
plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
'DisplayName', '$f_{ni}/f_i$ - $\Omega_z = 360$ deg/s')
for i = 2:6
plot(freqs, abs(squeeze(freqresp(G_iff_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
'HandleVisibility', 'off');
plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
'HandleVisibility', 'off');
end
% plot(freqs, abs(squeeze(freqresp(G_iff_m1_Rz(1,2), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2], ...
% plot(freqs, abs(squeeze(freqresp(G_iff_m25_Rz(1,2), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2], ...
% 'DisplayName', '$f_{ni}/f_j$')
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
ylim([1e-6, 1e2]);
leg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1);
ylim([1e-4, 1e2]);
leg = legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1);
leg.ItemTokenSize(1) = 15;
ax2 = nexttile;
hold on;
for i = 1:6
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m25(i,i), freqs, 'Hz'))), 'color', colors(1,:));
plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_m25_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
@ -1158,8 +1174,8 @@ The overall gain is then increased to have large loop gain around resonances to
#+begin_src matlab
%% Verify that parallel stiffness permits to have a stable plant
Kiff_pure_int = -200/s*eye(6);
isstable(feedback(G_iff_m1_Rz, Kiff_pure_int, 1))
isstable(feedback(G_iff_m1_Rz_no_kp, Kiff_pure_int, 1))
isstable(feedback(G_iff_m25_Rz, Kiff_pure_int, 1))
isstable(feedback(G_iff_m25_Rz_no_kp, Kiff_pure_int, 1))
#+end_src
#+begin_src matlab
@ -1263,19 +1279,19 @@ tiledlayout(1, 1, 'TileSpacing', 'compact', 'Padding', 'None');
nexttile();
hold on;
plot(real(pole(G_iff_m1_Rz)), imag(pole(G_iff_m1_Rz)), 'x', 'color', colors(1,:), ...
plot(real(pole(G_iff_m1)), imag(pole(G_iff_m1)), 'x', 'color', colors(1,:), ...
'DisplayName', '$g = 0$');
plot(real(tzero(G_iff_m1_Rz)), imag(tzero(G_iff_m1_Rz)), 'o', 'color', colors(1,:), ...
plot(real(tzero(G_iff_m1)), imag(tzero(G_iff_m1)), 'o', 'color', colors(1,:), ...
'HandleVisibility', 'off');
for g = gains
clpoles = pole(feedback(G_iff_m1_Rz, g*Kiff, +1));
clpoles = pole(feedback(G_iff_m1, g*Kiff, +1));
plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:), ...
'HandleVisibility', 'off');
end
% Optimal gain
clpoles = pole(feedback(G_iff_m1_Rz, Kiff, +1));
clpoles = pole(feedback(G_iff_m1, Kiff, +1));
plot(real(clpoles), imag(clpoles), 'kx', ...
'DisplayName', '$g_{opt}$');
@ -1513,26 +1529,26 @@ tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
ax1 = nexttile([2,1]);
hold on;
plot(f, abs(squeeze(freqresp(G_m1(1,1), f, 'Hz'))), 'color', colors(1,:), ...
plot(freqs, abs(squeeze(freqresp(G_m1(1,1), freqs, 'Hz'))), 'color', colors(1,:), ...
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 0$')
plot(f, abs(squeeze(freqresp(G_m1_Rz(1,1), f, 'Hz'))), 'color', colors(2,:), ...
plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,1), freqs, 'Hz'))), 'color', colors(2,:), ...
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_i$, $\Omega = 360$ deg/s')
plot(f, abs(squeeze(freqresp(G_m1(1,2), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
plot(freqs, abs(squeeze(freqresp(G_m1(1,2), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
plot(f, abs(squeeze(freqresp(G_m1_Rz(1,2), f, 'Hz'))), 'color', [colors(2,:), 0.2], ...
plot(freqs, abs(squeeze(freqresp(G_m1_Rz(1,2), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
'DisplayName', '$\epsilon_{\mathcal{L}i}/f_j$')
for i = 1:5
for j = i+1:6
plot(f, abs(squeeze(freqresp(G_m1(i,j), f, 'Hz'))), 'color', [colors(1,:), 0.2], ...
plot(freqs, abs(squeeze(freqresp(G_m1(i,j), freqs, 'Hz'))), 'color', [colors(1,:), 0.2], ...
'HandleVisibility', 'off');
plot(f, abs(squeeze(freqresp(G_m1_Rz(i,j), f, 'Hz'))), 'color', [colors(2,:), 0.2], ...
plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,j), freqs, 'Hz'))), 'color', [colors(2,:), 0.2], ...
'HandleVisibility', 'off');
end
end
for i = 2:6
plot(f, abs(squeeze(freqresp(G_m1(i,i), f, 'Hz'))), 'color', colors(1,:), ...
plot(freqs, abs(squeeze(freqresp(G_m1(i,i), freqs, 'Hz'))), 'color', colors(1,:), ...
'HandleVisibility', 'off');
plot(f, abs(squeeze(freqresp(G_m1_Rz(i,i), f, 'Hz'))), 'color', colors(2,:), ...
plot(freqs, abs(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz'))), 'color', colors(2,:), ...
'HandleVisibility', 'off');
end
hold off;
@ -1545,8 +1561,8 @@ leg.ItemTokenSize(1) = 15;
ax2 = nexttile;
hold on;
for i = 1:6
plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), f, 'Hz')))), 'color', colors(1,:));
plot(f, 180/pi*unwrap(angle(squeeze(freqresp(G_m1_Rz(i,i), f, 'Hz')))), 'color', colors(2,:));
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1(i,i), freqs, 'Hz')))), 'color', colors(1,:));
plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_m1_Rz(i,i), freqs, 'Hz')))), 'color', colors(2,:));
end
hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
@ -1555,7 +1571,7 @@ ylim([-200, 20]);
yticks([-180:45:180]);
linkaxes([ax1,ax2],'x');
xlim([f(1), f(end)]);
xlim([freqs(1), freqs(end)]);
#+end_src
#+begin_src matlab :tangle no :exports results :results file none
@ -2642,7 +2658,7 @@ hold off;
xlabel('$D_y$ [$\mu$m]'); ylabel('$D_z$ [$\mu$m]');
axis equal
xlim([-200, 200]); ylim([-100, 100]);
xticks([-200:100:200]); yticks([-100:50:100]);
xticks([-200:50:200]); yticks([-100:50:100]);
#+end_src
#+begin_src matlab :tangle no :exports results :results file none

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