Add Matlab directory

2024-03-21 18:47:00 +01:00
parent c23c3464fb
commit 6b33b6f5be
23 changed files with 31171 additions and 28 deletions
--- a/matlab/src/initializeAPA.m
+++ b/matlab/src/initializeAPA.m
@@ -0,0 +1,105 @@
+function [actuator] = initializeAPA(args)
+% initializeAPA -
+%
+% Syntax: [actuator] = initializeAPA(args)
+%
+% Inputs:
+%    - args -
+%
+% Outputs:
+%    - actuator -
+
+arguments
+    args.type      char   {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
+
+    % Actuator and Sensor constants
+    args.Ga  (1,1) double {mustBeNumeric} = 0
+    args.Gs  (1,1) double {mustBeNumeric} = 0
+
+    % For 2DoF
+    args.k   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.38e6
+    args.ke  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.75e6
+    args.ka  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e7
+
+    args.c   (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e1
+    args.ce  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
+    args.ca  (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
+
+    args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
+
+    % Force Flexible APA
+    args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.01
+    args.d_align (3,1) double {mustBeNumeric} = zeros(3,1) % [m]
+    args.d_align_bot (3,1) double {mustBeNumeric} = zeros(3,1) % [m]
+    args.d_align_top (3,1) double {mustBeNumeric} = zeros(3,1) % [m]
+
+    % For Flexible Frame
+    args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
+    args.cs (1,1) double {mustBeNumeric, mustBePositive} = 1e1
+end
+
+actuator = struct();
+
+switch args.type
+  case '2dof'
+    actuator.type = 1;
+  case 'flexible frame'
+    actuator.type = 2;
+  case 'flexible'
+    actuator.type = 3;
+end
+
+if args.Ga == 0
+    switch args.type
+      case '2dof'
+        actuator.Ga = -30.0;
+      case 'flexible frame'
+        actuator.Ga = 1; % TODO
+      case 'flexible'
+        actuator.Ga = 23.4;
+    end
+else
+    actuator.Ga = args.Ga; % Actuator gain [N/V]
+end
+
+if args.Gs == 0
+    switch args.type
+      case '2dof'
+        actuator.Gs = 0.098;
+      case 'flexible frame'
+        actuator.Gs = 1; % TODO
+      case 'flexible'
+        actuator.Gs = -4674824;
+    end
+else
+    actuator.Gs = args.Gs; % Sensor gain [V/m]
+end
+
+actuator.k  = args.k;  % [N/m]
+actuator.ke = args.ke; % [N/m]
+actuator.ka = args.ka; % [N/m]
+
+actuator.c  = args.c;  % [N/(m/s)]
+actuator.ce = args.ce; % [N/(m/s)]
+actuator.ca = args.ca; % [N/(m/s)]
+
+actuator.Leq = args.Leq; % [m]
+
+switch args.type
+  case 'flexible frame'
+    actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
+    actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
+    actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
+  case 'flexible'
+    actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
+    actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
+    actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
+    actuator.d_align = args.d_align;
+    actuator.d_align_bot = args.d_align_bot;
+    actuator.d_align_top = args.d_align_top;
+end
+
+actuator.xi = args.xi; % Damping ratio
+
+actuator.ks = args.ks; % Stiffness of one stack [N/m]
+actuator.cs = args.cs; % Damping of one stack [N/m]