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Add correct STEP file for APA

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This commit is contained in:
Thomas Dehaeze
2024-03-25 18:12:00 +01:00
parent 3aa329a275
commit 79db77ba69
4 changed files with 2535 additions and 25 deletions
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2509
matlab/STEPS/apa300ml_full.STEP Normal file
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20
matlab/src/initializeAPA.m
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@@ -17,13 +17,13 @@ arguments
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.k (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*380000
args.ke (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*4952605
args.ka (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2476302
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.c (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*20
args.ce (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*200
args.ca (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*100
args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
@@ -52,11 +52,11 @@ end
if args.Ga == 0
switch args.type
case '2dof'
actuator.Ga = -30.0;
actuator.Ga = -2.5796;
case 'flexible frame'
actuator.Ga = 1; % TODO
case 'flexible'
actuator.Ga = 23.4;
actuator.Ga = 23.2;
end
else
actuator.Ga = args.Ga; % Actuator gain [N/V]
@@ -65,11 +65,11 @@ end
if args.Gs == 0
switch args.type
case '2dof'
actuator.Gs = 0.098;
actuator.Gs = 466664;
case 'flexible frame'
actuator.Gs = 1; % TODO
case 'flexible'
actuator.Gs = -4674824;
actuator.Gs = -4898341;
end
else
actuator.Gs = args.Gs; % Sensor gain [V/m]

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matlab/test_apa_simscape.slx
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