tdehaeze/phd-test-bench-apa
Archived
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Change two damping values

Browse Source
This commit is contained in:
Thomas Dehaeze
2024-10-26 12:10:54 +02:00
parent 5a8997d155
commit bb16921b59
13 changed files with 2960 additions and 3007 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
matlab/test_apa_3_model_2dof.m
View File

@@ -32,11 +32,11 @@ freqs = 5*logspace(0, 3, 1000);
% Tuning of the APA model :ignore:
% 9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_Simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
% 9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
% #+name: fig:test_apa_2dof_model_Simscape
% #+name: fig:test_apa_2dof_model_simscape
% #+caption: Schematic of the two degrees-of-freedom model of the APA300ML with input $V_a$ and outputs $d_e$ and $V_s$
% [[file:figs/test_apa_2dof_model_Simscape.png]]
% [[file:figs/test_apa_2dof_model_simscape.png]]
%% Stiffness values for the 2DoF APA model
@@ -50,8 +50,8 @@ ka = 1.5*(ktot-k1); % Stiffness of the (two) actuator stacks [N/m]
ke = 2*ka; % Stiffness of the Sensor stack [N/m]
%% Damping values for the 2DoF APA model
c1 = 20; % Damping for the Shell [N/(m/s)]
ca = 100; % Damping of the actuators stacks [N/(m/s)]
c1 = 5; % Damping for the Shell [N/(m/s)]
ca = 50; % Damping of the actuators stacks [N/(m/s)]
ce = 2*ca; % Damping of the sensor stack [N/(m/s)]
%% Estimation ot the sensor and actuator sensitivities
@@ -69,7 +69,7 @@ n_hexapod.actuator = initializeAPA(...
'Gs', 1 ... % Sensor constant [V/m]
);
c_granite = 0; % Do not take into account damping added by the air bearing
c_granite = 50; % Do not take into account damping added by the air bearing
% Run the linearization
G_norm = linearize(mdl, io, 0.0, opts);

2
matlab/test_apa_4_model_flexible.m
View File

@@ -44,7 +44,7 @@ n_hexapod.actuator = initializeAPA(...
'ga', 1, ...
'gs', 1);
c_granite = 100; % Rought estimation of the damping added by the air bearing
c_granite = 50; % Rought estimation of the damping added by the air bearing
% Identify the dynamics
G_norm = linearize(mdl, io, 0.0, opts);