68 lines
2.5 KiB
Mathematica
68 lines
2.5 KiB
Mathematica
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% Matlab Init :noexport:ignore:
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%% test_nhexa_table.m
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for Data
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addpath('./src/'); % Path for functions
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addpath('./STEPS/'); % Path for STEPS
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addpath('./subsystems/'); % Path for Subsystems Simulink files
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%% Initialize Parameters for Simscape model
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table_type = 'Rigid'; % On top of vibration table
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device_type = 'None'; % On top of vibration table
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payload_num = 0; % No Payload
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% Simulink Model name
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mdl = 'test_bench_nano_hexapod';
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%% Colors for the figures
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colors = colororder;
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%% Frequency Vector
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freqs = logspace(log10(10), log10(2e3), 1000);
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% Simscape Model of the suspended table
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% <<ssec:test_nhexa_table_model>>
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% The Simscape model of the suspended table simply consists of two solid bodies connected by 4 springs.
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% The 4 springs are here modelled with "bushing joints" that have stiffness and damping properties in x, y and z directions.
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% The 3D representation of the model is displayed in Figure ref:fig:test_nhexa_suspended_table_simscape where the 4 "bushing joints" are represented by the blue cylinders.
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% #+name: fig:test_nhexa_suspended_table_simscape
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% #+caption: 3D representation of the simscape model
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% #+attr_latex: :width 0.8\linewidth
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% [[file:figs/test_nhexa_suspended_table_simscape.png]]
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% The model order is 12, and it represents the 6 suspension modes.
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% The inertia properties of the parts are set from the geometry and material densities.
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% The stiffness of the springs was initially set from the datasheet nominal value of $17.8\,N/mm$ and then reduced down to $14\,N/mm$ to better match the measured suspension modes.
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% The stiffness of the springs in the horizontal plane is set at $0.5\,N/mm$.
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% The obtained suspension modes of the simscape model are compared with the measured ones in Table ref:tab:test_nhexa_suspended_table_simscape_modes.
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%% Configure Simscape Model
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table_type = 'Suspended'; % On top of vibration table
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device_type = 'None'; % No device on the vibration table
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payload_num = 0; % No Payload
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/F_v'], 1, 'openoutput'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io);
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G.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
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G.OutputName = {'Vdx', 'Vdy', 'Vdz', 'Vrx', 'Vry', 'Vrz'};
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%% Compute the resonance frequencies
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ws = eig(G.A);
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ws = ws(imag(ws) > 0);
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