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added field: +% - kinematics.J [6x6] - The Jacobian Matrix +% - kinematics.K [6x6] - The Stiffness Matrix +% - kinematics.C [6x6] - The Compliance Matrix + +assert(isfield(stewart.geometry, 'As'), 'stewart.geometry should have attribute As') +As = stewart.geometry.As; + +assert(isfield(stewart.geometry, 'Ab'), 'stewart.geometry should have attribute Ab') +Ab = stewart.geometry.Ab; + +assert(isfield(stewart.actuators, 'K'), 'stewart.actuators should have attribute K') +Ki = stewart.actuators.K; + +J = [As' , cross(Ab, As)']; + +K = J'*diag(Ki)*J; + +C = inv(K); + +stewart.kinematics.J = J; +stewart.kinematics.K = K; +stewart.kinematics.C = C; diff --git a/matlab/src/computeJointsPose.m b/matlab/src/computeJointsPose.m new file mode 100644 index 0000000..3e31760 --- /dev/null +++ b/matlab/src/computeJointsPose.m @@ -0,0 +1,78 @@ +function [stewart] = computeJointsPose(stewart) +% computeJointsPose - +% +% Syntax: [stewart] = computeJointsPose(stewart) +% +% Inputs: +% - stewart - A structure with the following fields +% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F} +% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M} +% - platform_F.FO_A [3x1] - Position of {A} with respect to {F} +% - platform_M.MO_B [3x1] - Position of {B} with respect to {M} +% - geometry.FO_M [3x1] - Position of {M} with respect to {F} +% +% Outputs: +% - stewart - A structure with the following added fields +% - geometry.Aa [3x6] - The i'th column is the position of ai with respect to {A} +% - geometry.Ab [3x6] - The i'th column is the position of bi with respect to {A} +% - geometry.Ba [3x6] - The i'th column is the position of ai with respect to {B} +% - geometry.Bb [3x6] - The i'th column is the position of bi with respect to {B} +% - geometry.l [6x1] - The i'th element is the initial length of strut i +% - geometry.As [3x6] - The i'th column is the unit vector of strut i expressed in {A} +% - geometry.Bs [3x6] - The i'th column is the unit vector of strut i expressed in {B} +% - struts_F.l [6x1] - Length of the Fixed part of the i'th strut +% - struts_M.l [6x1] - Length of the Mobile part of the i'th strut +% - platform_F.FRa [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the bottom of the i'th strut from {F} +% - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M} + +assert(isfield(stewart.platform_F, 'Fa'), 'stewart.platform_F should have attribute Fa') +Fa = stewart.platform_F.Fa; + +assert(isfield(stewart.platform_M, 'Mb'), 'stewart.platform_M should have attribute Mb') +Mb = stewart.platform_M.Mb; + +assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A') +FO_A = stewart.platform_F.FO_A; + +assert(isfield(stewart.platform_M, 'MO_B'), 'stewart.platform_M should have attribute MO_B') +MO_B = stewart.platform_M.MO_B; + +assert(isfield(stewart.geometry, 'FO_M'), 'stewart.geometry should have attribute FO_M') +FO_M = stewart.geometry.FO_M; + +Aa = Fa - repmat(FO_A, [1, 6]); +Bb = Mb - repmat(MO_B, [1, 6]); + +Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]); +Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]); + +As = (Ab - Aa)./vecnorm(Ab - Aa); % As_i is the i'th vector of As + +l = vecnorm(Ab - Aa)'; + +Bs = (Bb - Ba)./vecnorm(Bb - Ba); + +FRa = zeros(3,3,6); +MRb = zeros(3,3,6); + +for i = 1:6 + FRa(:,:,i) = [cross([0;1;0], As(:,i)) , cross(As(:,i), cross([0;1;0], As(:,i))) , As(:,i)]; + FRa(:,:,i) = FRa(:,:,i)./vecnorm(FRa(:,:,i)); + + MRb(:,:,i) = [cross([0;1;0], Bs(:,i)) , cross(Bs(:,i), cross([0;1;0], Bs(:,i))) , Bs(:,i)]; + MRb(:,:,i) = MRb(:,:,i)./vecnorm(MRb(:,:,i)); +end + +stewart.geometry.Aa = Aa; +stewart.geometry.Ab = Ab; +stewart.geometry.Ba = Ba; +stewart.geometry.Bb = Bb; +stewart.geometry.As = As; +stewart.geometry.Bs = Bs; +stewart.geometry.l = l; + +stewart.struts_F.l = l/2; +stewart.struts_M.l = l/2; + +stewart.platform_F.FRa = FRa; +stewart.platform_M.MRb = MRb; diff --git a/matlab/src/computeReferencePose.m b/matlab/src/computeReferencePose.m new file mode 100644 index 0000000..ea8de43 --- /dev/null +++ b/matlab/src/computeReferencePose.m @@ -0,0 +1,77 @@ +function [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn) +% computeReferencePose - Compute the homogeneous transformation matrix corresponding to the wanted pose of the sample +% +% Syntax: [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn) +% +% Inputs: +% - Dy - Reference of the Translation Stage [m] +% - Ry - Reference of the Tilt Stage [rad] +% - Rz - Reference of the Spindle [rad] +% - Dh - Reference of the Micro Hexapod (Pitch, Roll, Yaw angles) [m, m, m, rad, rad, rad] +% - Dn - Reference of the Nano Hexapod [m, m, m, rad, rad, rad] +% +% Outputs: +% - WTr - + + %% Translation Stage + Rty = [1 0 0 0; + 0 1 0 Dy; + 0 0 1 0; + 0 0 0 1]; + + %% Tilt Stage - Pure rotating aligned with Ob + Rry = [ cos(Ry) 0 sin(Ry) 0; + 0 1 0 0; + -sin(Ry) 0 cos(Ry) 0; + 0 0 0 1]; + + %% Spindle - Rotation along the Z axis + Rrz = [cos(Rz) -sin(Rz) 0 0 ; + sin(Rz) cos(Rz) 0 0 ; + 0 0 1 0 ; + 0 0 0 1 ]; + + + %% Micro-Hexapod + Rhx = [1 0 0; + 0 cos(Dh(4)) -sin(Dh(4)); + 0 sin(Dh(4)) cos(Dh(4))]; + + Rhy = [ cos(Dh(5)) 0 sin(Dh(5)); + 0 1 0; + -sin(Dh(5)) 0 cos(Dh(5))]; + + Rhz = [cos(Dh(6)) -sin(Dh(6)) 0; + sin(Dh(6)) cos(Dh(6)) 0; + 0 0 1]; + + Rh = [1 0 0 Dh(1) ; + 0 1 0 Dh(2) ; + 0 0 1 Dh(3) ; + 0 0 0 1 ]; + + Rh(1:3, 1:3) = Rhz*Rhy*Rhx; + + %% Nano-Hexapod + Rnx = [1 0 0; + 0 cos(Dn(4)) -sin(Dn(4)); + 0 sin(Dn(4)) cos(Dn(4))]; + + Rny = [ cos(Dn(5)) 0 sin(Dn(5)); + 0 1 0; + -sin(Dn(5)) 0 cos(Dn(5))]; + + Rnz = [cos(Dn(6)) -sin(Dn(6)) 0; + sin(Dn(6)) cos(Dn(6)) 0; + 0 0 1]; + + Rn = [1 0 0 Dn(1) ; + 0 1 0 Dn(2) ; + 0 0 1 Dn(3) ; + 0 0 0 1 ]; + + Rn(1:3, 1:3) = Rnz*Rny*Rnx; + + %% Total Homogeneous transformation + WTr = Rty*Rry*Rrz*Rh*Rn; +end diff --git a/matlab/src/computeSampleError.m b/matlab/src/computeSampleError.m new file mode 100644 index 0000000..5c42696 --- /dev/null +++ b/matlab/src/computeSampleError.m @@ -0,0 +1,20 @@ +function [MTr] = computeSampleError(WTm, WTr) +% computeSampleError - +% +% Syntax: [MTr] = computeSampleError(WTm, WTr) +% +% Inputs: +% - WTm - Homoegeneous transformation that represent the +% wanted pose of the sample with respect to the granite +% - WTr - Homoegeneous transformation that represent the +% measured pose of the sample with respect to the granite +% +% Outputs: +% - MTr - Homoegeneous transformation that represent the +% wanted pose of the sample expressed in a frame +% attached to the top platform of the nano-hexapod + +MTr = zeros(4,4); + +MTr = [WTm(1:3,1:3)', -WTm(1:3,1:3)'*WTm(1:3,4) ; 0 0 0 1]*WTr; +end diff --git a/matlab/src/describeNassSetup.m b/matlab/src/describeNassSetup.m new file mode 100644 index 0000000..a5f9b26 --- /dev/null +++ b/matlab/src/describeNassSetup.m @@ -0,0 +1,196 @@ +function [] = describeNassSetup() +% describeNassSetup - +% +% Syntax: [] = describeNassSetup() +% +% Inputs: +% - - +% +% Outputs: +% - - + +load('./mat/conf_simscape.mat', 'conf_simscape'); + +fprintf('Simscape Configuration:\n'); + +if conf_simscape.type == 1 + fprintf('- Gravity is included\n'); +else + fprintf('- Gravity is not included\n'); +end + +fprintf('\n'); + +load('./mat/nass_disturbances.mat', 'args'); + +fprintf('Disturbances:\n'); +if ~args.enable + fprintf('- No disturbance is included\n'); +else + if args.Dwx && args.Dwy && args.Dwz + fprintf('- Ground motion\n'); + end + if args.Fty_x && args.Fty_z + fprintf('- Vibrations of the Translation Stage\n'); + end + if args.Frz_z + fprintf('- Vibrations of the Spindle\n'); + end +end +fprintf('\n'); + +load('./mat/nass_references.mat', 'args'); + +fprintf('Reference Tracking:\n'); +fprintf('- Translation Stage:\n'); +switch args.Dy_type + case 'constant' + fprintf(' - Constant Position\n'); + fprintf(' - Dy = %.0f [mm]\n', args.Dy_amplitude*1e3); + case 'triangular' + fprintf(' - Triangular Path\n'); + fprintf(' - Amplitude = %.0f [mm]\n', args.Dy_amplitude*1e3); + fprintf(' - Period = %.0f [s]\n', args.Dy_period); + case 'sinusoidal' + fprintf(' - Sinusoidal Path\n'); + fprintf(' - Amplitude = %.0f [mm]\n', args.Dy_amplitude*1e3); + fprintf(' - Period = %.0f [s]\n', args.Dy_period); +end + +fprintf('- Tilt Stage:\n'); +switch args.Ry_type + case 'constant' + fprintf(' - Constant Position\n'); + fprintf(' - Ry = %.0f [mm]\n', args.Ry_amplitude*1e3); + case 'triangular' + fprintf(' - Triangular Path\n'); + fprintf(' - Amplitude = %.0f [mm]\n', args.Ry_amplitude*1e3); + fprintf(' - Period = %.0f [s]\n', args.Ry_period); + case 'sinusoidal' + fprintf(' - Sinusoidal Path\n'); + fprintf(' - Amplitude = %.0f [mm]\n', args.Ry_amplitude*1e3); + fprintf(' - Period = %.0f [s]\n', args.Ry_period); +end + +fprintf('- Spindle:\n'); +switch args.Rz_type + case 'constant' + fprintf(' - Constant Position\n'); + fprintf(' - Rz = %.0f [deg]\n', 180/pi*args.Rz_amplitude); + case { 'rotating', 'rotating-not-filtered' } + fprintf(' - Rotating\n'); + fprintf(' - Speed = %.0f [rpm]\n', 60/args.Rz_period); +end + + +fprintf('- Micro Hexapod:\n'); +switch args.Dh_type + case 'constant' + fprintf(' - Constant Position\n'); + fprintf(' - Dh = %.0f, %.0f, %.0f [mm]\n', args.Dh_pos(1), args.Dh_pos(2), args.Dh_pos(3)); + fprintf(' - Rh = %.0f, %.0f, %.0f [deg]\n', args.Dh_pos(4), args.Dh_pos(5), args.Dh_pos(6)); +end + +fprintf('\n'); + +load('./mat/controller.mat', 'controller'); + +fprintf('Controller:\n'); +fprintf('- %s\n', controller.name); +fprintf('\n'); + +load('./mat/stages.mat', 'ground', 'granite', 'ty', 'ry', 'rz', 'micro_hexapod', 'axisc'); + +fprintf('Micro Station:\n'); + +if granite.type == 1 && ... + ty.type == 1 && ... + ry.type == 1 && ... + rz.type == 1 && ... + micro_hexapod.type == 1; + fprintf('- All stages are rigid\n'); +elseif granite.type == 2 && ... + ty.type == 2 && ... + ry.type == 2 && ... + rz.type == 2 && ... + micro_hexapod.type == 2; + fprintf('- All stages are flexible\n'); +else + if granite.type == 1 || granite.type == 4 + fprintf('- Granite is rigid\n'); + else + fprintf('- Granite is flexible\n'); + end + if ty.type == 1 || ty.type == 4 + fprintf('- Translation Stage is rigid\n'); + else + fprintf('- Translation Stage is flexible\n'); + end + if ry.type == 1 || ry.type == 4 + fprintf('- Tilt Stage is rigid\n'); + else + fprintf('- Tilt Stage is flexible\n'); + end + if rz.type == 1 || rz.type == 4 + fprintf('- Spindle is rigid\n'); + else + fprintf('- Spindle is flexible\n'); + end + if micro_hexapod.type == 1 || micro_hexapod.type == 4 + fprintf('- Micro Hexapod is rigid\n'); + else + fprintf('- Micro Hexapod is flexible\n'); + end + +end + +fprintf('\n'); + +load('./mat/stages.mat', 'mirror'); + +fprintf('Reference Mirror:\n'); + +if mirror.type == 2; + fprintf('- flexible fixation\n'); + fprintf('- w = %.0f [Hz]\n', mirror.freq(1)); +else + fprintf('- rigidly attached to the nano-hexapod\n'); +end +fprintf('- m = %.0f [kg]\n', mirror.mass); +fprintf('\n'); + +load('./mat/stages.mat', 'nano_hexapod'); + +fprintf('Nano Hexapod:\n'); + +if nano_hexapod.type == 0; + fprintf('- no included\n'); +elseif nano_hexapod.type == 1 || nano_hexapod.type == 3; + fprintf('- rigid\n'); +elseif nano_hexapod.type == 2; + fprintf('- flexible\n'); + fprintf('- Ki = %.0g [N/m]\n', nano_hexapod.actuators.K(1)); +end + +fprintf('\n'); + +load('./mat/stages.mat', 'sample'); + +fprintf('Sample:\n'); + +if sample.type == 0; + fprintf('- no included\n'); +elseif sample.type == 1 || sample.type == 3; + fprintf('- rigid\n'); + fprintf('- mass = %.0f [kg]\n', sample.mass); + fprintf('- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n', sample.inertia(1), sample.inertia(2), sample.inertia(3)); +elseif sample.type == 2; + fprintf('- flexible\n'); + fprintf('- mass = %.0f [kg]\n', sample.mass); + fprintf('- moment of inertia = %.2f, %.2f, %.2f [kg m2]\n', sample.inertia(1), sample.inertia(2), sample.inertia(3)); + % fprintf('- Kt = %.0g, %.0g, %.0g [N/m]\n', sample.K(1), sample.K(2), sample.K(3)); + % fprintf('- Kr = %.0g, %.0g, %.0g [Nm/rad]\n', sample.K(4), sample.K(5), sample.K(6)); + fprintf('- wt(x,y,z) = %.0f, %.0f, %.0f [Hz]\n', 1/2/pi*sqrt(sample.K(1)/sample.mass), 1/2/pi*sqrt(sample.K(1)/sample.mass), 1/2/pi*sqrt(sample.K(1)/sample.mass)); + fprintf('- wr(x,y,z) = %.0f, %.0f, %.0f [Hz]\n', 1/2/pi*sqrt(sample.K(4)/sample.inertia(1)), 1/2/pi*sqrt(sample.K(5)/sample.inertia(2)), 1/2/pi*sqrt(sample.K(6)/sample.inertia(3))); +end +fprintf('\n'); diff --git a/matlab/src/describeStewartPlatform.m b/matlab/src/describeStewartPlatform.m new file mode 100644 index 0000000..256fc60 --- /dev/null +++ b/matlab/src/describeStewartPlatform.m @@ -0,0 +1,83 @@ +function [] = describeStewartPlatform(stewart) +% describeStewartPlatform - Display some text describing the current defined Stewart Platform +% +% Syntax: [] = describeStewartPlatform(args) +% +% Inputs: +% - stewart +% +% Outputs: + +arguments + stewart +end + +fprintf('GEOMETRY:\n') +fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H) + +if stewart.platform_M.MO_B(3) > 0 + fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n', 1e3*stewart.platform_M.MO_B(3)) +else + fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3)) +end + +fprintf('- The initial length of the struts are:\n') +fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l) +fprintf('\n') + +fprintf('ACTUATORS:\n') +if stewart.actuators.type == 1 + fprintf('- The actuators are classical.\n') + fprintf('- The Stiffness and Damping of each actuators is:\n') + fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1)) +elseif stewart.actuators.type == 2 + fprintf('- The actuators are mechanicaly amplified.\n') + fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n') + fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1)) + fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n') + fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1)) +end +fprintf('\n') + +fprintf('JOINTS:\n') + +switch stewart.joints_F.type + case 1 + fprintf('- The joints on the fixed based are universal joints\n') + case 2 + fprintf('- The joints on the fixed based are spherical joints\n') + case 3 + fprintf('- The joints on the fixed based are perfect universal joints\n') + case 4 + fprintf('- The joints on the fixed based are perfect spherical joints\n') +end + +switch stewart.joints_M.type + case 1 + fprintf('- The joints on the mobile based are universal joints\n') + case 2 + fprintf('- The joints on the mobile based are spherical joints\n') + case 3 + fprintf('- The joints on the mobile based are perfect universal joints\n') + case 4 + fprintf('- The joints on the mobile based are perfect spherical joints\n') +end + +fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n') +fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa) + +fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n') +fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb) +fprintf('\n') + +fprintf('KINEMATICS:\n') + +if isfield(stewart.kinematics, 'K') + fprintf('- The Stiffness matrix K is (in [N/m]):\n') + fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K) +end + +if isfield(stewart.kinematics, 'C') + fprintf('- The Damping matrix C is (in [m/N]):\n') + fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C) +end diff --git a/matlab/src/displayArchitecture.m b/matlab/src/displayArchitecture.m new file mode 100644 index 0000000..2513217 --- /dev/null +++ b/matlab/src/displayArchitecture.m @@ -0,0 +1,240 @@ +function [] = displayArchitecture(stewart, args) +% displayArchitecture - 3D plot of the Stewart platform architecture +% +% Syntax: [] = displayArchitecture(args) +% +% Inputs: +% - stewart +% - args - Structure with the following fields: +% - AP [3x1] - The wanted position of {B} with respect to {A} +% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A} +% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A} +% - F_color [color] - Color used for the Fixed elements +% - M_color [color] - Color used for the Mobile elements +% - L_color [color] - Color used for the Legs elements +% - frames [true/false] - Display the Frames +% - legs [true/false] - Display the Legs +% - joints [true/false] - Display the Joints +% - labels [true/false] - Display the Labels +% - platforms [true/false] - Display the Platforms +% - views ['all', 'xy', 'yz', 'xz', 'default'] - +% +% Outputs: + +arguments + stewart + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + args.F_color = [0 0.4470 0.7410] + args.M_color = [0.8500 0.3250 0.0980] + args.L_color = [0 0 0] + args.frames logical {mustBeNumericOrLogical} = true + args.legs logical {mustBeNumericOrLogical} = true + args.joints logical {mustBeNumericOrLogical} = true + args.labels logical {mustBeNumericOrLogical} = true + args.platforms logical {mustBeNumericOrLogical} = true + args.views char {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default' +end + +assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A') +FO_A = stewart.platform_F.FO_A; + +assert(isfield(stewart.platform_M, 'MO_B'), 'stewart.platform_M should have attribute MO_B') +MO_B = stewart.platform_M.MO_B; + +assert(isfield(stewart.geometry, 'H'), 'stewart.geometry should have attribute H') +H = stewart.geometry.H; + +assert(isfield(stewart.platform_F, 'Fa'), 'stewart.platform_F should have attribute Fa') +Fa = stewart.platform_F.Fa; + +assert(isfield(stewart.platform_M, 'Mb'), 'stewart.platform_M should have attribute Mb') +Mb = stewart.platform_M.Mb; + +if ~strcmp(args.views, 'all') + figure; +else + f = figure('visible', 'off'); +end + +hold on; + +FTa = [eye(3), FO_A; ... + zeros(1,3), 1]; +ATb = [args.ARB, args.AP; ... + zeros(1,3), 1]; +BTm = [eye(3), -MO_B; ... + zeros(1,3), 1]; + +FTm = FTa*ATb*BTm; + +d_unit_vector = H/4; + +d_label = H/20; + +Ff = [0, 0, 0]; +if args.frames + quiver3(Ff(1)*ones(1,3), Ff(2)*ones(1,3), Ff(3)*ones(1,3), ... + [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color) + + if args.labels + text(Ff(1) + d_label, ... + Ff(2) + d_label, ... + Ff(3) + d_label, '$\{F\}$', 'Color', args.F_color); + end +end + +if args.frames + quiver3(FO_A(1)*ones(1,3), FO_A(2)*ones(1,3), FO_A(3)*ones(1,3), ... + [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color) + + if args.labels + text(FO_A(1) + d_label, ... + FO_A(2) + d_label, ... + FO_A(3) + d_label, '$\{A\}$', 'Color', args.F_color); + end +end + +if args.platforms && stewart.platform_F.type == 1 + theta = [0:0.01:2*pi+0.01]; % Angles [rad] + v = null([0; 0; 1]'); % Two vectors that are perpendicular to the circle normal + center = [0; 0; 0]; % Center of the circle + radius = stewart.platform_F.R; % Radius of the circle [m] + + points = center*ones(1, length(theta)) + radius*(v(:,1)*cos(theta) + v(:,2)*sin(theta)); + + plot3(points(1,:), ... + points(2,:), ... + points(3,:), '-', 'Color', args.F_color); +end + +if args.joints + scatter3(Fa(1,:), ... + Fa(2,:), ... + Fa(3,:), 'MarkerEdgeColor', args.F_color); + if args.labels + for i = 1:size(Fa,2) + text(Fa(1,i) + d_label, ... + Fa(2,i), ... + Fa(3,i), sprintf('$a_{%i}$', i), 'Color', args.F_color); + end + end +end + +Fm = FTm*[0; 0; 0; 1]; % Get the position of frame {M} w.r.t. {F} + +if args.frames + FM_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors + quiver3(Fm(1)*ones(1,3), Fm(2)*ones(1,3), Fm(3)*ones(1,3), ... + FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', args.M_color) + + if args.labels + text(Fm(1) + d_label, ... + Fm(2) + d_label, ... + Fm(3) + d_label, '$\{M\}$', 'Color', args.M_color); + end +end + +FB = FO_A + args.AP; + +if args.frames + FB_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors + quiver3(FB(1)*ones(1,3), FB(2)*ones(1,3), FB(3)*ones(1,3), ... + FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', args.M_color) + + if args.labels + text(FB(1) - d_label, ... + FB(2) + d_label, ... + FB(3) + d_label, '$\{B\}$', 'Color', args.M_color); + end +end + +if args.platforms && stewart.platform_M.type == 1 + theta = [0:0.01:2*pi+0.01]; % Angles [rad] + v = null((FTm(1:3,1:3)*[0;0;1])'); % Two vectors that are perpendicular to the circle normal + center = Fm(1:3); % Center of the circle + radius = stewart.platform_M.R; % Radius of the circle [m] + + points = center*ones(1, length(theta)) + radius*(v(:,1)*cos(theta) + v(:,2)*sin(theta)); + + plot3(points(1,:), ... + points(2,:), ... + points(3,:), '-', 'Color', args.M_color); +end + +if args.joints + Fb = FTm*[Mb;ones(1,6)]; + + scatter3(Fb(1,:), ... + Fb(2,:), ... + Fb(3,:), 'MarkerEdgeColor', args.M_color); + + if args.labels + for i = 1:size(Fb,2) + text(Fb(1,i) + d_label, ... + Fb(2,i), ... + Fb(3,i), sprintf('$b_{%i}$', i), 'Color', args.M_color); + end + end +end + +if args.legs + for i = 1:6 + plot3([Fa(1,i), Fb(1,i)], ... + [Fa(2,i), Fb(2,i)], ... + [Fa(3,i), Fb(3,i)], '-', 'Color', args.L_color); + + if args.labels + text((Fa(1,i)+Fb(1,i))/2 + d_label, ... + (Fa(2,i)+Fb(2,i))/2, ... + (Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', args.L_color); + end + end +end + +switch args.views + case 'default' + view([1 -0.6 0.4]); + case 'xy' + view([0 0 1]); + case 'xz' + view([0 -1 0]); + case 'yz' + view([1 0 0]); +end +axis equal; +axis off; + +if strcmp(args.views, 'all') + hAx = findobj('type', 'axes'); + + figure; + s1 = subplot(2,2,1); + copyobj(get(hAx(1), 'Children'), s1); + view([0 0 1]); + axis equal; + axis off; + title('Top') + + s2 = subplot(2,2,2); + copyobj(get(hAx(1), 'Children'), s2); + view([1 -0.6 0.4]); + axis equal; + axis off; + + s3 = subplot(2,2,3); + copyobj(get(hAx(1), 'Children'), s3); + view([1 0 0]); + axis equal; + axis off; + title('Front') + + s4 = subplot(2,2,4); + copyobj(get(hAx(1), 'Children'), s4); + view([0 -1 0]); + axis equal; + axis off; + title('Side') + + close(f); +end diff --git a/matlab/src/extractNodes.m b/matlab/src/extractNodes.m new file mode 100644 index 0000000..8b0a09f --- /dev/null +++ b/matlab/src/extractNodes.m @@ -0,0 +1,90 @@ +function [int_xyz, int_i, n_xyz, n_i, nodes] = extractNodes(filename) +% extractNodes - +% +% Syntax: [n_xyz, nodes] = extractNodes(filename) +% +% Inputs: +% - filename - relative or absolute path of the file that contains the Matrix +% +% Outputs: +% - n_xyz - +% - nodes - table containing the node numbers and corresponding dof of the interfaced DoFs + +arguments + filename +end + +fid = fopen(filename,'rt'); + +if fid == -1 + error('Error opening the file'); +end + +n_xyz = []; % Contains nodes coordinates +n_i = []; % Contains nodes indices + +n_num = []; % Contains node numbers +n_dof = {}; % Contains node directions + +while 1 + % Read a line + nextline = fgetl(fid); + + % End of the file + if ~isstr(nextline), break, end + + % Line just before the list of nodes coordinates + if contains(nextline, 'NODE') && ... + contains(nextline, 'X') && ... + contains(nextline, 'Y') && ... + contains(nextline, 'Z') + + while 1 + nextline = fgetl(fid); + + if nextline < 0, break, end + + c = sscanf(nextline, ' %f'); + + if isempty(c), break, end + + n_xyz = [n_xyz; c(2:4)']; + n_i = [n_i; c(1)]; + end + end + + if nextline < 0, break, end + + % Line just before the list of node DOF + if contains(nextline, 'NODE LABEL') + + while 1 + nextline = fgetl(fid); + + if nextline < 0, break, end + + c = sscanf(nextline, ' %d %s'); + + if isempty(c), break, end + + n_num = [n_num; c(1)]; + + n_dof{length(n_dof)+1} = char(c(2:end)'); + end + + nodes = table(n_num, string(n_dof'), 'VariableNames', {'node_i', 'node_dof'}); + end + + if nextline < 0, break, end +end + +fclose(fid); + +int_i = unique(nodes.('node_i')); % indices of interface nodes + +% Extract XYZ coordinates of only the interface nodes +if length(n_xyz) > 0 && length(n_i) > 0 + int_xyz = n_xyz(logical(sum(n_i.*ones(1, length(int_i)) == int_i', 2)), :); +else + int_xyz = n_xyz; +end \ No newline at end of file diff --git a/matlab/src/forwardKinematicsApprox.m b/matlab/src/forwardKinematicsApprox.m new file mode 100644 index 0000000..a6f3c23 --- /dev/null +++ b/matlab/src/forwardKinematicsApprox.m @@ -0,0 +1,34 @@ +function [P, R] = forwardKinematicsApprox(stewart, args) +% forwardKinematicsApprox - Computed the approximate pose of {B} with respect to {A} from the length of each strut and using +% the Jacobian Matrix +% +% Syntax: [P, R] = forwardKinematicsApprox(stewart, args) +% +% Inputs: +% - stewart - A structure with the following fields +% - kinematics.J [6x6] - The Jacobian Matrix +% - args - Can have the following fields: +% - dL [6x1] - Displacement of each strut [m] +% +% Outputs: +% - P [3x1] - The estimated position of {B} with respect to {A} +% - R [3x3] - The estimated rotation matrix that gives the orientation of {B} with respect to {A} + +arguments + stewart + args.dL (6,1) double {mustBeNumeric} = zeros(6,1) +end + +assert(isfield(stewart.kinematics, 'J'), 'stewart.kinematics should have attribute J') +J = stewart.kinematics.J; + +X = J\args.dL; + +P = X(1:3); + +theta = norm(X(4:6)); +s = X(4:6)/theta; + +R = [s(1)^2*(1-cos(theta)) + cos(theta) , s(1)*s(2)*(1-cos(theta)) - s(3)*sin(theta), s(1)*s(3)*(1-cos(theta)) + s(2)*sin(theta); + s(2)*s(1)*(1-cos(theta)) + s(3)*sin(theta), s(2)^2*(1-cos(theta)) + cos(theta), s(2)*s(3)*(1-cos(theta)) - s(1)*sin(theta); + s(3)*s(1)*(1-cos(theta)) - s(2)*sin(theta), s(3)*s(2)*(1-cos(theta)) + s(1)*sin(theta), s(3)^2*(1-cos(theta)) + cos(theta)]; diff --git a/matlab/src/generateCubicConfiguration.m b/matlab/src/generateCubicConfiguration.m new file mode 100644 index 0000000..596787b --- /dev/null +++ b/matlab/src/generateCubicConfiguration.m @@ -0,0 +1,50 @@ +function [stewart] = generateCubicConfiguration(stewart, args) +% generateCubicConfiguration - Generate a Cubic Configuration +% +% Syntax: [stewart] = generateCubicConfiguration(stewart, args) +% +% Inputs: +% - stewart - A structure with the following fields +% - geometry.H [1x1] - Total height of the platform [m] +% - args - Can have the following fields: +% - Hc [1x1] - Height of the "useful" part of the cube [m] +% - FOc [1x1] - Height of the center of the cube with respect to {F} [m] +% - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m] +% - MHb [1x1] - Height of the plane joining the points bi with respect to the frame {M} [m] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F} +% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M} + +arguments + stewart + args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3 + args.FOc (1,1) double {mustBeNumeric} = 50e-3 + args.FHa (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3 + args.MHb (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3 +end + +assert(isfield(stewart.geometry, 'H'), 'stewart.geometry should have attribute H') +H = stewart.geometry.H; + +sx = [ 2; -1; -1]; +sy = [ 0; 1; -1]; +sz = [ 1; 1; 1]; + +R = [sx, sy, sz]./vecnorm([sx, sy, sz]); + +L = args.Hc*sqrt(3); + +Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc]; + +CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg +CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg + +CSi = (CCm - CCf)./vecnorm(CCm - CCf); + +Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; +Mb = CCf + [0; 0; args.FOc-H] + ((H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; + +stewart.platform_F.Fa = Fa; +stewart.platform_M.Mb = Mb; diff --git a/matlab/src/generateDiagPidControl.m b/matlab/src/generateDiagPidControl.m new file mode 100644 index 0000000..47a777a --- /dev/null +++ b/matlab/src/generateDiagPidControl.m @@ -0,0 +1,18 @@ +function [K] = generateDiagPidControl(G, fs) + %% + pid_opts = pidtuneOptions(... + 'PhaseMargin', 50, ... + 'DesignFocus', 'disturbance-rejection'); + + %% + K = tf(zeros(6)); + + for i = 1:6 + input_name = G.InputName(i); + output_name = G.OutputName(i); + K(i, i) = tf(pidtune(minreal(G(output_name, input_name)), 'PIDF', 2*pi*fs, pid_opts)); + end + + K.InputName = G.OutputName; + K.OutputName = G.InputName; +end diff --git a/matlab/src/generateGeneralConfiguration.m b/matlab/src/generateGeneralConfiguration.m new file mode 100644 index 0000000..fbb570d --- /dev/null +++ b/matlab/src/generateGeneralConfiguration.m @@ -0,0 +1,39 @@ +function [stewart] = generateGeneralConfiguration(stewart, args) +% generateGeneralConfiguration - Generate a Very General Configuration +% +% Syntax: [stewart] = generateGeneralConfiguration(stewart, args) +% +% Inputs: +% - args - Can have the following fields: +% - FH [1x1] - Height of the position of the fixed joints with respect to the frame {F} [m] +% - FR [1x1] - Radius of the position of the fixed joints in the X-Y [m] +% - FTh [6x1] - Angles of the fixed joints in the X-Y plane with respect to the X axis [rad] +% - MH [1x1] - Height of the position of the mobile joints with respect to the frame {M} [m] +% - FR [1x1] - Radius of the position of the mobile joints in the X-Y [m] +% - MTh [6x1] - Angles of the mobile joints in the X-Y plane with respect to the X axis [rad] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F} +% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M} + +arguments + stewart + args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.FR (1,1) double {mustBeNumeric, mustBePositive} = 115e-3; + args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180); + args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3; + args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180); +end + +Fa = zeros(3,6); +Mb = zeros(3,6); + +for i = 1:6 + Fa(:,i) = [args.FR*cos(args.FTh(i)); args.FR*sin(args.FTh(i)); args.FH]; + Mb(:,i) = [args.MR*cos(args.MTh(i)); args.MR*sin(args.MTh(i)); -args.MH]; +end + +stewart.platform_F.Fa = Fa; +stewart.platform_M.Mb = Mb; diff --git a/matlab/src/generateShapedNoise.m b/matlab/src/generateShapedNoise.m new file mode 100644 index 0000000..51748c2 --- /dev/null +++ b/matlab/src/generateShapedNoise.m @@ -0,0 +1,53 @@ +function [U_exc] = generateShapedNoise(args) +% generateShapedNoise - Generate a Shaped Noise excitation signal +% +% Syntax: [U_exc] = generateShapedNoise(args) +% +% Inputs: +% - args - Optinal arguments: +% - Ts - Sampling Time - [s] +% - V_mean - Mean value of the excitation voltage - [V] +% - V_exc - Excitation Amplitude, could be numeric or TF - [V rms] +% - t_start - Time at which the noise begins - [s] +% - exc_duration - Duration of the noise - [s] +% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-] + +arguments + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 + args.V_mean (1,1) double {mustBeNumeric} = 0 + args.V_exc = 1 + args.t_start (1,1) double {mustBeNumeric, mustBePositive} = 5 + args.exc_duration (1,1) double {mustBeNumeric, mustBePositive} = 10 + args.smooth_ends logical {mustBeNumericOrLogical} = true +end + +t_noise = 0:args.Ts:args.exc_duration; + +if isnumeric(args.V_exc) + V_noise = args.V_mean + args.V_exc*sqrt(1/args.Ts/2)*randn(length(t_noise), 1)'; +elseif isct(args.V_exc) + V_noise = args.V_mean + lsim(args.V_exc, sqrt(1/args.Ts/2)*randn(length(t_noise), 1), t_noise)'; +end + +t_smooth_start = args.Ts:args.Ts:args.t_start; + +V_smooth_start = zeros(size(t_smooth_start)); +V_smooth_end = zeros(size(t_smooth_start)); + +if args.smooth_ends + Vd_max = args.V_mean/(0.7*args.t_start); + + V_d = zeros(size(t_smooth_start)); + V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start); + V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max; + V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start); + + V_smooth_start = cumtrapz(V_d)*args.Ts; + + V_smooth_end = args.V_mean - V_smooth_start; +end + +V_exc = [V_smooth_start, V_noise, V_smooth_end]; +t_exc = args.Ts*[0:1:length(V_exc)-1]; + +U_exc = [t_exc; V_exc]; diff --git a/matlab/src/generateSinIncreasingAmpl.m b/matlab/src/generateSinIncreasingAmpl.m new file mode 100644 index 0000000..4ce9170 --- /dev/null +++ b/matlab/src/generateSinIncreasingAmpl.m @@ -0,0 +1,54 @@ +function [U_exc] = generateSinIncreasingAmpl(args) +% generateSinIncreasingAmpl - Generate Sinus with increasing amplitude +% +% Syntax: [U_exc] = generateSinIncreasingAmpl(args) +% +% Inputs: +% - args - Optinal arguments: +% - Ts - Sampling Time - [s] +% - V_mean - Mean value of the excitation voltage - [V] +% - sin_ampls - Excitation Amplitudes - [V] +% - sin_freq - Excitation Frequency - [Hz] +% - sin_num - Number of period for each amplitude - [-] +% - t_start - Time at which the excitation begins - [s] +% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-] + +arguments + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 + args.V_mean (1,1) double {mustBeNumeric} = 0 + args.sin_ampls double {mustBeNumeric, mustBePositive} = [0.1, 0.2, 0.3] + args.sin_period (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.sin_num (1,1) double {mustBeNumeric, mustBePositive, mustBeInteger} = 3 + args.t_start (1,1) double {mustBeNumeric, mustBePositive} = 5 + args.smooth_ends logical {mustBeNumericOrLogical} = true +end + +t_noise = 0:args.Ts:args.sin_period*args.sin_num; +sin_exc = []; + +for sin_ampl = args.sin_ampls + sin_exc = [sin_exc, args.V_mean + sin_ampl*sin(2*pi/args.sin_period*t_noise)]; +end + +t_smooth_start = args.Ts:args.Ts:args.t_start; + +V_smooth_start = zeros(size(t_smooth_start)); +V_smooth_end = zeros(size(t_smooth_start)); + +if args.smooth_ends + Vd_max = args.V_mean/(0.7*args.t_start); + + V_d = zeros(size(t_smooth_start)); + V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start); + V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max; + V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start); + + V_smooth_start = cumtrapz(V_d)*args.Ts; + + V_smooth_end = args.V_mean - V_smooth_start; +end + +V_exc = [V_smooth_start, sin_exc, V_smooth_end]; +t_exc = args.Ts*[0:1:length(V_exc)-1]; + +U_exc = [t_exc; V_exc]; diff --git a/matlab/src/generateSpiralAngleTrajectory.m b/matlab/src/generateSpiralAngleTrajectory.m new file mode 100644 index 0000000..ac2d33c --- /dev/null +++ b/matlab/src/generateSpiralAngleTrajectory.m @@ -0,0 +1,35 @@ +function [ref] = generateSpiralAngleTrajectory(args) +% generateSpiralAngleTrajectory - +% +% Syntax: [ref] = generateSpiralAngleTrajectory(args) +% +% Inputs: +% - args +% +% Outputs: +% - ref - Reference Signal + +arguments + args.R_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [rad] + args.n_turn (1,1) double {mustBeInteger, mustBePositive} = 5 % [-] + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [s] + args.t_turn (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s] + args.t_end (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s] +end + +time_s = 0:args.Ts:args.n_turn*args.t_turn; +time_e = 0:args.Ts:args.t_end; + +Rx = sin(2*pi*time_s/args.t_turn).*(args.R_tot*time_s/(args.n_turn*args.t_turn)); +Ry = cos(2*pi*time_s/args.t_turn).*(args.R_tot*time_s/(args.n_turn*args.t_turn)); + +Rx = [Rx, 0*time_e]; +Ry = [Ry, Ry(end) - Ry(end)*time_e/args.t_end]; + +t = 0:args.Ts:args.Ts*(length(Rx) - 1); + +ref = zeros(length(Rx), 7); + +ref(:, 1) = t; +ref(:, 5) = Rx; +ref(:, 6) = Ry; diff --git a/matlab/src/generateSweepExc.m b/matlab/src/generateSweepExc.m new file mode 100644 index 0000000..252b8c5 --- /dev/null +++ b/matlab/src/generateSweepExc.m @@ -0,0 +1,76 @@ +function [U_exc] = generateSweepExc(args) +% generateSweepExc - Generate a Sweep Sine excitation signal +% +% Syntax: [U_exc] = generateSweepExc(args) +% +% Inputs: +% - args - Optinal arguments: +% - Ts - Sampling Time - [s] +% - f_start - Start frequency of the sweep - [Hz] +% - f_end - End frequency of the sweep - [Hz] +% - V_mean - Mean value of the excitation voltage - [V] +% - V_exc - Excitation Amplitude for the Sweep, could be numeric or TF - [V] +% - t_start - Time at which the sweep begins - [s] +% - exc_duration - Duration of the sweep - [s] +% - sweep_type - 'logarithmic' or 'linear' - [-] +% - smooth_ends - 'true' or 'false': smooth transition between 0 and V_mean - [-] + +arguments + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 + args.f_start (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.f_end (1,1) double {mustBeNumeric, mustBePositive} = 1e3 + args.V_mean (1,1) double {mustBeNumeric} = 0 + args.V_exc = 1 + args.t_start (1,1) double {mustBeNumeric, mustBeNonnegative} = 5 + args.exc_duration (1,1) double {mustBeNumeric, mustBePositive} = 10 + args.sweep_type char {mustBeMember(args.sweep_type,{'log', 'lin'})} = 'lin' + args.smooth_ends logical {mustBeNumericOrLogical} = true +end + +t_sweep = 0:args.Ts:args.exc_duration; + +if strcmp(args.sweep_type, 'log') + V_exc = sin(2*pi*args.f_start * args.exc_duration/log(args.f_end/args.f_start) * (exp(log(args.f_end/args.f_start)*t_sweep/args.exc_duration) - 1)); +elseif strcmp(args.sweep_type, 'lin') + V_exc = sin(2*pi*(args.f_start + (args.f_end - args.f_start)/2/args.exc_duration*t_sweep).*t_sweep); +else + error('sweep_type should either be equal to "log" or to "lin"'); +end + +if isnumeric(args.V_exc) + V_sweep = args.V_mean + args.V_exc*V_exc; +elseif isct(args.V_exc) + if strcmp(args.sweep_type, 'log') + V_sweep = args.V_mean + abs(squeeze(freqresp(args.V_exc, args.f_start*(args.f_end/args.f_start).^(t_sweep/args.exc_duration), 'Hz')))'.*V_exc; + elseif strcmp(args.sweep_type, 'lin') + V_sweep = args.V_mean + abs(squeeze(freqresp(args.V_exc, args.f_start+(args.f_end-args.f_start)/args.exc_duration*t_sweep, 'Hz')))'.*V_exc; + end +end + +if args.t_start > 0 + t_smooth_start = args.Ts:args.Ts:args.t_start; + + V_smooth_start = zeros(size(t_smooth_start)); + V_smooth_end = zeros(size(t_smooth_start)); + + if args.smooth_ends + Vd_max = args.V_mean/(0.7*args.t_start); + + V_d = zeros(size(t_smooth_start)); + V_d(t_smooth_start < 0.2*args.t_start) = t_smooth_start(t_smooth_start < 0.2*args.t_start)*Vd_max/(0.2*args.t_start); + V_d(t_smooth_start > 0.2*args.t_start & t_smooth_start < 0.7*args.t_start) = Vd_max; + V_d(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) = Vd_max - (t_smooth_start(t_smooth_start > 0.7*args.t_start & t_smooth_start < 0.9*args.t_start) - 0.7*args.t_start)*Vd_max/(0.2*args.t_start); + + V_smooth_start = cumtrapz(V_d)*args.Ts; + + V_smooth_end = args.V_mean - V_smooth_start; + end +else + V_smooth_start = []; + V_smooth_end = []; +end + +V_exc = [V_smooth_start, V_sweep, V_smooth_end]; +t_exc = args.Ts*[0:1:length(V_exc)-1]; + +U_exc = [t_exc; V_exc]; diff --git a/matlab/src/generateXYZTrajectory.m b/matlab/src/generateXYZTrajectory.m new file mode 100644 index 0000000..3c2e69f --- /dev/null +++ b/matlab/src/generateXYZTrajectory.m @@ -0,0 +1,48 @@ +function [ref] = generateXYZTrajectory(args) +% generateXYZTrajectory - +% +% Syntax: [ref] = generateXYZTrajectory(args) +% +% Inputs: +% - args +% +% Outputs: +% - ref - Reference Signal + +arguments + args.points double {mustBeNumeric} = zeros(2, 3) % [m] + + args.ti (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % Time to go to first point and after last point [s] + args.tw (1,1) double {mustBeNumeric, mustBeNonnegative} = 0.5 % Time wait between each point [s] + args.tm (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % Motion time between points [s] + + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % Sampling Time [s] +end + +time_i = 0:args.Ts:args.ti; +time_w = 0:args.Ts:args.tw; +time_m = 0:args.Ts:args.tm; + +% Go to initial position +xyz = (args.points(1,:))'*(time_i/args.ti); + +% Wait +xyz = [xyz, xyz(:,end).*ones(size(time_w))]; + +% Scans +for i = 2:size(args.points, 1) + % Go to next point + xyz = [xyz, xyz(:,end) + (args.points(i,:)' - xyz(:,end))*(time_m/args.tm)]; + % Wait a litle bit + xyz = [xyz, xyz(:,end).*ones(size(time_w))]; +end + +% End motion +xyz = [xyz, xyz(:,end) - xyz(:,end)*(time_i/args.ti)]; + +t = 0:args.Ts:args.Ts*(length(xyz) - 1); + +ref = zeros(length(xyz), 7); + +ref(:, 1) = t; +ref(:, 2:4) = xyz'; diff --git a/matlab/src/generateYZScanTrajectory.m b/matlab/src/generateYZScanTrajectory.m new file mode 100644 index 0000000..e23b168 --- /dev/null +++ b/matlab/src/generateYZScanTrajectory.m @@ -0,0 +1,83 @@ +function [ref] = generateYZScanTrajectory(args) +% generateYZScanTrajectory - +% +% Syntax: [ref] = generateYZScanTrajectory(args) +% +% Inputs: +% - args +% +% Outputs: +% - ref - Reference Signal + +arguments + args.y_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m] + args.z_tot (1,1) double {mustBeNumeric, mustBePositive} = 10e-6 % [m] + + args.n (1,1) double {mustBeInteger, mustBePositive} = 10 % [-] + + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 % [s] + + args.ti (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s] + args.tw (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s] + args.ty (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s] + args.tz (1,1) double {mustBeNumeric, mustBeNonnegative} = 1 % [s] +end + +time_i = 0:args.Ts:args.ti; +time_w = 0:args.Ts:args.tw; +time_y = 0:args.Ts:args.ty; +time_z = 0:args.Ts:args.tz; + +% Go to initial position +y = (time_i/args.ti)*(args.y_tot/2); + +% Wait +y = [y, y(end)*ones(size(time_w))]; + +% Scans +for i = 1:args.n + if mod(i,2) == 0 + y = [y, -(args.y_tot/2) + (time_y/args.ty)*args.y_tot]; + else + y = [y, (args.y_tot/2) - (time_y/args.ty)*args.y_tot]; + end + + if i < args.n + y = [y, y(end)*ones(size(time_z))]; + end +end + +% Wait a litle bit +y = [y, y(end)*ones(size(time_w))]; + +% End motion +y = [y, y(end) - y(end)*time_i/args.ti]; + +% Go to initial position +z = (time_i/args.ti)*(args.z_tot/2); + +% Wait +z = [z, z(end)*ones(size(time_w))]; + +% Scans +for i = 1:args.n + z = [z, z(end)*ones(size(time_y))]; + + if i < args.n + z = [z, z(end) - (time_z/args.tz)*args.z_tot/(args.n-1)]; + end +end + +% Wait a litle bit +z = [z, z(end)*ones(size(time_w))]; + +% End motion +z = [z, z(end) - z(end)*time_i/args.ti]; + +t = 0:args.Ts:args.Ts*(length(y) - 1); + +ref = zeros(length(y), 7); + +ref(:, 1) = t; +ref(:, 3) = y; +ref(:, 4) = z; diff --git a/matlab/src/getJacobianNanoHexapod.m b/matlab/src/getJacobianNanoHexapod.m new file mode 100644 index 0000000..f660c78 --- /dev/null +++ b/matlab/src/getJacobianNanoHexapod.m @@ -0,0 +1,34 @@ +function [J] = getJacobianNanoHexapod(Hbm) +% getJacobianNanoHexapod - +% +% Syntax: [J] = getJacobianNanoHexapod(Hbm) +% +% Inputs: +% - Hbm - Height of {B} w.r.t. {M} [m] +% +% Outputs: +% - J - Jacobian Matrix + +Fa = [[-86.05, -74.78, 22.49], + [ 86.05, -74.78, 22.49], + [ 107.79, -37.13, 22.49], + [ 21.74, 111.91, 22.49], + [-21.74, 111.91, 22.49], + [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m] + +Mb = [[-28.47, -106.25, -22.50], + [ 28.47, -106.25, -22.50], + [ 106.25, 28.47, -22.50], + [ 77.78, 77.78, -22.50], + [-77.78, 77.78, -22.50], + [-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m] + +H = 95e-3; % Stewart platform height [m] +Fb = Mb + [0; 0; H]; % Bi w.r.t. {F} [m] + +si = Fb - Fa; +si = si./vecnorm(si); % Normalize + +Bb = Mb - [0; 0; Hbm]; + +J = [si', cross(Bb, si)']; diff --git a/matlab/src/getTransformationMatrixAcc.m b/matlab/src/getTransformationMatrixAcc.m new file mode 100644 index 0000000..cc4dd44 --- /dev/null +++ b/matlab/src/getTransformationMatrixAcc.m @@ -0,0 +1,23 @@ +function [M] = getTransformationMatrixAcc(Opm, Osm) +% getTransformationMatrixAcc - +% +% Syntax: [M] = getTransformationMatrixAcc(Opm, Osm) +% +% Inputs: +% - Opm - Nx3 (N = number of accelerometer measurements) X,Y,Z position of accelerometers +% - Opm - Nx3 (N = number of accelerometer measurements) Unit vectors representing the accelerometer orientation +% +% Outputs: +% - M - Transformation Matrix + +M = zeros(length(Opm), 6); + +for i = 1:length(Opm) + Ri = [0, Opm(3,i), -Opm(2,i); + -Opm(3,i), 0, Opm(1,i); + Opm(2,i), -Opm(1,i), 0]; + M(i, 1:3) = Osm(:,i)'; + M(i, 4:6) = Osm(:,i)'*Ri; +end + +end diff --git a/matlab/src/initializeAmplifiedStrutDynamics.m b/matlab/src/initializeAmplifiedStrutDynamics.m new file mode 100644 index 0000000..a22bdb0 --- /dev/null +++ b/matlab/src/initializeAmplifiedStrutDynamics.m @@ -0,0 +1,43 @@ +function [stewart] = initializeAmplifiedStrutDynamics(stewart, args) +% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut +% +% Syntax: [stewart] = initializeAmplifiedStrutDynamics(args) +% +% Inputs: +% - args - Structure with the following fields: +% - Ka [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m] +% - Ca [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)] +% - Kr [6x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m] +% - Cr [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - actuators.type = 2 +% - actuators.K [6x1] - Total Stiffness of each strut [N/m] +% - actuators.C [6x1] - Total Damping of each strut [N/(m/s)] +% - actuators.Ka [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m] +% - actuators.Ca [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)] +% - actuators.Kr [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m] +% - actuators.Cr [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)] + +arguments + stewart + args.Kr (6,1) double {mustBeNumeric, mustBeNonnegative} = 5e6*ones(6,1) + args.Cr (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Ka (6,1) double {mustBeNumeric, mustBeNonnegative} = 15e6*ones(6,1) + args.Ca (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) +end + +K = args.Ka + args.Kr; +C = args.Ca + args.Cr; + +stewart.actuators.type = 2; + +stewart.actuators.Ka = args.Ka; +stewart.actuators.Ca = args.Ca; + +stewart.actuators.Kr = args.Kr; +stewart.actuators.Cr = args.Cr; + +stewart.actuators.K = K; +stewart.actuators.C = K; diff --git a/matlab/src/initializeAxisc.m b/matlab/src/initializeAxisc.m new file mode 100644 index 0000000..9358a59 --- /dev/null +++ b/matlab/src/initializeAxisc.m @@ -0,0 +1,34 @@ +function [axisc] = initializeAxisc(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible' +end + +axisc = struct(); + +switch args.type + case 'none' + axisc.type = 0; + case 'rigid' + axisc.type = 1; + case 'flexible' + axisc.type = 2; +end + +% Structure +axisc.structure.density = 3400; % [kg/m3] +axisc.structure.STEP = './STEPS/axisc/axisc_structure.STEP'; + +% Wheel +axisc.wheel.density = 2700; % [kg/m3] +axisc.wheel.STEP = './STEPS/axisc/axisc_wheel.STEP'; + +% Mass +axisc.mass.density = 7800; % [kg/m3] +axisc.mass.STEP = './STEPS/axisc/axisc_mass.STEP'; + +% Gear +axisc.gear.density = 7800; % [kg/m3] +axisc.gear.STEP = './STEPS/axisc/axisc_gear.STEP'; + +save('./mat/stages.mat', 'axisc', '-append'); diff --git a/matlab/src/initializeCedratPiezo.m b/matlab/src/initializeCedratPiezo.m new file mode 100644 index 0000000..a91dc8e --- /dev/null +++ b/matlab/src/initializeCedratPiezo.m @@ -0,0 +1,17 @@ +function [cedrat] = initializeCedratPiezo() + %% Stewart Object + cedrat = struct(); + cedrat.k = 10e7; % Linear Stiffness of each "blade" [N/m] + cedrat.ka = 10e7; % Linear Stiffness of the stack [N/m] + + cedrat.c = 0.1*sqrt(1*cedrat.k); % [N/(m/s)] + cedrat.ca = 0.1*sqrt(1*cedrat.ka); % [N/(m/s)] + + cedrat.L = 80; % Total Width of the Actuator[mm] + cedrat.H = 45; % Total Height of the Actuator [mm] + cedrat.L2 = sqrt((cedrat.L/2)^2 + (cedrat.H/2)^2); % Length of the elipsoidal sections [mm] + cedrat.alpha = 180/pi*atan2(cedrat.L/2, cedrat.H/2); % [deg] + + %% Save + save('./mat/stages.mat', 'cedrat', '-append'); +end diff --git a/matlab/src/initializeController.m b/matlab/src/initializeController.m new file mode 100644 index 0000000..76571d8 --- /dev/null +++ b/matlab/src/initializeController.m @@ -0,0 +1,39 @@ +function [] = initializeController(args) + +arguments + args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop' +end + +controller = struct(); + +switch args.type + case 'open-loop' + controller.type = 1; + controller.name = 'Open-Loop'; + case 'dvf' + controller.type = 2; + controller.name = 'Decentralized Direct Velocity Feedback'; + case 'iff' + controller.type = 3; + controller.name = 'Decentralized Integral Force Feedback'; + case 'hac-dvf' + controller.type = 4; + controller.name = 'HAC-DVF'; + case 'ref-track-L' + controller.type = 5; + controller.name = 'Reference Tracking in the frame of the legs'; + case 'ref-track-iff-L' + controller.type = 6; + controller.name = 'Reference Tracking in the frame of the legs + IFF'; + case 'cascade-hac-lac' + controller.type = 7; + controller.name = 'Cascade Control + HAC-LAC'; + case 'hac-iff' + controller.type = 8; + controller.name = 'HAC-IFF'; + case 'stabilizing' + controller.type = 9; + controller.name = 'Stabilizing Controller'; +end + +save('./mat/controller.mat', 'controller'); diff --git a/matlab/src/initializeCylindricalPlatforms.m b/matlab/src/initializeCylindricalPlatforms.m new file mode 100644 index 0000000..0b86fc1 --- /dev/null +++ b/matlab/src/initializeCylindricalPlatforms.m @@ -0,0 +1,59 @@ +function [stewart] = initializeCylindricalPlatforms(stewart, args) +% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms +% +% Syntax: [stewart] = initializeCylindricalPlatforms(args) +% +% Inputs: +% - args - Structure with the following fields: +% - Fpm [1x1] - Fixed Platform Mass [kg] +% - Fph [1x1] - Fixed Platform Height [m] +% - Fpr [1x1] - Fixed Platform Radius [m] +% - Mpm [1x1] - Mobile Platform Mass [kg] +% - Mph [1x1] - Mobile Platform Height [m] +% - Mpr [1x1] - Mobile Platform Radius [m] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - platform_F [struct] - structure with the following fields: +% - type = 1 +% - M [1x1] - Fixed Platform Mass [kg] +% - I [3x3] - Fixed Platform Inertia matrix [kg*m^2] +% - H [1x1] - Fixed Platform Height [m] +% - R [1x1] - Fixed Platform Radius [m] +% - platform_M [struct] - structure with the following fields: +% - M [1x1] - Mobile Platform Mass [kg] +% - I [3x3] - Mobile Platform Inertia matrix [kg*m^2] +% - H [1x1] - Mobile Platform Height [m] +% - R [1x1] - Mobile Platform Radius [m] + +arguments + stewart + args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 + args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3 + args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 + args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3 +end + +I_F = diag([1/12*args.Fpm * (3*args.Fpr^2 + args.Fph^2), ... + 1/12*args.Fpm * (3*args.Fpr^2 + args.Fph^2), ... + 1/2 *args.Fpm * args.Fpr^2]); + +I_M = diag([1/12*args.Mpm * (3*args.Mpr^2 + args.Mph^2), ... + 1/12*args.Mpm * (3*args.Mpr^2 + args.Mph^2), ... + 1/2 *args.Mpm * args.Mpr^2]); + +stewart.platform_F.type = 1; + +stewart.platform_F.I = I_F; +stewart.platform_F.M = args.Fpm; +stewart.platform_F.R = args.Fpr; +stewart.platform_F.H = args.Fph; + +stewart.platform_M.type = 1; + +stewart.platform_M.I = I_M; +stewart.platform_M.M = args.Mpm; +stewart.platform_M.R = args.Mpr; +stewart.platform_M.H = args.Mph; diff --git a/matlab/src/initializeCylindricalStruts.m b/matlab/src/initializeCylindricalStruts.m new file mode 100644 index 0000000..2bb7257 --- /dev/null +++ b/matlab/src/initializeCylindricalStruts.m @@ -0,0 +1,71 @@ +function [stewart] = initializeCylindricalStruts(stewart, args) +% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts +% +% Syntax: [stewart] = initializeCylindricalStruts(args) +% +% Inputs: +% - args - Structure with the following fields: +% - Fsm [1x1] - Mass of the Fixed part of the struts [kg] +% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m] +% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m] +% - Msm [1x1] - Mass of the Mobile part of the struts [kg] +% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m] +% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - struts_F [struct] - structure with the following fields: +% - M [6x1] - Mass of the Fixed part of the struts [kg] +% - I [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2] +% - H [6x1] - Height of cylinder for the Fixed part of the struts [m] +% - R [6x1] - Radius of cylinder for the Fixed part of the struts [m] +% - struts_M [struct] - structure with the following fields: +% - M [6x1] - Mass of the Mobile part of the struts [kg] +% - I [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2] +% - H [6x1] - Height of cylinder for the Mobile part of the struts [m] +% - R [6x1] - Radius of cylinder for the Mobile part of the struts [m] + +arguments + stewart + args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1 + args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3 + args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1 + args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3 +end + +Fsm = ones(6,1).*args.Fsm; +Fsh = ones(6,1).*args.Fsh; +Fsr = ones(6,1).*args.Fsr; + +Msm = ones(6,1).*args.Msm; +Msh = ones(6,1).*args.Msh; +Msr = ones(6,1).*args.Msr; + +I_F = zeros(3, 3, 6); % Inertia of the "fixed" part of the strut +I_M = zeros(3, 3, 6); % Inertia of the "mobile" part of the strut + +for i = 1:6 + I_F(:,:,i) = diag([1/12 * Fsm(i) * (3*Fsr(i)^2 + Fsh(i)^2), ... + 1/12 * Fsm(i) * (3*Fsr(i)^2 + Fsh(i)^2), ... + 1/2 * Fsm(i) * Fsr(i)^2]); + + I_M(:,:,i) = diag([1/12 * Msm(i) * (3*Msr(i)^2 + Msh(i)^2), ... + 1/12 * Msm(i) * (3*Msr(i)^2 + Msh(i)^2), ... + 1/2 * Msm(i) * Msr(i)^2]); +end + +stewart.struts_M.type = 1; + +stewart.struts_M.I = I_M; +stewart.struts_M.M = Msm; +stewart.struts_M.R = Msr; +stewart.struts_M.H = Msh; + +stewart.struts_F.type = 1; + +stewart.struts_F.I = I_F; +stewart.struts_F.M = Fsm; +stewart.struts_F.R = Fsr; +stewart.struts_F.H = Fsh; diff --git a/matlab/src/initializeDisturbances.m b/matlab/src/initializeDisturbances.m new file mode 100644 index 0000000..70d6f87 --- /dev/null +++ b/matlab/src/initializeDisturbances.m @@ -0,0 +1,135 @@ +function [] = initializeDisturbances(args) +% initializeDisturbances - Initialize the disturbances +% +% Syntax: [] = initializeDisturbances(args) +% +% Inputs: +% - args - + +arguments + % Global parameter to enable or disable the disturbances + args.enable logical {mustBeNumericOrLogical} = true + % Ground Motion - X direction + args.Dwx logical {mustBeNumericOrLogical} = true + % Ground Motion - Y direction + args.Dwy logical {mustBeNumericOrLogical} = true + % Ground Motion - Z direction + args.Dwz logical {mustBeNumericOrLogical} = true + % Translation Stage - X direction + args.Fty_x logical {mustBeNumericOrLogical} = true + % Translation Stage - Z direction + args.Fty_z logical {mustBeNumericOrLogical} = true + % Spindle - Z direction + args.Frz_z logical {mustBeNumericOrLogical} = true +end + +load('./mat/dist_psd.mat', 'dist_f'); + +dist_f.f = dist_f.f(2:end); +dist_f.psd_gm = dist_f.psd_gm(2:end); +dist_f.psd_ty = dist_f.psd_ty(2:end); +dist_f.psd_rz = dist_f.psd_rz(2:end); + +Fs = 2*dist_f.f(end); % Sampling Frequency of data is twice the maximum frequency of the PSD vector [Hz] +N = 2*length(dist_f.f); % Number of Samples match the one of the wanted PSD +T0 = N/Fs; % Signal Duration [s] +df = 1/T0; % Frequency resolution of the DFT [Hz] + % Also equal to (dist_f.f(2)-dist_f.f(1)) +t = linspace(0, T0, N+1)'; % Time Vector [s] +Ts = 1/Fs; % Sampling Time [s] + +phi = dist_f.psd_gm; +C = zeros(N/2,1); +for i = 1:N/2 + C(i) = sqrt(phi(i)*df); +end + +if args.Dwx && args.enable + rng(111); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + Dwx = N/sqrt(2)*ifft(Cx); % Ground Motion - x direction [m] +else + Dwx = zeros(length(t), 1); +end + +if args.Dwy && args.enable + rng(112); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + Dwy = N/sqrt(2)*ifft(Cx); % Ground Motion - y direction [m] +else + Dwy = zeros(length(t), 1); +end + +if args.Dwy && args.enable + rng(113); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + Dwz = N/sqrt(2)*ifft(Cx); % Ground Motion - z direction [m] +else + Dwz = zeros(length(t), 1); +end + +if args.Fty_x && args.enable + phi = dist_f.psd_ty; % TODO - we take here the vertical direction which is wrong but approximate + C = zeros(N/2,1); + for i = 1:N/2 + C(i) = sqrt(phi(i)*df); + end + rng(121); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty x [N] + Fty_x = u; +else + Fty_x = zeros(length(t), 1); +end + +if args.Fty_z && args.enable + phi = dist_f.psd_ty; + C = zeros(N/2,1); + for i = 1:N/2 + C(i) = sqrt(phi(i)*df); + end + rng(122); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + u = N/sqrt(2)*ifft(Cx); % Disturbance Force Ty z [N] + Fty_z = u; +else + Fty_z = zeros(length(t), 1); +end + +if args.Frz_z && args.enable + phi = dist_f.psd_rz; + C = zeros(N/2,1); + for i = 1:N/2 + C(i) = sqrt(phi(i)*df); + end + rng(131); + theta = 2*pi*rand(N/2,1); % Generate random phase [rad] + Cx = [0 ; C.*complex(cos(theta),sin(theta))]; + Cx = [Cx; flipud(conj(Cx(2:end)))];; + u = N/sqrt(2)*ifft(Cx); % Disturbance Force Rz z [N] + Frz_z = u; +else + Frz_z = zeros(length(t), 1); +end + +u = zeros(length(t), 6); +Fd = u; + +Dwx = Dwx - Dwx(1); +Dwy = Dwy - Dwy(1); +Dwz = Dwz - Dwz(1); +Fty_x = Fty_x - Fty_x(1); +Fty_z = Fty_z - Fty_z(1); +Frz_z = Frz_z - Frz_z(1); + +save('./mat/nass_disturbances.mat', 'Dwx', 'Dwy', 'Dwz', 'Fty_x', 'Fty_z', 'Frz_z', 'Fd', 'Ts', 't', 'args'); diff --git a/matlab/src/initializeFramesPositions.m b/matlab/src/initializeFramesPositions.m new file mode 100644 index 0000000..f68b97d --- /dev/null +++ b/matlab/src/initializeFramesPositions.m @@ -0,0 +1,35 @@ +function [stewart] = initializeFramesPositions(stewart, args) +% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M} +% +% Syntax: [stewart] = initializeFramesPositions(stewart, args) +% +% Inputs: +% - args - Can have the following fields: +% - H [1x1] - Total Height of the Stewart Platform (height from {F} to {M}) [m] +% - MO_B [1x1] - Height of the frame {B} with respect to {M} [m] +% +% Outputs: +% - stewart - A structure with the following fields: +% - geometry.H [1x1] - Total Height of the Stewart Platform [m] +% - geometry.FO_M [3x1] - Position of {M} with respect to {F} [m] +% - platform_M.MO_B [3x1] - Position of {B} with respect to {M} [m] +% - platform_F.FO_A [3x1] - Position of {A} with respect to {F} [m] + +arguments + stewart + args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3 + args.MO_B (1,1) double {mustBeNumeric} = 50e-3 +end + +H = args.H; % Total Height of the Stewart Platform [m] + +FO_M = [0; 0; H]; % Position of {M} with respect to {F} [m] + +MO_B = [0; 0; args.MO_B]; % Position of {B} with respect to {M} [m] + +FO_A = MO_B + FO_M; % Position of {A} with respect to {F} [m] + +stewart.geometry.H = H; +stewart.geometry.FO_M = FO_M; +stewart.platform_M.MO_B = MO_B; +stewart.platform_F.FO_A = FO_A; diff --git a/matlab/src/initializeGranite.m b/matlab/src/initializeGranite.m new file mode 100644 index 0000000..67c1e75 --- /dev/null +++ b/matlab/src/initializeGranite.m @@ -0,0 +1,45 @@ +function [granite] = initializeGranite(args) + +arguments + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'modal-analysis', 'init'})} = 'flexible' + args.Foffset logical {mustBeNumericOrLogical} = false + args.density (1,1) double {mustBeNumeric, mustBeNonnegative} = 2800 % Density [kg/m3] + args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = [4e9; 3e8; 8e8] % [N/m] + args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = [4.0e5; 1.1e5; 9.0e5] % [N/(m/s)] + args.x0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the X direction [m] + args.y0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Y direction [m] + args.z0 (1,1) double {mustBeNumeric} = 0 % Rest position of the Joint in the Z direction [m] + args.sample_pos (1,1) double {mustBeNumeric} = 0.8 % Height of the measurment point [m] +end + +granite = struct(); + +switch args.type + case 'none' + granite.type = 0; + case 'rigid' + granite.type = 1; + case 'flexible' + granite.type = 2; + case 'modal-analysis' + granite.type = 3; + case 'init' + granite.type = 4; +end + +granite.density = args.density; % [kg/m3] +granite.STEP = './STEPS/granite/granite.STEP'; + +granite.sample_pos = args.sample_pos; % [m] + +granite.K = args.K; % [N/m] +granite.C = args.C; % [N/(m/s)] + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fgm'); + granite.Deq = -Fgm'./granite.K; +else + granite.Deq = zeros(6,1); +end + +save('./mat/stages.mat', 'granite', '-append'); diff --git a/matlab/src/initializeGround.m b/matlab/src/initializeGround.m new file mode 100644 index 0000000..d9c4f2a --- /dev/null +++ b/matlab/src/initializeGround.m @@ -0,0 +1,22 @@ +function [ground] = initializeGround(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid'})} = 'rigid' + args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1) % Rotation point for the ground motion [m] +end + +ground = struct(); + +switch args.type + case 'none' + ground.type = 0; + case 'rigid' + ground.type = 1; +end + +ground.shape = [2, 2, 0.5]; % [m] +ground.density = 2800; % [kg/m3] + +ground.rot_point = args.rot_point; + +save('./mat/stages.mat', 'ground', '-append'); diff --git a/matlab/src/initializeInertialSensor.m b/matlab/src/initializeInertialSensor.m new file mode 100644 index 0000000..a9509e4 --- /dev/null +++ b/matlab/src/initializeInertialSensor.m @@ -0,0 +1,48 @@ +function [stewart] = initializeInertialSensor(stewart, args) +% initializeInertialSensor - Initialize the inertial sensor in each strut +% +% Syntax: [stewart] = initializeInertialSensor(args) +% +% Inputs: +% - args - Structure with the following fields: +% - type - 'geophone', 'accelerometer', 'none' +% - mass [1x1] - Weight of the inertial mass [kg] +% - freq [1x1] - Cutoff frequency [Hz] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - stewart.sensors.inertial +% - type - 1 (geophone), 2 (accelerometer), 3 (none) +% - K [1x1] - Stiffness [N/m] +% - C [1x1] - Damping [N/(m/s)] +% - M [1x1] - Inertial Mass [kg] +% - G [1x1] - Gain + +arguments + stewart + args.type char {mustBeMember(args.type,{'geophone', 'accelerometer', 'none'})} = 'none' + args.mass (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2 + args.freq (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e3 +end + +sensor = struct(); + +switch args.type + case 'geophone' + sensor.type = 1; + + sensor.M = args.mass; + sensor.K = sensor.M * (2*pi*args.freq)^2; + sensor.C = 2*sqrt(sensor.M * sensor.K); + case 'accelerometer' + sensor.type = 2; + + sensor.M = args.mass; + sensor.K = sensor.M * (2*pi*args.freq)^2; + sensor.C = 2*sqrt(sensor.M * sensor.K); + sensor.G = -sensor.K/sensor.M; + case 'none' + sensor.type = 3; +end + +stewart.sensors.inertial = sensor; diff --git a/matlab/src/initializeJointDynamics.m b/matlab/src/initializeJointDynamics.m new file mode 100644 index 0000000..cc78b3a --- /dev/null +++ b/matlab/src/initializeJointDynamics.m @@ -0,0 +1,131 @@ +function [stewart] = initializeJointDynamics(stewart, args) +% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints +% +% Syntax: [stewart] = initializeJointDynamics(args) +% +% Inputs: +% - args - Structure with the following fields: +% - type_F - 'universal', 'spherical', 'universal_p', 'spherical_p' +% - type_M - 'universal', 'spherical', 'universal_p', 'spherical_p' +% - Kf_M [6x1] - Bending (Rx, Ry) Stiffness for each top joints [(N.m)/rad] +% - Kt_M [6x1] - Torsion (Rz) Stiffness for each top joints [(N.m)/rad] +% - Cf_M [6x1] - Bending (Rx, Ry) Damping of each top joint [(N.m)/(rad/s)] +% - Ct_M [6x1] - Torsion (Rz) Damping of each top joint [(N.m)/(rad/s)] +% - Kf_F [6x1] - Bending (Rx, Ry) Stiffness for each bottom joints [(N.m)/rad] +% - Kt_F [6x1] - Torsion (Rz) Stiffness for each bottom joints [(N.m)/rad] +% - Cf_F [6x1] - Bending (Rx, Ry) Damping of each bottom joint [(N.m)/(rad/s)] +% - Cf_F [6x1] - Torsion (Rz) Damping of each bottom joint [(N.m)/(rad/s)] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - stewart.joints_F and stewart.joints_M: +% - type - 1 (universal), 2 (spherical), 3 (universal perfect), 4 (spherical perfect) +% - Kx, Ky, Kz [6x1] - Translation (Tx, Ty, Tz) Stiffness [N/m] +% - Kf [6x1] - Flexion (Rx, Ry) Stiffness [(N.m)/rad] +% - Kt [6x1] - Torsion (Rz) Stiffness [(N.m)/rad] +% - Cx, Cy, Cz [6x1] - Translation (Rx, Ry) Damping [N/(m/s)] +% - Cf [6x1] - Flexion (Rx, Ry) Damping [(N.m)/(rad/s)] +% - Cb [6x1] - Torsion (Rz) Damping [(N.m)/(rad/s)] + +arguments + stewart + args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'universal' + args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'spherical' + args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1) + args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1) + args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) + args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1) + args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1) + args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) + args.Ka_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1) + args.Ca_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Kr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1) + args.Cr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Ka_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1) + args.Ca_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Kr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1) + args.Cr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.K_M double {mustBeNumeric} = zeros(6,6) + args.M_M double {mustBeNumeric} = zeros(6,6) + args.n_xyz_M double {mustBeNumeric} = zeros(2,3) + args.xi_M double {mustBeNumeric} = 0.1 + args.step_file_M char {} = '' + args.K_F double {mustBeNumeric} = zeros(6,6) + args.M_F double {mustBeNumeric} = zeros(6,6) + args.n_xyz_F double {mustBeNumeric} = zeros(2,3) + args.xi_F double {mustBeNumeric} = 0.1 + args.step_file_F char {} = '' +end + +switch args.type_F + case 'universal' + stewart.joints_F.type = 1; + case 'spherical' + stewart.joints_F.type = 2; + case 'universal_p' + stewart.joints_F.type = 3; + case 'spherical_p' + stewart.joints_F.type = 4; + case 'flexible' + stewart.joints_F.type = 5; + case 'universal_3dof' + stewart.joints_F.type = 6; + case 'spherical_3dof' + stewart.joints_F.type = 7; +end + +switch args.type_M + case 'universal' + stewart.joints_M.type = 1; + case 'spherical' + stewart.joints_M.type = 2; + case 'universal_p' + stewart.joints_M.type = 3; + case 'spherical_p' + stewart.joints_M.type = 4; + case 'flexible' + stewart.joints_M.type = 5; + case 'universal_3dof' + stewart.joints_M.type = 6; + case 'spherical_3dof' + stewart.joints_M.type = 7; +end + +stewart.joints_M.Ka = args.Ka_M; +stewart.joints_M.Kr = args.Kr_M; + +stewart.joints_F.Ka = args.Ka_F; +stewart.joints_F.Kr = args.Kr_F; + +stewart.joints_M.Ca = args.Ca_M; +stewart.joints_M.Cr = args.Cr_M; + +stewart.joints_F.Ca = args.Ca_F; +stewart.joints_F.Cr = args.Cr_F; + +stewart.joints_M.Kf = args.Kf_M; +stewart.joints_M.Kt = args.Kt_M; + +stewart.joints_F.Kf = args.Kf_F; +stewart.joints_F.Kt = args.Kt_F; + +stewart.joints_M.Cf = args.Cf_M; +stewart.joints_M.Ct = args.Ct_M; + +stewart.joints_F.Cf = args.Cf_F; +stewart.joints_F.Ct = args.Ct_F; + +stewart.joints_F.M = args.M_F; +stewart.joints_F.K = args.K_F; +stewart.joints_F.n_xyz = args.n_xyz_F; +stewart.joints_F.xi = args.xi_F; +stewart.joints_F.xi = args.xi_F; +stewart.joints_F.step_file = args.step_file_F; + +stewart.joints_M.M = args.M_M; +stewart.joints_M.K = args.K_M; +stewart.joints_M.n_xyz = args.n_xyz_M; +stewart.joints_M.xi = args.xi_M; +stewart.joints_M.step_file = args.step_file_M; diff --git a/matlab/src/initializeLoggingConfiguration.m b/matlab/src/initializeLoggingConfiguration.m new file mode 100644 index 0000000..5d46e58 --- /dev/null +++ b/matlab/src/initializeLoggingConfiguration.m @@ -0,0 +1,21 @@ +function [] = initializeLoggingConfiguration(args) + +arguments + args.log char {mustBeMember(args.log,{'none', 'all', 'forces'})} = 'none' + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 +end + +conf_log = struct(); + +switch args.log + case 'none' + conf_log.type = 0; + case 'all' + conf_log.type = 1; + case 'forces' + conf_log.type = 2; +end + +conf_log.Ts = args.Ts; + +save('./mat/conf_log.mat', 'conf_log'); diff --git a/matlab/src/initializeMicroHexapod.m b/matlab/src/initializeMicroHexapod.m new file mode 100644 index 0000000..643d81e --- /dev/null +++ b/matlab/src/initializeMicroHexapod.m @@ -0,0 +1,110 @@ +function [micro_hexapod] = initializeMicroHexapod(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init', 'compliance'})} = 'flexible' + % initializeFramesPositions + args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3 + args.MO_B (1,1) double {mustBeNumeric} = 270e-3 + % generateGeneralConfiguration + args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3 + args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180) + args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3 + args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3 + args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180) + % initializeStrutDynamics + args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1) + args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1) + % initializeCylindricalPlatforms + args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10 + args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3 + args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3 + args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10 + args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3 + args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3 + % initializeCylindricalStruts + args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3 + args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3 + args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3 + args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3 + % inverseKinematics + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + % Force that stiffness of each joint should apply at t=0 + args.Foffset logical {mustBeNumericOrLogical} = false +end + +stewart = initializeStewartPlatform(); + +stewart = initializeFramesPositions(stewart, ... + 'H', args.H, ... + 'MO_B', args.MO_B); + +stewart = generateGeneralConfiguration(stewart, ... + 'FH', args.FH, ... + 'FR', args.FR, ... + 'FTh', args.FTh, ... + 'MH', args.MH, ... + 'MR', args.MR, ... + 'MTh', args.MTh); + +stewart = computeJointsPose(stewart); + +stewart = initializeStrutDynamics(stewart, ... + 'K', args.Ki, ... + 'C', args.Ci); + +stewart = initializeJointDynamics(stewart, ... + 'type_F', 'universal_p', ... + 'type_M', 'spherical_p'); + +stewart = initializeCylindricalPlatforms(stewart, ... + 'Fpm', args.Fpm, ... + 'Fph', args.Fph, ... + 'Fpr', args.Fpr, ... + 'Mpm', args.Mpm, ... + 'Mph', args.Mph, ... + 'Mpr', args.Mpr); + +stewart = initializeCylindricalStruts(stewart, ... + 'Fsm', args.Fsm, ... + 'Fsh', args.Fsh, ... + 'Fsr', args.Fsr, ... + 'Msm', args.Msm, ... + 'Msh', args.Msh, ... + 'Msr', args.Msr); + +stewart = computeJacobian(stewart); + +stewart = initializeStewartPose(stewart, ... + 'AP', args.AP, ... + 'ARB', args.ARB); + +stewart = initializeInertialSensor(stewart, 'type', 'none'); + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fhm'); + stewart.actuators.dLeq = -Fhm'./args.Ki; +else + stewart.actuators.dLeq = zeros(6,1); +end + +switch args.type + case 'none' + stewart.type = 0; + case 'rigid' + stewart.type = 1; + case 'flexible' + stewart.type = 2; + case 'modal-analysis' + stewart.type = 3; + case 'init' + stewart.type = 4; + case 'compliance' + stewart.type = 5; +end + +micro_hexapod = stewart; +save('./mat/stages.mat', 'micro_hexapod', '-append'); diff --git a/matlab/src/initializeMicroHexapodOld.m b/matlab/src/initializeMicroHexapodOld.m new file mode 100644 index 0000000..41da308 --- /dev/null +++ b/matlab/src/initializeMicroHexapodOld.m @@ -0,0 +1,196 @@ +function [micro_hexapod] = initializeMicroHexapod(args) + arguments + args.rigid logical {mustBeNumericOrLogical} = false + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + end + + %% Stewart Object + micro_hexapod = struct(); + micro_hexapod.h = 350; % Total height of the platform [mm] + micro_hexapod.jacobian = 270; % Distance from the top of the mobile platform to the Jacobian point [mm] + + %% Bottom Plate - Mechanical Design + BP = struct(); + + BP.rad.int = 110; % Internal Radius [mm] + BP.rad.ext = 207.5; % External Radius [mm] + BP.thickness = 26; % Thickness [mm] + BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm] + BP.leg.ang = 9.5; % Angle Offset [deg] + BP.density = 8000; % Density of the material [kg/m^3] + BP.color = [0.6 0.6 0.6]; % Color [rgb] + BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness]; + + %% Top Plate - Mechanical Design + TP = struct(); + + TP.rad.int = 82; % Internal Radius [mm] + TP.rad.ext = 150; % Internal Radius [mm] + TP.thickness = 26; % Thickness [mm] + TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm] + TP.leg.ang = 12.1; % Angle Offset [deg] + TP.density = 8000; % Density of the material [kg/m^3] + TP.color = [0.6 0.6 0.6]; % Color [rgb] + TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness]; + + %% Struts + Leg = struct(); + + Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] + if args.rigid + Leg.k.ax = 1e12; % Stiffness of each leg [N/m] + else + Leg.k.ax = 2e7; % Stiffness of each leg [N/m] + end + Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) [] + Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] + Leg.rad.top = 17; % Radius of the cylinder of the top part [mm] + Leg.density = 8000; % Density of the material [kg/m^3] + Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb] + Leg.color.top = [0.5 0.5 0.5]; % Color [rgb] + + Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm] + Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm] + Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg] + Leg = updateDamping(Leg); + + + %% Sphere + SP = struct(); + + SP.height.bottom = 27; % [mm] + SP.height.top = 27; % [mm] + SP.density.bottom = 8000; % [kg/m^3] + SP.density.top = 8000; % [kg/m^3] + SP.color.bottom = [0.6 0.6 0.6]; % [rgb] + SP.color.top = [0.6 0.6 0.6]; % [rgb] + SP.k.ax = 0; % [N*m/deg] + SP.ksi.ax = 10; + + SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] + SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] + SP.rad.bottom = Leg.sphere.bottom; % [mm] + SP.rad.top = Leg.sphere.top; % [mm] + SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg] + + SP = updateDamping(SP); + + %% + Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom]; + Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top]; + + %% + micro_hexapod.BP = BP; + micro_hexapod.TP = TP; + micro_hexapod.Leg = Leg; + micro_hexapod.SP = SP; + + %% + micro_hexapod = initializeParameters(micro_hexapod); + + %% Setup equilibrium position of each leg + micro_hexapod.L0 = inverseKinematicsHexapod(micro_hexapod, args.AP, args.ARB); + + %% Save + save('./mat/stages.mat', 'micro_hexapod', '-append'); + + %% + function [element] = updateDamping(element) + field = fieldnames(element.k); + for i = 1:length(field) + element.c.(field{i}) = 2*element.ksi.(field{i})*sqrt(element.k.(field{i})*element.m); + end + end + + %% + function [stewart] = initializeParameters(stewart) + %% Connection points on base and top plate w.r.t. World frame at the center of the base plate + stewart.pos_base = zeros(6, 3); + stewart.pos_top = zeros(6, 3); + + alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) + alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top + + height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO + + radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base + radius_t = stewart.TP.leg.rad*0.001; % top radius in meters + + for i = 1:3 + % base points + angle_m_b = (2*pi/3)* (i-1) - alpha_b; + angle_p_b = (2*pi/3)* (i-1) + alpha_b; + stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0]; + stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0]; + + % top points + % Top points are 60 degrees offset + angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6; + angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6; + stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height]; + stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height]; + end + + % permute pos_top points so that legs are end points of base and top points + stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom + stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)]; + + %% leg vectors + legs = stewart.pos_top - stewart.pos_base; + leg_length = zeros(6, 1); + leg_vectors = zeros(6, 3); + for i = 1:6 + leg_length(i) = norm(legs(i,:)); + leg_vectors(i,:) = legs(i,:) / leg_length(i); + end + + stewart.Leg.lenght = 1000*leg_length(1)/1.5; + stewart.Leg.shape.bot = [0 0; ... + stewart.Leg.rad.bottom 0; ... + stewart.Leg.rad.bottom stewart.Leg.lenght; ... + stewart.Leg.rad.top stewart.Leg.lenght; ... + stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ... + 0 0.2*stewart.Leg.lenght]; + + %% Calculate revolute and cylindrical axes + rev1 = zeros(6, 3); + rev2 = zeros(6, 3); + cyl1 = zeros(6, 3); + for i = 1:6 + rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]); + rev1(i,:) = rev1(i,:) / norm(rev1(i,:)); + + rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:)); + rev2(i,:) = rev2(i,:) / norm(rev2(i,:)); + + cyl1(i,:) = leg_vectors(i,:); + end + + + %% Coordinate systems + stewart.lower_leg = struct('rotation', eye(3)); + stewart.upper_leg = struct('rotation', eye(3)); + + for i = 1:6 + stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; + stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; + end + + %% Position Matrix + stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)]; + + %% Compute Jacobian Matrix + aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)]; + stewart.J = getJacobianMatrix(leg_vectors', aa'); + end + + %% + function J = getJacobianMatrix(RM, M_pos_base) + % RM: [3x6] unit vector of each leg in the fixed frame + % M_pos_base: [3x6] vector of the leg connection at the top platform location in the fixed frame + J = zeros(6); + J(:, 1:3) = RM'; + J(:, 4:6) = cross(M_pos_base, RM)'; + end +end diff --git a/matlab/src/initializeMirror.m b/matlab/src/initializeMirror.m new file mode 100644 index 0000000..ca98db1 --- /dev/null +++ b/matlab/src/initializeMirror.m @@ -0,0 +1,76 @@ +function [] = initializeMirror(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'rigid' + args.shape char {mustBeMember(args.shape,{'spherical', 'conical'})} = 'spherical' + args.angle (1,1) double {mustBeNumeric, mustBePositive} = 45 % [deg] + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 10 % [kg] + args.freq (6,1) double {mustBeNumeric, mustBeNonnegative} = 200*ones(6,1) % [Hz] +end + +mirror = struct(); + +switch args.type + case 'none' + mirror.type = 0; + case 'rigid' + mirror.type = 1; + case 'flexible' + mirror.type = 2; +end + +mirror.mass = args.mass; +mirror.freq = args.freq; + +mirror.K = zeros(6,1); +mirror.K(1:3) = mirror.mass * (2*pi*mirror.freq(1:3)).^2; + +mirror.C = zeros(6,1); +mirror.C(1:3) = 0.2 * sqrt(mirror.K(1:3).*mirror.mass); + +mirror.Deq = zeros(6,1); + +mirror.h = 0.05; % Height of the mirror [m] + +mirror.thickness = 0.02; % Thickness of the plate supporting the sample [m] + +mirror.hole_rad = 0.125; % radius of the hole in the mirror [m] + +mirror.support_rad = 0.1; % radius of the support plate [m] + +% point of interest offset in z (above the top surfave) [m] +switch args.type + case 'none' + mirror.jacobian = 0.205; + case 'rigid' + mirror.jacobian = 0.205 - mirror.h; + case 'flexible' + mirror.jacobian = 0.205 - mirror.h; +end + +mirror.rad = 0.180; % radius of the mirror (at the bottom surface) [m] + +mirror.cone_length = mirror.rad*tand(args.angle)+mirror.h+mirror.jacobian; % Distance from Apex point of the cone to jacobian point + +mirror.shape = [... + mirror.support_rad+5e-3 mirror.h-mirror.thickness + mirror.hole_rad mirror.h-mirror.thickness; ... + mirror.hole_rad 0; ... + mirror.rad 0 ... +]; + +if strcmp(args.shape, 'spherical') + mirror.sphere_radius = sqrt((mirror.jacobian+mirror.h)^2+mirror.rad^2); % Radius of the sphere [mm] + + for z = linspace(0, mirror.h, 101) + mirror.shape = [mirror.shape; sqrt(mirror.sphere_radius^2-(z-mirror.jacobian-mirror.h)^2) z]; + end +elseif strcmp(args.shape, 'conical') + mirror.shape = [mirror.shape; mirror.rad+mirror.h/tand(args.angle) mirror.h]; +else + error('Shape should be either conical or spherical'); +end + +mirror.shape = [mirror.shape; mirror.support_rad+5e-3 mirror.h]; + +save('./mat/stages.mat', 'mirror', '-append'); diff --git a/matlab/src/initializeNanoHexapod.m b/matlab/src/initializeNanoHexapod.m new file mode 100644 index 0000000..4a97fe4 --- /dev/null +++ b/matlab/src/initializeNanoHexapod.m @@ -0,0 +1,142 @@ +function [nano_hexapod] = initializeNanoHexapod(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible' + % initializeFramesPositions + args.H (1,1) double {mustBeNumeric, mustBePositive} = 95e-3 + args.MO_B (1,1) double {mustBeNumeric} = 170e-3 + % generateGeneralConfiguration + args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.FR (1,1) double {mustBeNumeric, mustBePositive} = 100e-3 + args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180) + args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3 + args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180) + % initializeStrutDynamics + args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz', 'amplified'})} = 'piezo' + args.k1 (1,1) double {mustBeNumeric} = 1e6 + args.ke (1,1) double {mustBeNumeric} = 5e6 + args.ka (1,1) double {mustBeNumeric} = 60e6 + args.c1 (1,1) double {mustBeNumeric} = 10 + args.F_gain (1,1) double {mustBeNumeric} = 1 + args.k (1,1) double {mustBeNumeric} = -1 + args.c (1,1) double {mustBeNumeric} = -1 + % initializeJointDynamics + args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'universal' + args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p', 'universal_3dof', 'spherical_3dof', 'flexible'})} = 'spherical' + args.Ka_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1) + args.Ca_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Kr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1) + args.Cr_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1) + args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1) + args.Ct_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) + args.Kf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 33*ones(6,1) + args.Cf_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Kt_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 236*ones(6,1) + args.Ct_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) + args.Ka_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.2e8*ones(6,1) + args.Ca_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + args.Kr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.1e7*ones(6,1) + args.Cr_F (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1) + % initializeCylindricalPlatforms + args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 + args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3 + args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1 + args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3 + args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 120e-3 + % initializeCylindricalStruts + args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1 + args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3 + args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1 + args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3 + % inverseKinematics + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) + % Equilibrium position of each leg + args.dLeq (6,1) double {mustBeNumeric} = zeros(6,1) + % Force that stiffness of each joint should apply at t=0 + args.Foffset logical {mustBeNumericOrLogical} = false +end + +stewart = initializeStewartPlatform(); + +stewart = initializeFramesPositions(stewart, 'H', args.H, 'MO_B', args.MO_B); + +stewart = generateGeneralConfiguration(stewart, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh); + +stewart = computeJointsPose(stewart); + +if args.k > 0 && args.c > 0 + stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', args.c*ones(6,1)); +elseif args.k > 0 + stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', args.k*ones(6,1), 'C', 1.5*sqrt(args.k)*ones(6,1)); +elseif strcmp(args.actuator, 'piezo') + stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e7*ones(6,1), 'C', 1e2*ones(6,1)); +elseif strcmp(args.actuator, 'lorentz') + stewart = initializeStrutDynamics(stewart, 'type', 'classical', 'K', 1e4*ones(6,1), 'C', 1e2*ones(6,1)); +elseif strcmp(args.actuator, 'amplified') + stewart = initializeStrutDynamics(stewart, 'type', 'amplified', ... + 'k1', args.k1*ones(6,1), ... + 'c1', args.c1*ones(6,1), ... + 'ka', args.ka*ones(6,1), ... + 'ke', args.ke*ones(6,1), ... + 'F_gain', args.F_gain*ones(6,1)); +else + error('args.actuator should be piezo, lorentz or amplified'); +end + +stewart = initializeJointDynamics(stewart, ... + 'type_F', args.type_F, ... + 'type_M', args.type_M, ... + 'Kf_M', args.Kf_M, ... + 'Cf_M', args.Cf_M, ... + 'Kt_M', args.Kt_M, ... + 'Ct_M', args.Ct_M, ... + 'Kf_F', args.Kf_F, ... + 'Cf_F', args.Cf_F, ... + 'Kt_F', args.Kt_F, ... + 'Ct_F', args.Ct_F, ... + 'Ka_F', args.Ka_F, ... + 'Ca_F', args.Ca_F, ... + 'Kr_F', args.Kr_F, ... + 'Cr_F', args.Cr_F, ... + 'Ka_M', args.Ka_M, ... + 'Ca_M', args.Ca_M, ... + 'Kr_M', args.Kr_M, ... + 'Cr_M', args.Cr_M); + +stewart = initializeCylindricalPlatforms(stewart, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr); + +stewart = initializeCylindricalStruts(stewart, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr); + +stewart = computeJacobian(stewart); + +stewart = initializeStewartPose(stewart, 'AP', args.AP, 'ARB', args.ARB); + +stewart = initializeInertialSensor(stewart, 'type', 'accelerometer'); + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fnm'); + stewart.actuators.dLeq = -Fnm'./stewart.Ki; +else + stewart.actuators.dLeq = args.dLeq; +end + +switch args.type + case 'none' + stewart.type = 0; + case 'rigid' + stewart.type = 1; + case 'flexible' + stewart.type = 2; + case 'init' + stewart.type = 4; +end + +nano_hexapod = stewart; +save('./mat/stages.mat', 'nano_hexapod', '-append'); diff --git a/matlab/src/initializeNanoHexapodFinal.m b/matlab/src/initializeNanoHexapodFinal.m new file mode 100644 index 0000000..9c596f7 --- /dev/null +++ b/matlab/src/initializeNanoHexapodFinal.m @@ -0,0 +1,305 @@ +function [nano_hexapod] = initializeNanoHexapodFinal(args) + +arguments + %% Bottom Flexible Joints + args.flex_bot_type char {mustBeMember(args.flex_bot_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof' + args.flex_bot_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad] + args.flex_bot_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad] + args.flex_bot_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad] + args.flex_bot_kz (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m] + args.flex_bot_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)] + args.flex_bot_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)] + args.flex_bot_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)] + args.flex_bot_cz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)] + + %% Top Flexible Joints + args.flex_top_type char {mustBeMember(args.flex_top_type,{'2dof', '3dof', '4dof', 'flexible'})} = '4dof' + args.flex_top_kRx (6,1) double {mustBeNumeric} = ones(6,1)*5 % X bending stiffness [Nm/rad] + args.flex_top_kRy (6,1) double {mustBeNumeric} = ones(6,1)*5 % Y bending stiffness [Nm/rad] + args.flex_top_kRz (6,1) double {mustBeNumeric} = ones(6,1)*260 % Torsionnal stiffness [Nm/rad] + args.flex_top_kz (6,1) double {mustBeNumeric} = ones(6,1)*7e7 % Axial Stiffness [N/m] + args.flex_top_cRx (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % X bending Damping [Nm/(rad/s)] + args.flex_top_cRy (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Y bending Damping [Nm/(rad/s)] + args.flex_top_cRz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Torsionnal Damping [Nm/(rad/s)] + args.flex_top_cz (6,1) double {mustBeNumeric} = ones(6,1)*0.001 % Axial Damping [N/(m/s)] + + %% Jacobian - Location of frame {A} and {B} + args.MO_B (1,1) double {mustBeNumeric} = 150e-3 % Height of {B} w.r.t. {M} [m] + + %% Relative Motion Sensor + args.motion_sensor_type char {mustBeMember(args.motion_sensor_type,{'struts', 'plates'})} = 'struts' + + %% Top Plate + args.top_plate_type char {mustBeMember(args.top_plate_type,{'rigid', 'flexible'})} = 'rigid' + args.top_plate_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio + + %% Actuators + args.actuator_type char {mustBeMember(args.actuator_type,{'2dof', 'flexible frame', 'flexible'})} = 'flexible' + args.actuator_Ga (6,1) double {mustBeNumeric} = zeros(6,1) % Actuator gain [N/V] + args.actuator_Gs (6,1) double {mustBeNumeric} = zeros(6,1) % Sensor gain [V/m] + % For 2DoF + args.actuator_k (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*380000 + args.actuator_ke (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*4952605 + args.actuator_ka (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2476302 + args.actuator_c (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*20 + args.actuator_ce (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*200 + args.actuator_ca (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*100 + args.actuator_Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056 % [m] + % For Flexible Frame + args.actuator_ks (6,1) double {mustBeNumeric} = ones(6,1)*235e6 % Stiffness of one stack [N/m] + args.actuator_cs (6,1) double {mustBeNumeric} = ones(6,1)*1e1 % Stiffness of one stack [N/m] + % Misalignment + args.actuator_d_align (6,3) double {mustBeNumeric} = zeros(6,3) % [m] + + args.actuator_xi (1,1) double {mustBeNumeric} = 0.01 % Damping Ratio + + %% Controller + args.controller_type char {mustBeMember(args.controller_type,{'none', 'iff', 'dvf', 'hac-iff-struts'})} = 'none' +end + +nano_hexapod = struct(); + +nano_hexapod.flex_bot = struct(); + +switch args.flex_bot_type + case '2dof' + nano_hexapod.flex_bot.type = 1; + case '3dof' + nano_hexapod.flex_bot.type = 2; + case '4dof' + nano_hexapod.flex_bot.type = 3; + case 'flexible' + nano_hexapod.flex_bot.type = 4; +end + +nano_hexapod.flex_bot.kRx = args.flex_bot_kRx; % X bending stiffness [Nm/rad] +nano_hexapod.flex_bot.kRy = args.flex_bot_kRy; % Y bending stiffness [Nm/rad] +nano_hexapod.flex_bot.kRz = args.flex_bot_kRz; % Torsionnal stiffness [Nm/rad] +nano_hexapod.flex_bot.kz = args.flex_bot_kz; % Axial stiffness [N/m] + +nano_hexapod.flex_bot.cRx = args.flex_bot_cRx; % [Nm/(rad/s)] +nano_hexapod.flex_bot.cRy = args.flex_bot_cRy; % [Nm/(rad/s)] +nano_hexapod.flex_bot.cRz = args.flex_bot_cRz; % [Nm/(rad/s)] +nano_hexapod.flex_bot.cz = args.flex_bot_cz; %[N/(m/s)] + +nano_hexapod.flex_top = struct(); + +switch args.flex_top_type + case '2dof' + nano_hexapod.flex_top.type = 1; + case '3dof' + nano_hexapod.flex_top.type = 2; + case '4dof' + nano_hexapod.flex_top.type = 3; + case 'flexible' + nano_hexapod.flex_top.type = 4; +end + +nano_hexapod.flex_top.kRx = args.flex_top_kRx; % X bending stiffness [Nm/rad] +nano_hexapod.flex_top.kRy = args.flex_top_kRy; % Y bending stiffness [Nm/rad] +nano_hexapod.flex_top.kRz = args.flex_top_kRz; % Torsionnal stiffness [Nm/rad] +nano_hexapod.flex_top.kz = args.flex_top_kz; % Axial stiffness [N/m] + +nano_hexapod.flex_top.cRx = args.flex_top_cRx; % [Nm/(rad/s)] +nano_hexapod.flex_top.cRy = args.flex_top_cRy; % [Nm/(rad/s)] +nano_hexapod.flex_top.cRz = args.flex_top_cRz; % [Nm/(rad/s)] +nano_hexapod.flex_top.cz = args.flex_top_cz; %[N/(m/s)] + +nano_hexapod.motion_sensor = struct(); + +switch args.motion_sensor_type + case 'struts' + nano_hexapod.motion_sensor.type = 1; + case 'plates' + nano_hexapod.motion_sensor.type = 2; +end + +nano_hexapod.actuator = struct(); + +switch args.actuator_type + case '2dof' + nano_hexapod.actuator.type = 1; + case 'flexible frame' + nano_hexapod.actuator.type = 2; + case 'flexible' + nano_hexapod.actuator.type = 3; +end + +%% Actuator gain [N/V] +if all(args.actuator_Ga == 0) + switch args.actuator_type + case '2dof' + nano_hexapod.actuator.Ga = ones(6,1)*(-2.5796); + case 'flexible frame' + nano_hexapod.actuator.Ga = ones(6,1); % TODO + case 'flexible' + nano_hexapod.actuator.Ga = ones(6,1)*23.2; + end +else + nano_hexapod.actuator.Ga = args.actuator_Ga; % Actuator gain [N/V] +end + +%% Sensor gain [V/m] +if all(args.actuator_Gs == 0) + switch args.actuator_type + case '2dof' + nano_hexapod.actuator.Gs = ones(6,1)*466664; + case 'flexible frame' + nano_hexapod.actuator.Gs = ones(6,1); % TODO + case 'flexible' + nano_hexapod.actuator.Gs = ones(6,1)*(-4898341); + end +else + nano_hexapod.actuator.Gs = args.actuator_Gs; % Sensor gain [V/m] +end + +switch args.actuator_type + case '2dof' + nano_hexapod.actuator.k = args.actuator_k; % [N/m] + nano_hexapod.actuator.ke = args.actuator_ke; % [N/m] + nano_hexapod.actuator.ka = args.actuator_ka; % [N/m] + + nano_hexapod.actuator.c = args.actuator_c; % [N/(m/s)] + nano_hexapod.actuator.ce = args.actuator_ce; % [N/(m/s)] + nano_hexapod.actuator.ca = args.actuator_ca; % [N/(m/s)] + + nano_hexapod.actuator.Leq = args.actuator_Leq; % [m] + + case 'flexible frame' + nano_hexapod.actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix + nano_hexapod.actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix + nano_hexapod.actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m] + + nano_hexapod.actuator.ks = args.actuator_ks; % Stiffness of one stack [N/m] + nano_hexapod.actuator.cs = args.actuator_cs; % Damping of one stack [N/m] + nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio + + case 'flexible' + nano_hexapod.actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix + nano_hexapod.actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix + nano_hexapod.actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m] + + nano_hexapod.actuator.d_align = args.actuator_d_align; % Misalignment + nano_hexapod.actuator.xi = args.actuator_xi; % Damping ratio + +end + +nano_hexapod.geometry = struct(); + +Fa = [[-86.05, -74.78, 22.49], + [ 86.05, -74.78, 22.49], + [ 107.79, -37.13, 22.49], + [ 21.74, 111.91, 22.49], + [-21.74, 111.91, 22.49], + [-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m] + +Mb = [[-28.47, -106.25, -22.50], + [ 28.47, -106.25, -22.50], + [ 106.25, 28.47, -22.50], + [ 77.78, 77.78, -22.50], + [-77.78, 77.78, -22.50], + [-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m] + +Fb = Mb + [0; 0; 95e-3]; % Bi w.r.t. {F} [m] + +si = Fb - Fa; +si = si./vecnorm(si); % Normalize + +Fc = [[-29.362, -105.765, 52.605] + [ 29.362, -105.765, 52.605] + [ 106.276, 27.454, 52.605] + [ 76.914, 78.31, 52.605] + [-76.914, 78.31, 52.605] + [-106.276, 27.454, 52.605]]'*1e-3; % Meas pos w.r.t. {F} +Mc = Fc - [0; 0; 95e-3]; % Meas pos w.r.t. {M} + +nano_hexapod.geometry.Fa = Fa; +nano_hexapod.geometry.Fb = Fb; +nano_hexapod.geometry.Fc = Fc; +nano_hexapod.geometry.Mb = Mb; +nano_hexapod.geometry.Mc = Mc; +nano_hexapod.geometry.si = si; +nano_hexapod.geometry.MO_B = args.MO_B; + +Bb = Mb - [0; 0; args.MO_B]; + +nano_hexapod.geometry.J = [nano_hexapod.geometry.si', cross(Bb, nano_hexapod.geometry.si)']; + +switch args.motion_sensor_type + case 'struts' + nano_hexapod.geometry.Js = nano_hexapod.geometry.J; + case 'plates' + Bc = Mc - [0; 0; args.MO_B]; + nano_hexapod.geometry.Js = [nano_hexapod.geometry.si', cross(Bc, nano_hexapod.geometry.si)']; +end + +nano_hexapod.top_plate = struct(); + +switch args.top_plate_type + case 'rigid' + nano_hexapod.top_plate.type = 1; + case 'flexible' + nano_hexapod.top_plate.type = 2; + + nano_hexapod.top_plate.R_flex = ... + {[ 0.53191886726305 0.4795690716524 0.69790817745892 + -0.29070157897799 0.8775041341865 -0.38141720787774 + -0.79533320729697 0 0.60617249143351 ], + [ 0.53191886726305 -0.4795690716524 -0.69790817745892 + 0.29070157897799 0.8775041341865 -0.38141720787774 + 0.79533320729697 0 0.60617249143351 ], + [-0.01420448131633 -0.9997254079576 -0.01863709726680 + 0.60600604129104 -0.0234330681729 0.79511481512719 + -0.79533320729697 0 0.60617249143351 ], + [-0.51771438594672 -0.5201563363051 0.67927108019212 + 0.31530446231304 -0.8540710660135 -0.41369760724945 + 0.79533320729697 0 0.60617249143351 ], + [-0.51771438594671 0.5201563363052 -0.67927108019211 + -0.31530446231304 -0.8540710660135 -0.41369760724945 + -0.79533320729697 0 0.60617249143351 ], + [-0.01420448131632 0.9997254079576 0.01863709726679 + -0.60600604129104 -0.0234330681729 0.79511481512719 + 0.79533320729697 0 0.60617249143351 ] }; + + + nano_hexapod.top_plate.R_enc = ... + { [-0.877504134186525 -0.479569071652412 0 + 0.479569071652412 -0.877504134186525 0 + 0 0 1 ], + [ 0.877504134186525 -0.479569071652413 0 + 0.479569071652413 0.877504134186525 0 + 0 0 1 ], + [ 0.023433068172945 0.999725407957606 0 + -0.999725407957606 0.023433068172945 0 + 0 0 1 ], + [-0.854071066013566 -0.520156336305202 0 + 0.520156336305202 -0.854071066013566 0 + 0 0 1 ], + [ 0.854071066013574 -0.520156336305191 0 + 0.520156336305191 0.854071066013574 0 + 0 0 1 ], + [-0.023433068172958 0.999725407957606 0 + -0.999725407957606 -0.023433068172958 0 + 0 0 1 ] }; + + nano_hexapod.top_plate.K = readmatrix('top_plate_K_6.CSV'); % Stiffness Matrix + nano_hexapod.top_plate.M = readmatrix('top_plate_M_6.CSV'); % Mass Matrix + nano_hexapod.top_plate.P = extractNodes('top_plate_out_nodes_3D_qua.txt'); % Node coordiantes [m] + nano_hexapod.top_plate.xi = args.top_plate_xi; % Damping ratio + +end + +switch args.controller_type + case 'none' + nano_hexapod.controller.type = 1; + case 'iff' + nano_hexapod.controller.type = 2; + case 'dvf' + nano_hexapod.controller.type = 3; + case 'hac-iff-struts' + nano_hexapod.controller.type = 4; +end + +if nargout == 0 + save('./mat/stages.mat', 'nano_hexapod', '-append'); +end diff --git a/matlab/src/initializePosError.m b/matlab/src/initializePosError.m new file mode 100644 index 0000000..e942c6f --- /dev/null +++ b/matlab/src/initializePosError.m @@ -0,0 +1,28 @@ +function [] = initializePosError(args) +% initializePosError - Initialize the position errors +% +% Syntax: [] = initializePosError(args) +% +% Inputs: +% - args - + +arguments + args.error logical {mustBeNumericOrLogical} = false + args.Dy (1,1) double {mustBeNumeric} = 0 % [m] + args.Ry (1,1) double {mustBeNumeric} = 0 % [m] + args.Rz (1,1) double {mustBeNumeric} = 0 % [m] +end + +pos_error = struct(); + +if args.error + pos_error.type = 1; +else + pos_error.type = 0; +end + +pos_error.Dy = args.Dy; +pos_error.Ry = args.Ry; +pos_error.Rz = args.Rz; + +save('./mat/pos_error.mat', 'pos_error'); diff --git a/matlab/src/initializeReferences.m b/matlab/src/initializeReferences.m new file mode 100644 index 0000000..c0471c1 --- /dev/null +++ b/matlab/src/initializeReferences.m @@ -0,0 +1,230 @@ +function [ref] = initializeReferences(args) + +arguments + % Sampling Frequency [s] + args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 + % Maximum simulation time [s] + args.Tmax (1,1) double {mustBeNumeric, mustBePositive} = 100 + % Either "constant" / "triangular" / "sinusoidal" + args.Dy_type char {mustBeMember(args.Dy_type,{'constant', 'triangular', 'sinusoidal'})} = 'constant' + % Amplitude of the displacement [m] + args.Dy_amplitude (1,1) double {mustBeNumeric} = 0 + % Period of the displacement [s] + args.Dy_period (1,1) double {mustBeNumeric, mustBePositive} = 1 + % Either "constant" / "triangular" / "sinusoidal" + args.Ry_type char {mustBeMember(args.Ry_type,{'constant', 'triangular', 'sinusoidal'})} = 'constant' + % Amplitude [rad] + args.Ry_amplitude (1,1) double {mustBeNumeric} = 0 + % Period of the displacement [s] + args.Ry_period (1,1) double {mustBeNumeric, mustBePositive} = 1 + % Either "constant" / "rotating" + args.Rz_type char {mustBeMember(args.Rz_type,{'constant', 'rotating', 'rotating-not-filtered'})} = 'constant' + % Initial angle [rad] + args.Rz_amplitude (1,1) double {mustBeNumeric} = 0 + % Period of the rotating [s] + args.Rz_period (1,1) double {mustBeNumeric, mustBePositive} = 1 + % For now, only constant is implemented + args.Dh_type char {mustBeMember(args.Dh_type,{'constant'})} = 'constant' + % Initial position [m,m,m,rad,rad,rad] of the top platform (Pitch-Roll-Yaw Euler angles) + args.Dh_pos (6,1) double {mustBeNumeric} = zeros(6, 1), ... + % For now, only constant is implemented + args.Rm_type char {mustBeMember(args.Rm_type,{'constant'})} = 'constant' + % Initial position of the two masses + args.Rm_pos (2,1) double {mustBeNumeric} = [0; pi] + % For now, only constant is implemented + args.Dn_type char {mustBeMember(args.Dn_type,{'constant'})} = 'constant' + % Initial position [m,m,m,rad,rad,rad] of the top platform + args.Dn_pos (6,1) double {mustBeNumeric} = zeros(6,1) +end + +%% Set Sampling Time +Ts = args.Ts; +Tmax = args.Tmax; + +%% Low Pass Filter to filter out the references +s = zpk('s'); +w0 = 2*pi*10; +xi = 1; +H_lpf = 1/(1 + 2*xi/w0*s + s^2/w0^2); + +%% Translation stage - Dy +t = 0:Ts:Tmax; % Time Vector [s] +Dy = zeros(length(t), 1); +Dyd = zeros(length(t), 1); +Dydd = zeros(length(t), 1); +switch args.Dy_type + case 'constant' + Dy(:) = args.Dy_amplitude; + Dyd(:) = 0; + Dydd(:) = 0; + case 'triangular' + % This is done to unsure that we start with no displacement + Dy_raw = args.Dy_amplitude*sawtooth(2*pi*t/args.Dy_period,1/2); + i0 = find(t>=args.Dy_period/4,1); + Dy(1:end-i0+1) = Dy_raw(i0:end); + Dy(end-i0+2:end) = Dy_raw(end); % we fix the last value + + % The signal is filtered out + Dy = lsim(H_lpf, Dy, t); + Dyd = lsim(H_lpf*s, Dy, t); + Dydd = lsim(H_lpf*s^2, Dy, t); + case 'sinusoidal' + Dy(:) = args.Dy_amplitude*sin(2*pi/args.Dy_period*t); + Dyd = args.Dy_amplitude*2*pi/args.Dy_period*cos(2*pi/args.Dy_period*t); + Dydd = -args.Dy_amplitude*(2*pi/args.Dy_period)^2*sin(2*pi/args.Dy_period*t); + otherwise + warning('Dy_type is not set correctly'); +end + +Dy = struct('time', t, 'signals', struct('values', Dy), 'deriv', Dyd, 'dderiv', Dydd); + +%% Tilt Stage - Ry +t = 0:Ts:Tmax; % Time Vector [s] +Ry = zeros(length(t), 1); +Ryd = zeros(length(t), 1); +Rydd = zeros(length(t), 1); + +switch args.Ry_type + case 'constant' + Ry(:) = args.Ry_amplitude; + Ryd(:) = 0; + Rydd(:) = 0; + case 'triangular' + Ry_raw = args.Ry_amplitude*sawtooth(2*pi*t/args.Ry_period,1/2); + i0 = find(t>=args.Ry_period/4,1); + Ry(1:end-i0+1) = Ry_raw(i0:end); + Ry(end-i0+2:end) = Ry_raw(end); % we fix the last value + + % The signal is filtered out + Ry = lsim(H_lpf, Ry, t); + Ryd = lsim(H_lpf*s, Ry, t); + Rydd = lsim(H_lpf*s^2, Ry, t); + case 'sinusoidal' + Ry(:) = args.Ry_amplitude*sin(2*pi/args.Ry_period*t); + + Ryd = args.Ry_amplitude*2*pi/args.Ry_period*cos(2*pi/args.Ry_period*t); + Rydd = -args.Ry_amplitude*(2*pi/args.Ry_period)^2*sin(2*pi/args.Ry_period*t); + otherwise + warning('Ry_type is not set correctly'); +end + +Ry = struct('time', t, 'signals', struct('values', Ry), 'deriv', Ryd, 'dderiv', Rydd); + +%% Spindle - Rz +t = 0:Ts:Tmax; % Time Vector [s] +Rz = zeros(length(t), 1); +Rzd = zeros(length(t), 1); +Rzdd = zeros(length(t), 1); + +switch args.Rz_type + case 'constant' + Rz(:) = args.Rz_amplitude; + Rzd(:) = 0; + Rzdd(:) = 0; + case 'rotating-not-filtered' + Rz(:) = 2*pi/args.Rz_period*t; + + % The signal is filtered out + Rz(:) = 2*pi/args.Rz_period*t; + Rzd(:) = 2*pi/args.Rz_period; + Rzdd(:) = 0; + + % We add the angle offset + Rz = Rz + args.Rz_amplitude; + + case 'rotating' + Rz(:) = 2*pi/args.Rz_period*t; + + % The signal is filtered out + Rz = lsim(H_lpf, Rz, t); + Rzd = lsim(H_lpf*s, Rz, t); + Rzdd = lsim(H_lpf*s^2, Rz, t); + + % We add the angle offset + Rz = Rz + args.Rz_amplitude; + otherwise + warning('Rz_type is not set correctly'); +end + +Rz = struct('time', t, 'signals', struct('values', Rz), 'deriv', Rzd, 'dderiv', Rzdd); + +%% Micro-Hexapod +t = [0, Ts]; +Dh = zeros(length(t), 6); +Dhl = zeros(length(t), 6); + +switch args.Dh_type + case 'constant' + Dh = [args.Dh_pos, args.Dh_pos]; + + load('mat/stages.mat', 'micro_hexapod'); + + AP = [args.Dh_pos(1) ; args.Dh_pos(2) ; args.Dh_pos(3)]; + + tx = args.Dh_pos(4); + ty = args.Dh_pos(5); + tz = args.Dh_pos(6); + + ARB = [cos(tz) -sin(tz) 0; + sin(tz) cos(tz) 0; + 0 0 1]*... + [ cos(ty) 0 sin(ty); + 0 1 0; + -sin(ty) 0 cos(ty)]*... + [1 0 0; + 0 cos(tx) -sin(tx); + 0 sin(tx) cos(tx)]; + + [~, Dhl] = inverseKinematics(micro_hexapod, 'AP', AP, 'ARB', ARB); + Dhl = [Dhl, Dhl]; + otherwise + warning('Dh_type is not set correctly'); +end + +Dh = struct('time', t, 'signals', struct('values', Dh)); +Dhl = struct('time', t, 'signals', struct('values', Dhl)); + +%% Axis Compensation - Rm +t = [0, Ts]; + +Rm = [args.Rm_pos, args.Rm_pos]; +Rm = struct('time', t, 'signals', struct('values', Rm)); + +%% Nano-Hexapod +t = [0, Ts]; +Dn = zeros(length(t), 6); + +switch args.Dn_type + case 'constant' + Dn = [args.Dn_pos, args.Dn_pos]; + + load('mat/stages.mat', 'nano_hexapod'); + + AP = [args.Dn_pos(1) ; args.Dn_pos(2) ; args.Dn_pos(3)]; + + tx = args.Dn_pos(4); + ty = args.Dn_pos(5); + tz = args.Dn_pos(6); + + ARB = [cos(tz) -sin(tz) 0; + sin(tz) cos(tz) 0; + 0 0 1]*... + [ cos(ty) 0 sin(ty); + 0 1 0; + -sin(ty) 0 cos(ty)]*... + [1 0 0; + 0 cos(tx) -sin(tx); + 0 sin(tx) cos(tx)]; + + [~, Dnl] = inverseKinematics(nano_hexapod, 'AP', AP, 'ARB', ARB); + Dnl = [Dnl, Dnl]; + otherwise + warning('Dn_type is not set correctly'); +end + +Dn = struct('time', t, 'signals', struct('values', Dn)); +Dnl = struct('time', t, 'signals', struct('values', Dnl)); + +%% Save + save('./mat/nass_references.mat', 'Dy', 'Ry', 'Rz', 'Dh', 'Dhl', 'Rm', 'Dn', 'Dnl', 'args', 'Ts'); +end diff --git a/matlab/src/initializeRy.m b/matlab/src/initializeRy.m new file mode 100644 index 0000000..b156199 --- /dev/null +++ b/matlab/src/initializeRy.m @@ -0,0 +1,54 @@ +function [ry] = initializeRy(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible' + args.Foffset logical {mustBeNumericOrLogical} = false + args.Ry_init (1,1) double {mustBeNumeric} = 0 +end + +ry = struct(); + +switch args.type + case 'none' + ry.type = 0; + case 'rigid' + ry.type = 1; + case 'flexible' + ry.type = 2; + case 'modal-analysis' + ry.type = 3; + case 'init' + ry.type = 4; +end + +% Ry - Guide for the tilt stage +ry.guide.density = 7800; % [kg/m3] +ry.guide.STEP = './STEPS/ry/Tilt_Guide.STEP'; + +% Ry - Rotor of the motor +ry.rotor.density = 2400; % [kg/m3] +ry.rotor.STEP = './STEPS/ry/Tilt_Motor_Axis.STEP'; + +% Ry - Motor +ry.motor.density = 3200; % [kg/m3] +ry.motor.STEP = './STEPS/ry/Tilt_Motor.STEP'; + +% Ry - Plateau Tilt +ry.stage.density = 7800; % [kg/m3] +ry.stage.STEP = './STEPS/ry/Tilt_Stage.STEP'; + +ry.z_offset = 0.58178; % [m] + +ry.Ry_init = args.Ry_init; % [rad] + +ry.K = [3.8e8; 4e8; 3.8e8; 1.2e8; 6e4; 1.2e8]; +ry.C = [1e5; 1e5; 1e5; 3e4; 1e3; 3e4]; + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fym'); + ry.Deq = -Fym'./ry.K; +else + ry.Deq = zeros(6,1); +end + +save('./mat/stages.mat', 'ry', '-append'); diff --git a/matlab/src/initializeRz.m b/matlab/src/initializeRz.m new file mode 100644 index 0000000..164e92f --- /dev/null +++ b/matlab/src/initializeRz.m @@ -0,0 +1,45 @@ +function [rz] = initializeRz(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible' + args.Foffset logical {mustBeNumericOrLogical} = false +end + +rz = struct(); + +switch args.type + case 'none' + rz.type = 0; + case 'rigid' + rz.type = 1; + case 'flexible' + rz.type = 2; + case 'modal-analysis' + rz.type = 3; + case 'init' + rz.type = 4; +end + +% Spindle - Slip Ring +rz.slipring.density = 7800; % [kg/m3] +rz.slipring.STEP = './STEPS/rz/Spindle_Slip_Ring.STEP'; + +% Spindle - Rotor +rz.rotor.density = 7800; % [kg/m3] +rz.rotor.STEP = './STEPS/rz/Spindle_Rotor.STEP'; + +% Spindle - Stator +rz.stator.density = 7800; % [kg/m3] +rz.stator.STEP = './STEPS/rz/Spindle_Stator.STEP'; + +rz.K = [7e8; 7e8; 2e9; 1e7; 1e7; 1e7]; +rz.C = [4e4; 4e4; 7e4; 1e4; 1e4; 1e4]; + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fzm'); + rz.Deq = -Fzm'./rz.K; +else + rz.Deq = zeros(6,1); +end + +save('./mat/stages.mat', 'rz', '-append'); diff --git a/matlab/src/initializeSample.m b/matlab/src/initializeSample.m new file mode 100644 index 0000000..bc4a757 --- /dev/null +++ b/matlab/src/initializeSample.m @@ -0,0 +1,51 @@ +function [sample] = initializeSample(args) + +arguments + args.type char {mustBeMember(args.type,{'rigid', 'flexible', 'none', 'init'})} = 'flexible' + args.radius (1,1) double {mustBeNumeric, mustBePositive} = 0.1 % [m] + args.height (1,1) double {mustBeNumeric, mustBePositive} = 0.3 % [m] + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] + args.freq (6,1) double {mustBeNumeric, mustBePositive} = 100*ones(6,1) % [Hz] + args.offset (1,1) double {mustBeNumeric} = 0 % [m] + args.Foffset logical {mustBeNumericOrLogical} = false +end + +sample = struct(); + +switch args.type + case 'none' + sample.type = 0; + case 'rigid' + sample.type = 1; + case 'flexible' + sample.type = 2; + case 'init' + sample.type = 3; +end + +sample.radius = args.radius; % [m] +sample.height = args.height; % [m] +sample.mass = args.mass; % [kg] +sample.offset = args.offset; % [m] + +sample.inertia = [1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ... + 1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ... + 1/2 * sample.mass * sample.radius^2]; + +sample.K = zeros(6, 1); +sample.C = zeros(6, 1); + +sample.K(1:3) = sample.mass .* (2*pi * args.freq(1:3)).^2; % [N/m] +sample.C(1:3) = 0.1 * sqrt(sample.K(1:3)*sample.mass); % [N/(m/s)] + +sample.K(4:6) = sample.inertia .* (2*pi * args.freq(4:6)).^2; % [N/m] +sample.C(4:6) = 0.1 * sqrt(sample.K(4:6).*sample.inertia); % [N/(m/s)] + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Fsm'); + sample.Deq = -Fsm'./sample.K; +else + sample.Deq = zeros(6,1); +end + +save('./mat/stages.mat', 'sample', '-append'); diff --git a/matlab/src/initializeSimscapeConfiguration.m b/matlab/src/initializeSimscapeConfiguration.m new file mode 100644 index 0000000..ba93c9f --- /dev/null +++ b/matlab/src/initializeSimscapeConfiguration.m @@ -0,0 +1,15 @@ +function [] = initializeSimscapeConfiguration(args) + +arguments + args.gravity logical {mustBeNumericOrLogical} = true +end + +conf_simscape = struct(); + +if args.gravity + conf_simscape.type = 1; +else + conf_simscape.type = 2; +end + +save('./mat/conf_simscape.mat', 'conf_simscape'); diff --git a/matlab/src/initializeStewartPlatform.m b/matlab/src/initializeStewartPlatform.m new file mode 100644 index 0000000..0545b4d --- /dev/null +++ b/matlab/src/initializeStewartPlatform.m @@ -0,0 +1,31 @@ +function [stewart] = initializeStewartPlatform() +% initializeStewartPlatform - Initialize the stewart structure +% +% Syntax: [stewart] = initializeStewartPlatform(args) +% +% Outputs: +% - stewart - A structure with the following sub-structures: +% - platform_F - +% - platform_M - +% - joints_F - +% - joints_M - +% - struts_F - +% - struts_M - +% - actuators - +% - geometry - +% - properties - + +stewart = struct(); +stewart.platform_F = struct(); +stewart.platform_M = struct(); +stewart.joints_F = struct(); +stewart.joints_M = struct(); +stewart.struts_F = struct(); +stewart.struts_M = struct(); +stewart.actuators = struct(); +stewart.sensors = struct(); +stewart.sensors.inertial = struct(); +stewart.sensors.force = struct(); +stewart.sensors.relative = struct(); +stewart.geometry = struct(); +stewart.kinematics = struct(); diff --git a/matlab/src/initializeStewartPose.m b/matlab/src/initializeStewartPose.m new file mode 100644 index 0000000..325b501 --- /dev/null +++ b/matlab/src/initializeStewartPose.m @@ -0,0 +1,27 @@ +function [stewart] = initializeStewartPose(stewart, args) +% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose +% It uses the inverse kinematic +% +% Syntax: [stewart] = initializeStewartPose(stewart, args) +% +% Inputs: +% - stewart - A structure with the following fields +% - Aa [3x6] - The positions ai expressed in {A} +% - Bb [3x6] - The positions bi expressed in {B} +% - args - Can have the following fields: +% - AP [3x1] - The wanted position of {B} with respect to {A} +% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A} +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - actuators.Leq [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A} + +arguments + stewart + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) +end + +[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB); + +stewart.actuators.Leq = dLi; diff --git a/matlab/src/initializeStrutDynamics.m b/matlab/src/initializeStrutDynamics.m new file mode 100644 index 0000000..69dc518 --- /dev/null +++ b/matlab/src/initializeStrutDynamics.m @@ -0,0 +1,49 @@ +function [stewart] = initializeStrutDynamics(stewart, args) +% initializeStrutDynamics - Add Stiffness and Damping properties of each strut +% +% Syntax: [stewart] = initializeStrutDynamics(args) +% +% Inputs: +% - args - Structure with the following fields: +% - K [6x1] - Stiffness of each strut [N/m] +% - C [6x1] - Damping of each strut [N/(m/s)] +% +% Outputs: +% - stewart - updated Stewart structure with the added fields: +% - actuators.type = 1 +% - actuators.K [6x1] - Stiffness of each strut [N/m] +% - actuators.C [6x1] - Damping of each strut [N/(m/s)] + +arguments + stewart + args.type char {mustBeMember(args.type,{'classical', 'amplified'})} = 'classical' + args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 20e6*ones(6,1) + args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e1*ones(6,1) + args.k1 (6,1) double {mustBeNumeric} = 1e6*ones(6,1) + args.ke (6,1) double {mustBeNumeric} = 5e6*ones(6,1) + args.ka (6,1) double {mustBeNumeric} = 60e6*ones(6,1) + args.c1 (6,1) double {mustBeNumeric} = 10*ones(6,1) + args.F_gain (6,1) double {mustBeNumeric} = 1*ones(6,1) + args.me (6,1) double {mustBeNumeric} = 0.01*ones(6,1) + args.ma (6,1) double {mustBeNumeric} = 0.01*ones(6,1) +end + +if strcmp(args.type, 'classical') + stewart.actuators.type = 1; +elseif strcmp(args.type, 'amplified') + stewart.actuators.type = 2; +end + +stewart.actuators.K = args.K; +stewart.actuators.C = args.C; + +stewart.actuators.k1 = args.k1; +stewart.actuators.c1 = args.c1; + +stewart.actuators.ka = args.ka; +stewart.actuators.ke = args.ke; + +stewart.actuators.F_gain = args.F_gain; + +stewart.actuators.ma = args.ma; +stewart.actuators.me = args.me; diff --git a/matlab/src/initializeTy.m b/matlab/src/initializeTy.m new file mode 100644 index 0000000..19bc37d --- /dev/null +++ b/matlab/src/initializeTy.m @@ -0,0 +1,69 @@ +function [ty] = initializeTy(args) + +arguments + args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'modal-analysis', 'init'})} = 'flexible' + args.Foffset logical {mustBeNumericOrLogical} = false +end + +ty = struct(); + +switch args.type + case 'none' + ty.type = 0; + case 'rigid' + ty.type = 1; + case 'flexible' + ty.type = 2; + case 'modal-analysis' + ty.type = 3; + case 'init' + ty.type = 4; +end + +% Ty Granite frame +ty.granite_frame.density = 7800; % [kg/m3] => 43kg +ty.granite_frame.STEP = './STEPS/Ty/Ty_Granite_Frame.STEP'; + +% Guide Translation Ty +ty.guide.density = 7800; % [kg/m3] => 76kg +ty.guide.STEP = './STEPS/ty/Ty_Guide.STEP'; + +% Ty - Guide_Translation12 +ty.guide12.density = 7800; % [kg/m3] +ty.guide12.STEP = './STEPS/Ty/Ty_Guide_12.STEP'; + +% Ty - Guide_Translation11 +ty.guide11.density = 7800; % [kg/m3] +ty.guide11.STEP = './STEPS/ty/Ty_Guide_11.STEP'; + +% Ty - Guide_Translation22 +ty.guide22.density = 7800; % [kg/m3] +ty.guide22.STEP = './STEPS/ty/Ty_Guide_22.STEP'; + +% Ty - Guide_Translation21 +ty.guide21.density = 7800; % [kg/m3] +ty.guide21.STEP = './STEPS/Ty/Ty_Guide_21.STEP'; + +% Ty - Plateau translation +ty.frame.density = 7800; % [kg/m3] +ty.frame.STEP = './STEPS/ty/Ty_Stage.STEP'; + +% Ty Stator Part +ty.stator.density = 5400; % [kg/m3] +ty.stator.STEP = './STEPS/ty/Ty_Motor_Stator.STEP'; + +% Ty Rotor Part +ty.rotor.density = 5400; % [kg/m3] +ty.rotor.STEP = './STEPS/ty/Ty_Motor_Rotor.STEP'; + +ty.K = [2e8; 1e8; 2e8; 6e7; 9e7; 6e7]; % [N/m, N*m/rad] +ty.C = [8e4; 5e4; 8e4; 2e4; 3e4; 2e4]; % [N/(m/s), N*m/(rad/s)] + +if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init') + load('mat/Foffset.mat', 'Ftym'); + ty.Deq = -Ftym'./ty.K; +else + ty.Deq = zeros(6,1); +end + +save('./mat/stages.mat', 'ty', '-append'); diff --git a/matlab/src/initializeZAxisAccelerometer.m b/matlab/src/initializeZAxisAccelerometer.m new file mode 100644 index 0000000..9d17056 --- /dev/null +++ b/matlab/src/initializeZAxisAccelerometer.m @@ -0,0 +1,21 @@ +function [accelerometer] = initializeZAxisAccelerometer(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz] + end + + %% + accelerometer.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + accelerometer.k = accelerometer.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + + %% Gain correction of the accelerometer to have a unity gain until the resonance + accelerometer.gain = -accelerometer.k/accelerometer.m; + + %% Save + save('./mat/accelerometer_z_axis.mat', 'accelerometer'); +end diff --git a/matlab/src/initializeZAxisGeophone.m b/matlab/src/initializeZAxisGeophone.m new file mode 100644 index 0000000..8612793 --- /dev/null +++ b/matlab/src/initializeZAxisGeophone.m @@ -0,0 +1,18 @@ +function [geophone] = initializeZAxisGeophone(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 % [Hz] + end + + %% + geophone.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + geophone.k = geophone.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + geophone.c = 2*sqrt(geophone.m * geophone.k); + + %% Save + save('./mat/geophone_z_axis.mat', 'geophone'); +end diff --git a/matlab/src/inverseKinematics.m b/matlab/src/inverseKinematics.m new file mode 100644 index 0000000..c1c0618 --- /dev/null +++ b/matlab/src/inverseKinematics.m @@ -0,0 +1,36 @@ +function [Li, dLi] = inverseKinematics(stewart, args) +% inverseKinematics - Compute the needed length of each strut to have the wanted position and orientation of {B} with respect to {A} +% +% Syntax: [stewart] = inverseKinematics(stewart) +% +% Inputs: +% - stewart - A structure with the following fields +% - geometry.Aa [3x6] - The positions ai expressed in {A} +% - geometry.Bb [3x6] - The positions bi expressed in {B} +% - geometry.l [6x1] - Length of each strut +% - args - Can have the following fields: +% - AP [3x1] - The wanted position of {B} with respect to {A} +% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A} +% +% Outputs: +% - Li [6x1] - The 6 needed length of the struts in [m] to have the wanted pose of {B} w.r.t. {A} +% - dLi [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A} + +arguments + stewart + args.AP (3,1) double {mustBeNumeric} = zeros(3,1) + args.ARB (3,3) double {mustBeNumeric} = eye(3) +end + +assert(isfield(stewart.geometry, 'Aa'), 'stewart.geometry should have attribute Aa') +Aa = stewart.geometry.Aa; + +assert(isfield(stewart.geometry, 'Bb'), 'stewart.geometry should have attribute Bb') +Bb = stewart.geometry.Bb; + +assert(isfield(stewart.geometry, 'l'), 'stewart.geometry should have attribute l') +l = stewart.geometry.l; + +Li = sqrt(args.AP'*args.AP + diag(Bb'*Bb) + diag(Aa'*Aa) - (2*args.AP'*Aa)' + (2*args.AP'*(args.ARB*Bb))' - diag(2*(args.ARB*Bb)'*Aa)); + +dLi = Li-l; diff --git a/matlab/src/prepareLinearizeIdentification.m b/matlab/src/prepareLinearizeIdentification.m new file mode 100644 index 0000000..3488e7f --- /dev/null +++ b/matlab/src/prepareLinearizeIdentification.m @@ -0,0 +1,27 @@ +function [] = prepareLinearizeIdentification(args) + +arguments + args.nass_actuator char {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo' + args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] +end + +initializeGround(); +initializeGranite(); +initializeTy(); +initializeRy(); +initializeRz(); +initializeMicroHexapod(); +initializeAxisc(); +initializeMirror(); + +initializeNanoHexapod('actuator', args.nass_actuator); +initializeSample('mass', args.sample_mass); + +initializeReferences(); +initializeDisturbances('enable', false); + +initializeController('type', 'open-loop'); + +initializeSimscapeConfiguration('gravity', true); + +initializeLoggingConfiguration('log', 'none'); diff --git a/matlab/src/prepareTomographyExperiment.m b/matlab/src/prepareTomographyExperiment.m new file mode 100644 index 0000000..441044d --- /dev/null +++ b/matlab/src/prepareTomographyExperiment.m @@ -0,0 +1,29 @@ +function [] = prepareTomographyExperiment(args) + +arguments + args.nass_actuator char {mustBeMember(args.nass_actuator,{'piezo', 'lorentz'})} = 'piezo' + args.sample_mass (1,1) double {mustBeNumeric, mustBePositive} = 50 % [kg] + args.Rz_period (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s] +end + +initializeGround(); +initializeGranite(); +initializeTy(); +initializeRy(); +initializeRz(); +initializeMicroHexapod(); +initializeAxisc(); +initializeMirror(); + +initializeNanoHexapod('actuator', args.nass_actuator); +initializeSample('mass', args.sample_mass); + +initializeReferences('Rz_type', 'rotating', 'Rz_period', args.Rz_period); + +initializeDisturbances(); + +initializeController('type', 'open-loop'); + +initializeSimscapeConfiguration('gravity', true); + +initializeLoggingConfiguration('log', 'all'); diff --git a/matlab/src/project_shutdown.m b/matlab/src/project_shutdown.m new file mode 100644 index 0000000..5bb8d70 --- /dev/null +++ b/matlab/src/project_shutdown.m @@ -0,0 +1,5 @@ + + +% When the project closes, it runs the =project_shutdown.m= script defined below. + +Simulink.fileGenControl('reset'); diff --git a/matlab/src/project_startup.m b/matlab/src/project_startup.m new file mode 100644 index 0000000..c635e75 --- /dev/null +++ b/matlab/src/project_startup.m @@ -0,0 +1,18 @@ + + +% When the project opens, a startup script is ran. +% The startup script is defined below and is exported to the =project_startup.m= script. + +project = simulinkproject; +projectRoot = project.RootFolder; + +myCacheFolder = fullfile(projectRoot, '.SimulinkCache'); +myCodeFolder = fullfile(projectRoot, '.SimulinkCode'); + +Simulink.fileGenControl('set',... + 'CacheFolder', myCacheFolder,... + 'CodeGenFolder', myCodeFolder,... + 'createDir', true); + +%% Load the Simscape Configuration +load('mat/conf_simulink.mat'); diff --git a/matlab/subsystems/apa300ml_2dof.slx b/matlab/subsystems/apa300ml_2dof.slx new file mode 100644 index 0000000..d6dd294 Binary files /dev/null and b/matlab/subsystems/apa300ml_2dof.slx differ diff --git a/matlab/subsystems/apa300ml_flex_structure.slx b/matlab/subsystems/apa300ml_flex_structure.slx new file mode 100644 index 0000000..dcf16c8 Binary files /dev/null and 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a/matlab/subsystems/vibration_table_subsystem.slx b/matlab/subsystems/vibration_table_subsystem.slx new file mode 100644 index 0000000..1dda778 Binary files /dev/null and b/matlab/subsystems/vibration_table_subsystem.slx differ diff --git a/matlab/test_bench_nano_hexapod.slx b/matlab/test_bench_nano_hexapod.slx new file mode 100644 index 0000000..5df33d1 Binary files /dev/null and b/matlab/test_bench_nano_hexapod.slx differ diff --git a/preamble.tex b/preamble.tex new file mode 100644 index 0000000..adafd1c --- /dev/null +++ b/preamble.tex @@ -0,0 +1,16 @@ +\usepackage[ % + acronym, % Separate acronyms and glossary + toc, % appear in ToC + automake, % auto-use the makeglossaries command (requires shell-escape) + nonumberlist, % don't back reference pages + nogroupskip, % don't group by letter + nopostdot % don't add a dot at the end of each element +]{glossaries} + +\usepackage[stylemods=longextra]{glossaries-extra} + +\setabbreviationstyle[acronym]{long-short} +\setglossarystyle{long-name-desc} + +\makeindex +\makeglossaries diff --git a/preamble_extra.tex b/preamble_extra.tex new file mode 100644 index 0000000..98cfc04 --- /dev/null +++ b/preamble_extra.tex @@ -0,0 +1,134 @@ +\usepackage{float} +\usepackage{enumitem} + +\usepackage{caption,tabularx,booktabs} +\usepackage{bm} + +\usepackage{xpatch} % Recommanded for biblatex +\usepackage[ % use biblatex for bibliography + backend=biber, % use biber backend (bibtex replacement) or bibtex + style=ieee, % bib style + hyperref=true, % activate hyperref support + backref=true, % activate backrefs + isbn=false, % don't show isbn tags + url=false, % don't show url tags + doi=false, % don't show doi tags + urldate=long, % display type for dates + maxnames=3, % + minnames=1, % + maxbibnames=5, % + minbibnames=3, % + maxcitenames=2, % + mincitenames=1 % + ]{biblatex} + +\setlength\bibitemsep{1.1\itemsep} + +\usepackage{caption} +\usepackage{subcaption} + +\captionsetup[figure]{labelfont=bf} +\captionsetup[subfigure]{labelfont=bf} +\captionsetup[listing]{labelfont=bf} +\captionsetup[table]{labelfont=bf} + +\usepackage{xcolor} + +\definecolor{my-blue}{HTML}{6b7adb} +\definecolor{my-pale-blue}{HTML}{e6e9f9} +\definecolor{my-red}{HTML}{db6b6b} +\definecolor{my-pale-red}{HTML}{f9e6e6} +\definecolor{my-green}{HTML}{6bdbb6} +\definecolor{my-pale-green}{HTML}{e6f9f3} +\definecolor{my-yellow}{HTML}{dbd26b} +\definecolor{my-pale-yellow}{HTML}{f9f7e6} +\definecolor{my-orange}{HTML}{dba76b} +\definecolor{my-pale-orange}{HTML}{f9f0e6} +\definecolor{my-grey}{HTML}{a3a3a3} +\definecolor{my-pale-grey}{HTML}{f0f0f0} +\definecolor{my-turq}{HTML}{6bc7db} +\definecolor{my-pale-turq}{HTML}{e6f6f9} + +\usepackage{inconsolata} + +\usepackage[newfloat=true, chapter]{minted} +\usemintedstyle{autumn} + +\setminted{frame=lines,breaklines=true,tabsize=4,fontsize=\scriptsize,autogobble=true,labelposition=topline,bgcolor=my-pale-grey} +\setminted[matlab]{label=Matlab} +\setminted[latex]{label=LaTeX} +\setminted[bash]{label=Bash} +\setminted[python]{label=Python} +\setminted[text]{label=Results} +\setminted[md]{label=Org Mode} + +\setmintedinline{fontsize=\normalsize,bgcolor=my-pale-grey} + +\usepackage[most]{tcolorbox} + +\tcbuselibrary{minted} + +\newtcolorbox{seealso}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=See Also} +\newtcolorbox{hint}{ enhanced,breakable,colback=my-pale-grey,colframe=my-grey,fonttitle=\bfseries,title=Hint} +\newtcolorbox{definition}{enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Definition} +\newtcolorbox{important}{ enhanced,breakable,colback=my-pale-red, colframe=my-red, fonttitle=\bfseries,title=Important} +\newtcolorbox{exampl}[1][]{ enhanced,breakable,colback=my-pale-green,colframe=my-green,fonttitle=\bfseries,title=Example,#1} +\newtcolorbox{exercice}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Exercice} +\newtcolorbox{question}{ enhanced,breakable,colback=my-pale-yellow,colframe=my-yellow,fonttitle=\bfseries,title=Question} +\newtcolorbox{answer}{ enhanced,breakable,colback=my-pale-turq,colframe=my-turq,fonttitle=\bfseries,title=Answer} +\newtcolorbox{summary}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Summary} +\newtcolorbox{note}{ enhanced,breakable,colback=my-pale-blue,colframe=my-blue,fonttitle=\bfseries,title=Note} +\newtcolorbox{caution}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Caution} +\newtcolorbox{warning}{ enhanced,breakable,colback=my-pale-orange,colframe=my-orange,fonttitle=\bfseries,title=Warning} + +\newtcolorbox{my-quote}[1]{% + colback=my-pale-grey, + grow to right by=-10mm, + grow to left by=-10mm, + boxrule=0pt, + boxsep=0pt, + breakable, + enhanced jigsaw, + borderline west={4pt}{0pt}{my-grey}} + +\renewenvironment{quote}{\begin{my-quote}}{\end{my-quote}} + +\newtcolorbox{my-verse}[1]{% + colback=my-pale-grey, + grow to right by=-10mm, + grow to left by=-10mm, + boxrule=0pt, + boxsep=0pt, + breakable, + enhanced jigsaw, + borderline west={4pt}{0pt}{my-grey}} + +\renewenvironment{verse}{\begin{my-verse}}{\end{my-verse}} + +\usepackage{environ}% http://ctan.org/pkg/environ +\NewEnviron{aside}{% + \marginpar{\BODY} +} + +\renewenvironment{verbatim}{\VerbatimEnvironment\begin{minted}[]{text}}{\end{minted}} + +\usepackage{soul} +\sethlcolor{my-pale-grey} + +\let\OldTexttt\texttt +\renewcommand{\texttt}[1]{{\ttfamily\hl{\mbox{\,#1\,}}}} + +\makeatletter +\preto\Gin@extensions{png,} +\DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf} +\preto\Gin@extensions{gif,} +\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png} +\makeatother + +\usepackage{hyperref} +\hypersetup{ + colorlinks = true, + allcolors = my-blue +} + +\usepackage{hypcap} diff --git a/test-bench-nano-hexapod.tex b/test-bench-nano-hexapod.tex new file mode 100644 index 0000000..7555785 --- /dev/null +++ b/test-bench-nano-hexapod.tex @@ -0,0 +1,674 @@ +% Created 2024-10-27 Sun 11:12 +% Intended LaTeX compiler: pdflatex +\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} + +\input{preamble.tex} +\input{preamble_extra.tex} +\bibliography{test-bench-nano-hexapod.bib} +\author{Dehaeze Thomas} +\date{\today} +\title{Nano-Hexapod - Test Bench} +\hypersetup{ + pdfauthor={Dehaeze Thomas}, + pdftitle={Nano-Hexapod - Test Bench}, + pdfkeywords={}, + pdfsubject={}, + pdfcreator={Emacs 29.4 (Org mode 9.6)}, + pdflang={English}} +\usepackage{biblatex} + +\begin{document} + +\maketitle +\tableofcontents + +\clearpage + +In the previous section, all the struts were mounted and individually characterized. +Now the nano-hexapod is assembled using a mounting procedure described in Section \ref{sec:test_nhexa_mounting}. + +In order to identify the dynamics of the nano-hexapod, a special suspended table is developed which consists of a stiff ``optical breadboard'' suspended on top of four soft springs. +The Nano-Hexapod is then fixed on top of the suspended table, such that its dynamics is not affected by complex dynamics except from the suspension modes of the table that can be well characterized and modelled (Section \ref{sec:test_nhexa_table}). + +The obtained nano-hexapod dynamics is analyzed in Section \ref{sec:test_nhexa_dynamics}, and compared with the Simscape model in Section \ref{sec:test_nhexa_model}. + +\chapter{Nano-Hexapod Assembly Procedure} +\label{sec:test_nhexa_mounting} +The assembly of the nano-hexapod is quite critical to both avoid additional stress in the flexible joints (that would result in a loss of stroke) and for the precise determination of the Jacobian matrix. +The goal is to fix the six struts to the two nano-hexapod plates (shown in Figure \ref{fig:test_nhexa_nano_hexapod_plates}) while the two plates are parallel, aligned vertically, and such that all the flexible joints do not experience any stress. +Do to so, a precisely machined mounting tool (Figure \ref{fig:test_nhexa_center_part_hexapod_mounting}) is used to position the two nano-hexapod plates during the assembly procedure. + +\begin{figure}[htbp] +\begin{subfigure}{0.59\textwidth} +\begin{center} +\includegraphics[scale=1,height=4cm]{figs/test_nhexa_nano_hexapod_plates.jpg} +\end{center} +\subcaption{\label{fig:test_nhexa_nano_hexapod_plates}Received top and bottom plates} +\end{subfigure} +\begin{subfigure}{0.39\textwidth} +\begin{center} +\includegraphics[scale=1,height=4cm]{figs/test_nhexa_center_part_hexapod_mounting.jpg} +\end{center} +\subcaption{\label{fig:test_nhexa_center_part_hexapod_mounting}Mounting tool} +\end{subfigure} +\caption{\label{fig:test_nhexa_received_parts}Received Nano-Hexapod plates (\subref{fig:test_nhexa_nano_hexapod_plates}) and mounting tool used to position the two plates during assembly (\subref{fig:test_nhexa_center_part_hexapod_mounting})} +\end{figure} + +The mechanical tolerances of the received plates are checked using a FARO arm\footnote{Faro Arm Platinum 4ft, specified accuracy of \(\pm 13\mu m\)} (Figure \ref{fig:test_nhexa_plates_tolerances}) and are found to comply with the requirements\footnote{Location of all the interface surfaces with the flexible joints are checked. The fits (182H7 and 24H8) with the interface element are checked.}. +The same is done for the mounting tool\footnote{The height dimension is better than \(40\,\mu m\). The diameter fit of 182g6 and 24g6 with the two plates is verified.} +The two plates are then fixed to the mounting tool as shown in Figure \ref{fig:test_nhexa_mounting_tool_hexapod_top_view}. +The main goal of this ``mounting tool'' is to position the flexible joint interfaces (the ``V'' shapes) of both plates such that a cylinder can rest on the 4 flat interfaces at the same time. + +\begin{figure}[htbp] +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.95\linewidth]{figs/test_nhexa_plates_tolerances.jpg} +\end{center} +\subcaption{\label{fig:test_nhexa_plates_tolerances}Dimensional check of the bottom plate} +\end{subfigure} +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.95\linewidth]{figs/test_nhexa_mounting_tool_hexapod_top_view.png} +\end{center} +\subcaption{\label{fig:test_nhexa_mounting_tool_hexapod_top_view}Wanted coaxiality between interfaces} +\end{subfigure} +\caption{\label{fig:test_nhexa_dimensional_check}A Faro arm is used to dimensionally check the received parts (\subref{fig:test_nhexa_plates_tolerances}) and after mounting the two plates with the mounting part (\subref{fig:test_nhexa_mounting_tool_hexapod_top_view})} +\end{figure} + +The quality of the positioning can be estimated by measuring the ``straightness'' of the top and bottom ``V'' interfaces. +This corresponds to the diameter of the smallest cylinder that contains all points of the measured axis. +This is again done using the FARO arm, and the results for all the six struts are summarized in Table \ref{tab:measured_straightness}. +The straightness is found to be better than \(15\,\mu m\) for all the struts\footnote{As the accuracy of the FARO arm is \(\pm 13\,\mu m\), the true straightness is probably better than the values indicated. The limitation of the instrument is here reached.}, which is sufficiently good to not induce significant stress of the flexible joint during the assembly. + +\begin{table}[htbp] +\centering +\begin{tabularx}{0.35\linewidth}{Xcc} +\toprule +\textbf{Strut} & \textbf{Meas 1} & \textbf{Meas 2}\\ +\midrule +1 & \(7\,\mu m\) & \(3\, \mu m\)\\ +2 & \(11\, \mu m\) & \(11\, \mu m\)\\ +3 & \(15\, \mu m\) & \(14\, \mu m\)\\ +4 & \(6\, \mu m\) & \(6\, \mu m\)\\ +5 & \(7\, \mu m\) & \(5\, \mu m\)\\ +6 & \(6\, \mu m\) & \(7\, \mu m\)\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:measured_straightness}Measured straightness between the two ``V'' for the six struts. These measurements are performed two times for each strut.} + +\end{table} + +The encoder rulers and heads are then fixed to the top and bottom plates respectively (Figure \ref{fig:test_nhexa_mount_encoder}). +The encoder heads are then aligned to maximize the received contrast. + +\begin{figure}[htbp] +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.95\linewidth]{figs/test_nhexa_mount_encoder_rulers.jpg} +\end{center} +\subcaption{\label{fig:test_nhexa_mount_encoder_rulers}Encoder rulers} +\end{subfigure} +\begin{subfigure}{0.49\textwidth} +\begin{center} +\includegraphics[scale=1,width=0.95\linewidth]{figs/test_nhexa_mount_encoder_heads.jpg} +\end{center} +\subcaption{\label{fig:test_nhexa_mount_encoder_heads}Encoder heads} +\end{subfigure} +\caption{\label{fig:test_nhexa_mount_encoder}Mounting of the encoders to the Nano-hexapod. The rulers are fixed to the top plate (\subref{fig:test_nhexa_mount_encoder_rulers}) while the encoders heads are fixed to the botom plate (\subref{fig:test_nhexa_mount_encoder_heads})} +\end{figure} + +The six struts are then fixed to the bottom and top plates one by one. +First the top flexible joint is fixed such that its flat reference surface is in contact with the top plate. +This is to precisely known the position of the flexible joint with respect to the top plate. +Then the bottom flexible joint is fixed. +After all six struts are mounted, the mounting tool (Figure \ref{fig:test_nhexa_center_part_hexapod_mounting}) can be disassembled, and the fully mounted nano-hexapod as shown in Figure \ref{fig:test_nhexa_nano_hexapod_mounted} is obtained. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/test_nhexa_mounted_hexapod.jpg} +\caption{\label{fig:test_nhexa_nano_hexapod_mounted}Mounted Nano-Hexapod} +\end{figure} + +\chapter{Suspended Table} +\label{sec:test_nhexa_table} +\section{Introduction} + +This document is divided as follows: +\begin{itemize} +\item Section \ref{ssec:test_nhexa_table_setup}: the experimental setup and all the instrumentation are described +\item Section \ref{ssec:test_nhexa_table_identification}: the table dynamics is identified +\item Section \ref{ssec:test_nhexa_table_model}: a Simscape model of the vibration table is developed and tuned from the measurements +\end{itemize} + +\section{Experimental Setup} +\label{ssec:test_nhexa_table_setup} +\begin{itemize} +\item[{$\square$}] Redo the CAD view +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.8\linewidth]{figs/vibration-table-cad-view.png} +\caption{\label{fig:vibration-table-cad-view}CAD View of the vibration table} +\end{figure} +\subsection{Suspended table} + +\begin{description} +\item[{Dimensions}] 450 mm x 450 mm x 60 mm +\item[{Mass}] 21.3 kg (bot=7.8, top=7.6, mid=5.9kg) +\item[{Interface plate}] 3.2kg +\end{description} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.8\linewidth]{figs/test_nhexa_compliance_table.png} +\caption{\label{fig:compliance_optical_table}Compliance of the B4545A optical table} +\end{figure} + +If we include including the bottom interface plate: +\begin{itemize} +\item Total mass: 24.5 kg +\item CoM: 42mm below Center of optical table +\item Ix = 0.54, Iy = 0.54, Iz = 1.07 (with respect to CoM) +\end{itemize} + +\subsection{Springs} + +Helical compression spring +make of steel wire (52SiCrNi5) with rectangular cross section +SZ8005 20 x 044 from Steinel +L0 = 44mm +Spring rate = 17.8 N/mm + +\begin{center} +\includegraphics[scale=1]{figs/test_nhexa_table_springs.jpg} +\end{center} + +\section{Identification of the table's response} +\label{ssec:test_nhexa_table_identification} + +(4x) 3D accelerometer \href{https://www.pcbpiezotronics.fr/produit/accelerometres/356b18/}{PCB 356B18} + +\begin{table}[htbp] +\centering +\begin{tabularx}{0.5\linewidth}{ccX} +\toprule + & Freq. [Hz] & Description\\ +\midrule +1 & 1.3 & X-translation\\ +2 & 1.3 & Y-translation\\ +3 & 1.95 & Z-rotation\\ +4 & 6.85 & Z-translation\\ +5 & 8.9 & Tilt\\ +6 & 8.9 & Tilt\\ +7 & 700 & Flexible Mode\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:list_modes}List of the identified modes} + +\end{table} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/test_nhexa_mode_shapes_rigid_table.png} +\caption{\label{fig:test_nhexa_mode_shapes_rigid_table}Mode shapes of the 6 suspension modes (from 1Hz to 9Hz)} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.3\linewidth]{figs/ModeShapeHF1_crop.gif} +\caption{\label{fig:ModeShapeHF1_crop}First flexible mode of the table at 700Hz} +\end{figure} + + +\section{Simscape Model of the suspended table} +\label{ssec:test_nhexa_table_model} +In this section, the Simscape model of the vibration table is described. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.8\linewidth]{figs/simscape_vibration_table.png} +\caption{\label{fig:simscape_vibration_table}3D representation of the simscape model} +\end{figure} +\subsection{Simscape Sub-systems} +\label{sec:simscape_parameters} + +Parameters for sub-components of the simscape model are defined below. + +\paragraph{Springs} +\label{sec:simscape_springs} + +The 4 springs supporting the suspended optical table are modelled with ``bushing joints'' having stiffness and damping in the x-y-z directions: + +\paragraph{Inertial Shaker (IS20)} +\label{sec:simscape_inertial_shaker} + +The inertial shaker is defined as two solid bodies: +\begin{itemize} +\item the ``housing'' that is fixed to the element that we want to excite +\item the ``inertial mass'' that is suspended inside the housing +\end{itemize} + +The inertial mass is guided inside the housing and an actuator (coil and magnet) can be used to apply a force between the inertial mass and the support. +The ``reacting'' force on the support is then used as an excitation. + +\begin{table}[htbp] +\centering +\begin{tabularx}{0.4\linewidth}{lX} +\toprule +Characteristic & Value\\ +\midrule +Output Force & 20 N\\ +Frequency Range & 10-3000 Hz\\ +Moving Mass & 0.1 kg\\ +Total Mass & 0.3 kg\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:is20_characteristics}Summary of the IS20 datasheet} + +\end{table} + +From the datasheet in Table \ref{tab:is20_characteristics}, we can estimate the parameters of the physical shaker. + +These parameters are defined below +\paragraph{3D accelerometer (356B18)} +\label{sec:simscape_accelerometers} + +An accelerometer consists of 2 solids: +\begin{itemize} +\item a ``housing'' rigidly fixed to the measured body +\item an ``inertial mass'' suspended inside the housing by springs and guided in the measured direction +\end{itemize} + +The relative motion between the housing and the inertial mass gives a measurement of the acceleration of the measured body (up to the suspension mode of the inertial mass). + +\begin{table}[htbp] +\centering +\begin{tabularx}{0.5\linewidth}{lX} +\toprule +Characteristic & Value\\ +\midrule +Sensitivity & 0.102 V/(m/s2)\\ +Frequency Range & 0.5 to 3000 Hz\\ +Resonance Frequency & > 20 kHz\\ +Resolution & 0.0005 m/s2 rms\\ +Weight & 0.025 kg\\ +Size & 20.3x26.1x20.3 [mm]\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:356b18_characteristics}Summary of the 356B18 datasheet} + +\end{table} + +\subsection{Identification} +\label{sec:simscape_parameters} +Let's now identify the resonance frequency and mode shapes associated with the suspension modes of the optical table. + +\begin{verbatim} +size(G) +State-space model with 6 outputs, 6 inputs, and 12 states. +\end{verbatim} + + +Compute the resonance frequencies +\begin{center} +\begin{tabular}{lrrrrrr} + & x & y & Rz & Dz & Rx & Ry\\ +\hline +Simscape & 1.28 & 1.28 & 1.82 & 6.78 & 9.47 & 9.47\\ +Experimental & 1.3 & 1.3 & 1.95 & 6.85 & 8.9 & 9.5\\ +\end{tabular} + +\end{center} + + +And the associated response of the optical table +The results are shown in Table \ref{tab:mode_shapes}. +The motion associated to the mode shapes are just indicative. + +\begin{table}[htbp] +\centering +\begin{tabularx}{0.4\linewidth}{Xcccccc} +\toprule +\(\omega_0\) [Hz] & 8.2 & 8.2 & 8.2 & 5.8 & 5.6 & 5.6\\ +\midrule +x & 0.0 & 0.0 & 0.0 & 0.0 & 0.1 & 0.5\\ +y & 0.0 & 0.0 & 0.0 & 0.0 & 0.5 & 0.0\\ +z & 0.0 & 0.0 & 0.0 & 1.0 & 0.0 & 0.0\\ +Rx & 1.0 & 0.0 & 0.0 & 0.0 & 0.8 & 0.0\\ +Ry & 0.0 & 1.0 & 0.0 & 0.0 & 0.2 & 0.9\\ +Rz & 0.0 & 0.0 & 1.0 & 0.0 & 0.0 & 0.0\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:mode_shapes}Resonance frequency and approximation of the mode shapes} + +\end{table} + +\chapter{Nano-Hexapod Dynamics} +\label{sec:test_nhexa_dynamics} +In Figure \ref{fig:test_nhexa_nano_hexapod_signals} is shown a block diagram of the experimental setup. +When possible, the notations are consistent with this diagram and summarized in Table \ref{tab:list_signals}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,scale=1]{figs/test_nhexa_nano_hexapod_signals.png} +\caption{\label{fig:test_nhexa_nano_hexapod_signals}Block diagram of the system with named signals} +\end{figure} + +\begin{table}[htbp] +\centering +\begin{tabularx}{\linewidth}{Xllll} +\toprule + & \textbf{Unit} & \textbf{Matlab} & \textbf{Vector} & \textbf{Elements}\\ +\midrule +Control Input (wanted DAC voltage) & \texttt{[V]} & \texttt{u} & \(\bm{u}\) & \(u_i\)\\ +DAC Output Voltage & \texttt{[V]} & \texttt{u} & \(\tilde{\bm{u}}\) & \(\tilde{u}_i\)\\ +PD200 Output Voltage & \texttt{[V]} & \texttt{ua} & \(\bm{u}_a\) & \(u_{a,i}\)\\ +Actuator applied force & \texttt{[N]} & \texttt{tau} & \(\bm{\tau}\) & \(\tau_i\)\\ +\midrule +Strut motion & \texttt{[m]} & \texttt{dL} & \(d\bm{\mathcal{L}}\) & \(d\mathcal{L}_i\)\\ +Encoder measured displacement & \texttt{[m]} & \texttt{dLm} & \(d\bm{\mathcal{L}}_m\) & \(d\mathcal{L}_{m,i}\)\\ +\midrule +Force Sensor strain & \texttt{[m]} & \texttt{epsilon} & \(\bm{\epsilon}\) & \(\epsilon_i\)\\ +Force Sensor Generated Voltage & \texttt{[V]} & \texttt{taum} & \(\tilde{\bm{\tau}}_m\) & \(\tilde{\tau}_{m,i}\)\\ +Measured Generated Voltage & \texttt{[V]} & \texttt{taum} & \(\bm{\tau}_m\) & \(\tau_{m,i}\)\\ +\midrule +Motion of the top platform & \texttt{[m,rad]} & \texttt{dX} & \(d\bm{\mathcal{X}}\) & \(d\mathcal{X}_i\)\\ +Metrology measured displacement & \texttt{[m,rad]} & \texttt{dXm} & \(d\bm{\mathcal{X}}_m\) & \(d\mathcal{X}_{m,i}\)\\ +\bottomrule +\end{tabularx} +\caption{\label{tab:list_signals}List of signals} + +\end{table} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/test_nhexa_IMG_20210625_083801.jpg} +\caption{\label{fig:test_nhexa_enc_fixed_to_struts}Nano-Hexapod with encoders fixed to the struts} +\end{figure} + +It is structured as follow: +\begin{itemize} +\item Section \ref{sec:test_nhexa_enc_plates_plant_id}: The dynamics of the nano-hexapod is identified. +\item Section \ref{sec:test_nhexa_enc_plates_comp_simscape}: The identified dynamics is compared with the Simscape model. +\end{itemize} + +\section{Identification of the dynamics} +\label{sec:test_nhexa_enc_plates_plant_id} +In this section, the dynamics of the nano-hexapod with the encoders fixed to the plates is identified. + +First, the measurement data are loaded in Section \ref{sec:test_nhexa_enc_plates_plant_id_setup}, then the transfer function matrix from the actuators to the encoders are estimated in Section \ref{sec:test_nhexa_enc_plates_plant_id_dvf}. +Finally, the transfer function matrix from the actuators to the force sensors is estimated in Section \ref{sec:test_nhexa_enc_plates_plant_id_iff}. +\subsection{Data Loading and Spectral Analysis Setup} +\label{sec:test_nhexa_enc_plates_plant_id_setup} + +The actuators are excited one by one using a low pass filtered white noise. +For each excitation, the 6 force sensors and 6 encoders are measured and saved. +\subsection{Transfer function from Actuator to Encoder} +\label{sec:test_nhexa_enc_plates_plant_id_dvf} + +The 6x6 transfer function matrix from the excitation voltage \(\bm{u}\) and the displacement \(d\bm{\mathcal{L}}_m\) as measured by the encoders is estimated. + +The diagonal and off-diagonal terms of this transfer function matrix are shown in Figure \ref{fig:test_nhexa_enc_plates_dvf_frf}. +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/enc_plates_dvf_frf.png} +\caption{\label{fig:test_nhexa_enc_plates_dvf_frf}Measured FRF for the transfer function from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\)} +\end{figure} + +\begin{important} +From Figure \ref{fig:test_nhexa_enc_plates_dvf_frf}, we can draw few conclusions on the transfer functions from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\) when the encoders are fixed to the plates: +\begin{itemize} +\item the decoupling is rather good at low frequency (below the first suspension mode). +The low frequency gain is constant for the off diagonal terms, whereas when the encoders where fixed to the struts, the low frequency gain of the off-diagonal terms were going to zero (Figure \ref{fig:test_nhexa_enc_struts_dvf_frf}). +\item the flexible modes of the struts at 226Hz and 337Hz are indeed shown in the transfer functions, but their amplitudes are rather low. +\item the diagonal terms have alternating poles and zeros up to at least 600Hz: the flexible modes of the struts are not affecting the alternating pole/zero pattern. This what not the case when the encoders were fixed to the struts (Figure \ref{fig:test_nhexa_enc_struts_dvf_frf}). +\end{itemize} +\end{important} + +\subsection{Transfer function from Actuator to Force Sensor} +\label{sec:test_nhexa_enc_plates_plant_id_iff} +Then the 6x6 transfer function matrix from the excitation voltage \(\bm{u}\) and the voltage \(\bm{\tau}_m\) generated by the Force senors is estimated. +The bode plot of the diagonal and off-diagonal terms are shown in Figure \ref{fig:test_nhexa_enc_plates_iff_frf}. +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/enc_plates_iff_frf.png} +\caption{\label{fig:test_nhexa_enc_plates_iff_frf}Measured FRF for the IFF plant} +\end{figure} + +\begin{important} +It is shown in Figure \ref{fig:test_nhexa_enc_plates_iff_comp_simscape_all} that: +\begin{itemize} +\item The IFF plant has alternating poles and zeros +\item The first flexible mode of the struts as 235Hz is appearing, and therefore is should be possible to add some damping to this mode using IFF +\item The decoupling is quite good at low frequency (below the first model) as well as high frequency (above the last suspension mode, except near the flexible modes of the top plate) +\end{itemize} +\end{important} + +\subsection{Save Identified Plants} +The identified dynamics is saved for further use. +\section{Effect of Payload mass on the Dynamics} +\label{sec:test_nhexa_added_mass} +In this section, the encoders are fixed to the plates, and we identify the dynamics for several payloads. +The added payload are half cylinders, and three layers can be added for a total of around 40kg (Figure \ref{fig:test_nhexa_picture_added_3_masses}). + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=\linewidth]{figs/test_nhexa_picture_added_3_masses.jpg} +\caption{\label{fig:test_nhexa_picture_added_3_masses}Picture of the nano-hexapod with added mass} +\end{figure} + +First the dynamics from \(\bm{u}\) to \(d\mathcal{L}_m\) and \(\bm{\tau}_m\) is identified. +Then, the Integral Force Feedback controller is developed and applied as shown in Figure \ref{fig:test_nhexa_nano_hexapod_signals_iff}. +Finally, the dynamics from \(\bm{u}^\prime\) to \(d\mathcal{L}_m\) is identified and the added damping can be estimated. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_nano_hexapod_signals_iff.png} +\caption{\label{fig:test_nhexa_nano_hexapod_signals_iff}Block Diagram of the experimental setup and model} +\end{figure} +\subsection{Measured Frequency Response Functions} +The following data are loaded: +\begin{itemize} +\item \texttt{Va}: the excitation voltage (corresponding to \(u_i\)) +\item \texttt{Vs}: the generated voltage by the 6 force sensors (corresponding to \(\bm{\tau}_m\)) +\item \texttt{de}: the measured motion by the 6 encoders (corresponding to \(d\bm{\mathcal{L}}_m\)) +\end{itemize} +The window \texttt{win} and the frequency vector \texttt{f} are defined. +Finally the \(6 \times 6\) transfer function matrices from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\) and from \(\bm{u}\) to \(\bm{\tau}_m\) are identified: +The identified dynamics are then saved for further use. +\subsection{Transfer function from Actuators to Encoders} +The transfer functions from \(\bm{u}\) to \(d\bm{\mathcal{L}}_{m}\) are shown in Figure \ref{fig:test_nhexa_comp_plant_payloads_dvf}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_comp_plant_payloads_dvf.png} +\caption{\label{fig:test_nhexa_comp_plant_payloads_dvf}Measured Frequency Response Functions from \(u_i\) to \(d\mathcal{L}_{m,i}\) for all 4 payload conditions. Diagonal terms are solid lines, and shaded lines are off-diagonal terms.} +\end{figure} + + +\begin{important} +From Figure \ref{fig:test_nhexa_comp_plant_payloads_dvf}, we can observe few things: +\begin{itemize} +\item The obtained dynamics is changing a lot between the case without mass and when there is at least one added mass. +\item Between 1, 2 and 3 added masses, the dynamics is not much different, and it would be easier to design a controller only for these cases. +\item The flexible modes of the top plate is first decreased a lot when the first mass is added (from 700Hz to 400Hz). +This is due to the fact that the added mass is composed of two half cylinders which are not fixed together. +Therefore is adds a lot of mass to the top plate without adding a lot of rigidity in one direction. +When more than 1 mass layer is added, the half cylinders are added with some angles such that rigidity are added in all directions (see Figure \ref{fig:test_nhexa_picture_added_3_masses}). +In that case, the frequency of these flexible modes are increased. +In practice, the payload should be one solid body, and we should not see a massive decrease of the frequency of this flexible mode. +\item Flexible modes of the top plate are becoming less problematic as masses are added. +\item First flexible mode of the strut at 230Hz is not much decreased when mass is added. +However, its apparent amplitude is much decreased. +\end{itemize} +\end{important} + +\subsection{Transfer function from Actuators to Force Sensors} +The transfer functions from \(\bm{u}\) to \(\bm{\tau}_{m}\) are shown in Figure \ref{fig:test_nhexa_comp_plant_payloads_iff}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_comp_plant_payloads_iff.png} +\caption{\label{fig:test_nhexa_comp_plant_payloads_iff}Measured Frequency Response Functions from \(u_i\) to \(\tau_{m,i}\) for all 4 payload conditions. Diagonal terms are solid lines, and shaded lines are off-diagonal terms.} +\end{figure} + +\begin{important} +From Figure \ref{fig:test_nhexa_comp_plant_payloads_iff}, we can see that for all added payloads, the transfer function from \(\bm{u}\) to \(\bm{\tau}_{m}\) always has alternating poles and zeros. +\end{important} + +\subsection{Coupling of the transfer function from Actuator to Encoders} +The RGA-number, which is a measure of the interaction in the system, is computed for the transfer function matrix from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\) for all the payloads. +The obtained numbers are compared in Figure \ref{fig:test_nhexa_rga_num_ol_masses}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_rga_num_ol_masses.png} +\caption{\label{fig:test_nhexa_rga_num_ol_masses}RGA-number for the open-loop transfer function from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\)} +\end{figure} + +\begin{important} +From Figure \ref{fig:test_nhexa_rga_num_ol_masses}, it is clear that the coupling is quite large starting from the first suspension mode of the nano-hexapod. +Therefore, is the payload's mass is increase, the coupling in the system start to become unacceptably large at lower frequencies. +\end{important} + +\section{Conclusion} +\begin{important} +In this section, the dynamics of the nano-hexapod with the encoders fixed to the plates is studied. + +It has been found that: +\begin{itemize} +\item The measured dynamics is in agreement with the dynamics of the simscape model, up to the flexible modes of the top plate. +See figures \ref{fig:test_nhexa_enc_plates_iff_comp_simscape} and \ref{fig:test_nhexa_enc_plates_iff_comp_offdiag_simscape} for the transfer function to the force sensors and Figures \ref{fig:test_nhexa_enc_plates_dvf_comp_simscape} and \ref{fig:test_nhexa_enc_plates_dvf_comp_offdiag_simscape} for the transfer functions to the encoders +\item The Integral Force Feedback strategy is very effective in damping the suspension modes of the nano-hexapod (Figure \ref{fig:test_nhexa_enc_plant_plates_effect_iff}). +\item The transfer function from \(\bm{u}^\prime\) to \(d\bm{\mathcal{L}}_m\) show nice dynamical properties and is a much better candidate for the high-authority-control than when the encoders were fixed to the struts. +At least up to the flexible modes of the top plate, the diagonal elements of the transfer function matrix have alternating poles and zeros, and the phase is moving smoothly. +Only the flexible modes of the top plates seems to be problematic for control. +\end{itemize} +\end{important} + +\chapter{Comparison with the Nano-Hexapod model?} +\label{sec:test_nhexa_model} +\section{Comparison with the Simscape Model} +\label{sec:test_nhexa_enc_plates_comp_simscape} +In this section, the measured dynamics done in Section \ref{sec:test_nhexa_enc_plates_plant_id} is compared with the dynamics estimated from the Simscape model. + +A configuration is added to be able to put the nano-hexapod on top of the vibration table as shown in Figure \ref{fig:simscape_vibration_table}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1,width=0.8\linewidth]{figs/vibration_table_nano_hexapod_simscape.png} +\caption{\label{fig:simscape_vibration_table}3D representation of the simscape model with the nano-hexapod} +\end{figure} +\subsection{Identification with the Simscape Model} +The nano-hexapod is initialized with the APA taken as 2dof models. +Now, the dynamics from the DAC voltage \(\bm{u}\) to the encoders \(d\bm{\mathcal{L}}_m\) is estimated using the Simscape model. +Then the transfer function from \(\bm{u}\) to \(\bm{\tau}_m\) is identified using the Simscape model. +The identified dynamics is saved for further use. +\subsection{Dynamics from Actuator to Force Sensors} +The identified dynamics is compared with the measured FRF: +\begin{itemize} +\item Figure \ref{fig:test_nhexa_enc_plates_iff_comp_simscape_all}: the individual transfer function from \(u_1\) (the DAC voltage for the first actuator) to the force sensors of all 6 struts are compared +\item Figure \ref{fig:test_nhexa_enc_plates_iff_comp_simscape}: all the diagonal elements are compared +\item Figure \ref{fig:test_nhexa_enc_plates_iff_comp_offdiag_simscape}: all the off-diagonal elements are compared +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_iff_comp_simscape_all.png} +\caption{\label{fig:test_nhexa_enc_plates_iff_comp_simscape_all}IFF Plant for the first actuator input and all the force senosrs} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_iff_comp_simscape.png} +\caption{\label{fig:test_nhexa_enc_plates_iff_comp_simscape}Diagonal elements of the IFF Plant} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_iff_comp_offdiag_simscape.png} +\caption{\label{fig:test_nhexa_enc_plates_iff_comp_offdiag_simscape}Off diagonal elements of the IFF Plant} +\end{figure} + +\subsection{Dynamics from Actuator to Encoder} +The identified dynamics is compared with the measured FRF: +\begin{itemize} +\item Figure \ref{fig:test_nhexa_enc_plates_dvf_comp_simscape_all}: the individual transfer function from \(u_3\) (the DAC voltage for the actuator number 3) to the six encoders +\item Figure \ref{fig:test_nhexa_enc_plates_dvf_comp_simscape}: all the diagonal elements are compared +\item Figure \ref{fig:test_nhexa_enc_plates_dvf_comp_offdiag_simscape}: all the off-diagonal elements are compared +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_dvf_comp_simscape_all.png} +\caption{\label{fig:test_nhexa_enc_plates_dvf_comp_simscape_all}DVF Plant for the first actuator input and all the encoders} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_dvf_comp_simscape.png} +\caption{\label{fig:test_nhexa_enc_plates_dvf_comp_simscape}Diagonal elements of the DVF Plant} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_enc_plates_dvf_comp_offdiag_simscape.png} +\caption{\label{fig:test_nhexa_enc_plates_dvf_comp_offdiag_simscape}Off diagonal elements of the DVF Plant} +\end{figure} + +\subsection{Conclusion} +\begin{important} +The Simscape model is quite accurate for the transfer function matrices from \(\bm{u}\) to \(\bm{\tau}_m\) and from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\) except at frequencies of the flexible modes of the top-plate. +The Simscape model can therefore be used to develop the control strategies. +\end{important} + +\section{Comparison with the Simscape model} +\label{sec:test_nhexa_added_mass_simscape} +Let's now compare the identified dynamics with the Simscape model. +We wish to verify if the Simscape model is still accurate for all the tested payloads. +\subsection{System Identification} +Let's initialize the simscape model with the nano-hexapod fixed on top of the vibration table. +First perform the identification for the transfer functions from \(\bm{u}\) to \(d\bm{\mathcal{L}}_m\): +The identified dynamics are then saved for further use. +\subsection{Transfer function from Actuators to Encoders} +The measured FRF and the identified dynamics from \(u_i\) to \(d\mathcal{L}_{m,i}\) are compared in Figure \ref{fig:test_nhexa_comp_masses_model_exp_dvf}. +A zoom near the ``suspension'' modes is shown in Figure \ref{fig:test_nhexa_comp_masses_model_exp_dvf_zoom}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/comp_masses_model_exp_dvf.png} +\caption{\label{fig:test_nhexa_comp_masses_model_exp_dvf}Comparison of the transfer functions from \(u_i\) to \(d\mathcal{L}_{m,i}\) - measured FRF and identification from the Simscape model} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_comp_masses_model_exp_dvf_zoom.png} +\caption{\label{fig:test_nhexa_comp_masses_model_exp_dvf_zoom}Comparison of the transfer functions from \(u_i\) to \(d\mathcal{L}_{m,i}\) - measured FRF and identification from the Simscape model (Zoom)} +\end{figure} + +\begin{important} +The Simscape model is very accurately representing the measured dynamics up. +Only the flexible modes of the struts and of the top plate are not represented here as these elements are modelled as rigid bodies. +\end{important} + +\subsection{Transfer function from Actuators to Force Sensors} +The measured FRF and the identified dynamics from \(u_i\) to \(\tau_{m,i}\) are compared in Figure \ref{fig:test_nhexa_comp_masses_model_exp_iff}. +A zoom near the ``suspension'' modes is shown in Figure \ref{fig:test_nhexa_comp_masses_model_exp_iff_zoom}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_comp_masses_model_exp_iff.png} +\caption{\label{fig:test_nhexa_comp_masses_model_exp_iff}Comparison of the transfer functions from \(u_i\) to \(\tau_{m,i}\) - measured FRF and identification from the Simscape model} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/test_nhexa_comp_masses_model_exp_iff_zoom.png} +\caption{\label{fig:test_nhexa_comp_masses_model_exp_iff_zoom}Comparison of the transfer functions from \(u_i\) to \(\tau_{m,i}\) - measured FRF and identification from the Simscape model (Zoom)} +\end{figure} + +\printbibliography[heading=bibintoc,title={Bibliography}] + +\printglossaries +\end{document}