Initial commit

matlab/simscape_gravity.m

@@ -0,0 +1,98 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Simulink
+
+open 'gravity_test.slx'
+
+% Initial Simulation
+
+g = -10; % [m/s^2]
+
+k = 1e3; % Stiffness [N/m]
+c = 10; % Damping [N/(m/s)]
+
+l0 = 0; % Initial wanted position [m]
+leq = 0; % equilibrium position [m]
+
+F_ext = 0; % External force [N]
+F_act = 0; % Actuator force [N]
+
+out_init = sim('gravity_test.slx')
+
+out_init.d.Name = 'Displacement';
+out_init.Fm.Name = 'Force Sensor';
+
+figure;
+subplot(1,2,1)
+plot(out_init.d)
+title('');
+subplot(1,2,2)
+plot(out_init.Fm)
+title('');
+
+% Change the equilibrium position
+
+l0 = 0; % Initial wanted position [m]
+leq = -out_init.Fm.Data(end)/k; % equilibrium position [m]
+
+F_ext = 0; % External force [N]
+F_act = 0; % Actuator force [N]
+
+out = sim('gravity_test.slx');
+
+out.d.Name = 'Displacement';
+out.Fm.Name = 'Force Sensor';
+
+figure;
+subplot(1,2,1)
+plot(out.d)
+title('');
+subplot(1,2,2)
+plot(out.Fm)
+title('');
+
+% Add external force
+
+l0 = 0; % Initial wanted position [m]
+leq = 0; % equilibrium position [m]
+
+F_ext = -out_init.Fm.Data(end); % External force [N]
+F_act = 0; % Actuator force [N]
+
+out = sim('gravity_test.slx');
+
+out.d.Name = 'Displacement';
+out.Fm.Name = 'Force Sensor';
+
+figure;
+subplot(1,2,1)
+plot(out.d)
+title('');
+subplot(1,2,2)
+plot(out.Fm)
+title('');
+
+% Change initial position
+
+l0 = out_init.d.Data(end); % Initial wanted position [m]
+leq = 0; % equilibrium position [m]
+
+F_ext = 0; % External force [N]
+F_act = 0; % Actuator force [N]
+
+out = sim('gravity_test.slx');
+
+out.d.Name = 'Displacement';
+out.Fm.Name = 'Force Sensor';
+
+figure;
+subplot(1,2,1)
+plot(out.d)
+title('');
+subplot(1,2,2)
+plot(out.Fm)
+title('');