93 lines
3.1 KiB
Org Mode
93 lines
3.1 KiB
Org Mode
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#+TITLE: Stewart Platform - Active Damping
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:DRAWER:
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#+HTML_LINK_HOME: ./index.html
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#+HTML_LINK_UP: ./index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
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#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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:END:
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* Inertial Control
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab
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addpath('./src/')
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#+end_src
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** Simscape Model
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#+begin_src matlab
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open('simulink/stewart_active_damping.slx')
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#+end_src
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** Initialize the Stewart model
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = computeJacobian(stewart);
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#+end_src
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** Identification of the Dynamics
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#+begin_src matlab
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'stewart_active_damping';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/WVB'], 1, 'openoutput'); io_i = io_i + 1;
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io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1;
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
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G.OutputName = {'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz', ...
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'D1', 'D2', 'D3', 'D4', 'D5', 'D6'};
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#+end_src
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** Analysis
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#+begin_src matlab
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freqs = 2*pi*logspace(1, 4, 1000);
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figure;
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bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
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figure;
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bode(stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
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#+end_src
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#+begin_src matlab
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figure;
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bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
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#+end_src
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** Conclusion
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It is similar to use:
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- one 6dof inertial sensor and the Jacobian the have the velocity of each lim
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- 6 1dof inertial sensor in each top part of the limbs
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