42 lines
980 B
Mathematica
42 lines
980 B
Mathematica
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clear; close all; clc;
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%% System - center of mass in the plane of joints
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', -25, 'density', 0.1));
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initializeSample(struct('mass', 50, 'height', 1, 'measheight', -25, 'offset', [0, 0, -25.5]));
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%% Identification
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G_aligned = identifyPlant();
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%%
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freqs = logspace(0, 3, 2000);
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%%
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bode_opts = bodeoptions;
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bode_opts.FreqUnits = 'Hz';
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bode_opts.MagUnits = 'abs';
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bode_opts.MagScale = 'log';
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bode_opts.PhaseVisible = 'off';
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%%
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figure;
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bode(G_aligned.G_legs, 2*pi*freqs, bode_opts);
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%% Change height of stewart platform
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for height = [50, 70, 90, 110, 130]
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', -25, 'density', 0.1, 'height', height));
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G.(['h_' num2str(height)]) = identifyPlant();
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end
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%%
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figure;
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bode( ...
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G.h_50.G_legs, ...
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G.h_70.G_legs, ...
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G.h_90.G_legs, ...
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G.h_110.G_legs, ...
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G.h_130.G_legs, ...
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2*pi*freqs, bode_opts);
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% legend({'60', '80', '100', '120', '140'})
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