89 lines
3.8 KiB
Org Mode
89 lines
3.8 KiB
Org Mode
|
#+TITLE: Stewart Platform - NASS
|
||
|
|
:DRAWER:
|
||
|
|
#+STARTUP: overview
|
||
|
|
|
||
|
|
#+LANGUAGE: en
|
||
|
|
#+EMAIL: dehaeze.thomas@gmail.com
|
||
|
|
#+AUTHOR: Dehaeze Thomas
|
||
|
|
|
||
|
|
#+HTML_LINK_HOME: ./index.html
|
||
|
|
#+HTML_LINK_UP: ./index.html
|
||
|
|
|
||
|
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||
|
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||
|
|
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
|
||
|
|
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
|
||
|
|
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
|
||
|
|
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
|
||
|
|
|
||
|
|
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||
|
|
#+PROPERTY: header-args:matlab+ :comments org
|
||
|
|
#+PROPERTY: header-args:matlab+ :exports both
|
||
|
|
#+PROPERTY: header-args:matlab+ :results none
|
||
|
|
#+PROPERTY: header-args:matlab+ :eval no-export
|
||
|
|
#+PROPERTY: header-args:matlab+ :noweb yes
|
||
|
|
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||
|
|
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||
|
|
|
||
|
|
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
||
|
|
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||
|
|
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
||
|
|
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||
|
|
#+PROPERTY: header-args:latex+ :results file raw replace
|
||
|
|
#+PROPERTY: header-args:latex+ :buffer no
|
||
|
|
#+PROPERTY: header-args:latex+ :eval no-export
|
||
|
|
#+PROPERTY: header-args:latex+ :exports results
|
||
|
|
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||
|
|
#+PROPERTY: header-args:latex+ :output-dir figs
|
||
|
|
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||
|
|
:END:
|
||
|
|
|
||
|
|
* NASS
|
||
|
|
** Matlab Init :noexport:ignore:
|
||
|
|
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||
|
|
<<matlab-dir>>
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab :exports none :results silent :noweb yes
|
||
|
|
<<matlab-init>>
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab
|
||
|
|
simulinkproject('../');
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab
|
||
|
|
open('stewart_platform_model.slx')
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
** Identification of the Dynamics
|
||
|
|
#+begin_src matlab
|
||
|
|
apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||
|
|
flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab
|
||
|
|
stewart = initializeStewartPlatform();
|
||
|
|
stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
|
||
|
|
stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
|
||
|
|
stewart = computeJointsPose(stewart);
|
||
|
|
stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
|
||
|
|
stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
|
||
|
|
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
|
||
|
|
stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
|
||
|
|
stewart = computeJacobian(stewart);
|
||
|
|
stewart = initializeStewartPose(stewart);
|
||
|
|
stewart = initializeInertialSensor(stewart);
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab
|
||
|
|
ground = initializeGround('type', 'none');
|
||
|
|
payload = initializePayload('type', 'rigid', 'm', 50);
|
||
|
|
controller = initializeController('type', 'open-loop');
|
||
|
|
#+end_src
|
||
|
|
|
||
|
|
#+begin_src matlab
|
||
|
|
disturbances = initializeDisturbances();
|
||
|
|
references = initializeReferences(stewart);
|
||
|
|
#+end_src
|