46 lines
1.1 KiB
Mathematica
46 lines
1.1 KiB
Mathematica
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%% Script Description
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% Script used to identify the transfer functions of the
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% Stewart platform (from actuator to displacement)
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%%
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clear; close all; clc;
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%%
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initializeNanoHexapod();
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%%
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initializeSample(struct('mass', 0));
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G_legs_0 = identifyPlantLegs();
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%%
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initializeSample(struct('mass', 10));
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G_legs_10 = identifyPlantLegs();
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%%
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initializeSample(struct('mass', 50));
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G_legs_50 = identifyPlantLegs();
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%%
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freqs = logspace(1, 4, 1000);
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bodeFig({G_legs_0(1, 1), G_legs_10(1, 1), G_legs_50(1, 1)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_i$ - $M = 0Kg$', '$F_i \rightarrow D_i$ - $M = 10Kg$', '$F_i \rightarrow D_i$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('hexapod_legs_mass', 'normal-tall')
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%%
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freqs = logspace(1, 4, 1000);
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bodeFig({G_legs_0(1, 2), G_legs_10(1, 2), G_legs_50(1, 2)}, freqs, struct('phase', true))
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legend({'$F_i \rightarrow D_j$ - $M = 0Kg$', '$F_i \rightarrow D_j$ - $M = 10Kg$', '$F_i \rightarrow D_j$ - $M = 50Kg$'})
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legend('location', 'southwest')
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exportFig('hexapod_legs_coupling_mass', 'normal-tall')
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%% Save identify transfer functions
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save('./mat/G_legs.mat', 'G_legs_0', 'G_legs_10', 'G_legs_50');
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