tdehaeze/stewart-simscape
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Work on HAC-LAC, Control architectures

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This commit is contained in:
Thomas Dehaeze
2020-02-28 17:35:44 +01:00
parent c1ca4b3b78
commit 02943f0f28
52 changed files with 2706 additions and 334 deletions
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2
src/computeCompliance.m
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@@ -30,7 +30,7 @@ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Disturbances/F_ext'], 1, 'openinput'); io_i = io_i + 1; % External forces [N, N*m]
io(io_i) = linio([mdl, '/Absolute Motion Sensor'], 1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
io(io_i) = linio([mdl, '/Absolute Motion Sensor'], 1, 'output'); io_i = io_i + 1; % Absolute Motion [m, rad]
%% Run the linearization
C = linearize(mdl, io, options);

6
src/computeTransmissibility.m
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@@ -30,7 +30,7 @@ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Disturbances/D_w'], 1, 'openinput'); io_i = io_i + 1; % Base Motion [m, rad]
io(io_i) = linio([mdl, '/Absolute Motion Sensor'], 1, 'openoutput'); io_i = io_i + 1; % Absolute Motion [m, rad]
io(io_i) = linio([mdl, '/Absolute Motion Sensor'], 1, 'output'); io_i = io_i + 1; % Absolute Motion [m, rad]
%% Run the linearization
T = linearize(mdl, io, options);
@@ -63,8 +63,8 @@ if args.plots
han = axes(fig, 'visible', 'off');
han.XLabel.Visible = 'on';
han.YLabel.Visible = 'on';
ylabel(han, 'Frequency [Hz]');
xlabel(han, 'Transmissibility [m/m]');
xlabel(han, 'Frequency [Hz]');
ylabel(han, 'Transmissibility [m/m]');
end
T_norm = zeros(length(freqs), 1);

6
src/initializeController.m
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@@ -7,7 +7,7 @@ function [controller] = initializeController(args)
% - args - Can have the following fields:
arguments
args.type char {mustBeMember(args.type, {'open-loop', 'iff', 'dvf'})} = 'open-loop'
args.type char {mustBeMember(args.type, {'open-loop', 'iff', 'dvf', 'hac-iff', 'hac-dvf'})} = 'open-loop'
end
controller = struct();
@@ -19,4 +19,8 @@ switch args.type
controller.type = 1;
case 'dvf'
controller.type = 2;
case 'hac-iff'
controller.type = 3;
case 'hac-dvf'
controller.type = 4;
end