From 0aad83059716828040f6402c43f48ed14ee85753 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 11 Mar 2020 18:58:35 +0100 Subject: [PATCH] Add Disturbances and Reference initialization --- matlab/stewart_platform_model.slx | Bin 61486 -> 67118 bytes org/simscape-model.org | 133 ++++++++++++++++++++++++++++-- src/initializeController.m | 6 +- src/initializeDisturbances.m | 20 +++++ src/initializeReferences.m | 33 ++++++++ 5 files changed, 186 insertions(+), 6 deletions(-) create mode 100644 src/initializeDisturbances.m create mode 100644 src/initializeReferences.m diff --git a/matlab/stewart_platform_model.slx b/matlab/stewart_platform_model.slx index dccaccc44b6e61a47b3f594663ce7894584bd261..45a190af2c15f388f5d0feb0175ba804b65cc61a 100644 GIT binary patch delta 58457 zcmY(pV{G8v7cE?KYD{h0o!Yi-+s3c9ZQHh{oSIYHo!V~S=YR9&Cilb6IUn{()=pM- z&R%=f?Sj|EKp-f}fJ2~zfPlb&a0b{kBG7<=|93WXgXMuD{C82***PB72L%D?PCf!> z0H45fO2&lnD08nW*+R8PSUlEzJhIQ#IeTD^sSW6~~G<_Q}ogL{BPS5k3Jsqo-Am5B?iUOT6uPzsWw3{|A1u6XX}l z|4^eKaO(B`R}{p5$SINoq4AP)pqBnmVJ^^Mps4>#iFXxWs3!ygIVS=E!30TG`iBLy zW?87B={;N}7GZhEFG;53lt!h@MK16xR0pA3Nh9>iFcA?^5$OrX!vv|G=~)YwNTQ%1 zpAlUGp4VOH{+)!^dNwTM(&jT$InB?_z--trJv%oz7}k)0fB>+{!Xl(?9|nUGjo*En zEhM--dO(%Yv7DeI`SG2bSlMb*egFU>9-ykk_TbZ<8R~j8s9>un>A7%cIEvDniEup1 zYTw724b9lfnKy08O4G$4*PqBwOfiyp6{4)R!JV`B7SVLc!{&JC(zEE_)MUf%Do+PICMo(kCiq~uqG%q&vPj^@G6CThxRr7!I zWLPm461|#70JWB+9REJoyT<|-vNR%AK(aT9Wydo=I8+Tu`LpQPh9Bz4bZ%X)3}TRu zWt>Rp;m7o_OTQJtoAShmf2Jj|i)<#2ZovExvCW>*d+R{B+Dp0&#BuSXgt zl}fg@ml+OW75A5&J#p7c^_LY?SXfF@=OhhndRWs{ph?5(4Y}1?Fg4&4q&R;}I{5VT zw4$YDPub^^qqG62rp6 z&f#*d%PW`_&d;#+b*02G{_1hB)mF5fn3(9xF8#QD`WLvpZIVoH;I}6In!JvBT?05bvu;t+&PWoejV2xP z|BYbWqaO{afg2pm=vQ(g!xc%a?*58yEF(Fy%X5GhSiy#)`qyjih*M%I0aLR7;o+&0 z;1eFMOwUsvfhrn#iNjJjA65LbA7^fQ`i@ofqGVX@@zLDGoOH^2E=0Z~Wr>tqC2)y% zQ1|waw6V6bF#^DfAaj}Sjv7~^tfHVEE6p&tJqV~T-!A( zS<7+RT#4QO&hiCDyenA`rgMDJ2vjutih1~9T9iJFl_($}5l1P|M-YZNZ9zFPHc?Fj5N|NB+HxAR>s^WOm@%v1QcuC`^KKDNG1Y-?s(3t_p8!h*Kb zWaF!Bv?g%tmmi<2`$MGVa?!xRWs!nKTr2Ks=t+lXE5z z#+OxbE~!ExJEqRJCj0cQT0bf0uuSoL*fxxsyd`xko0^g(ERj1kq< z(mRlmRmA(n%XD;Bw5&&zNTd`(l7=v>ZF0loG1&XhAiycIY?aCQU+C`7h8uWzrYuc5 zb>|pkX=9A(LMDy(Lzh3Hz8V@U?ZLZij!M%k&kbq-GE2tZ!h$jtJiHRm$I7z0N2Cxl zI~g42td`N=!zP9dr(1Kmc%eu0ZH-&!npU7HO%W!@G=(T3=t%DUG`?JAqtgwz%grQK zk`CVXHj)qpW5j+W7(mr>TQ)^78Z?kbiN7`Aavidkq=j|yT14MQ;a;?TXYcxDXjNol zyq(eXQ0NSsTR#PTsXUyi=am+ReQ!27*W-=-`|Cn*=&1Xig+yuMGvuZJqA%{He`>g^o8AwgHpQ2;D<@`>)_`H2aQdINuCA_=+nrstz0|(peHb=2Gg;i+FJ;Kv z=wk9y=wF=#-(MuCP>5AWeQaf3avSRQ`p>R@%2+=y&bXTB5f0B!>+Qm~E@ivXb1L4S6^u$LQi145WtaH! 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zOzvw#)vOU60QjH_09aUE_%_0`-NEhJ>+D@fm(&Yze0yOLL2Uy72Lq4acQV6wXk_04 z(Gp;AiR!*482Df_0BA@7EsU93Mw;168$g%9;|9g>7EfgXKwk=Iw3~@BF@SysK}lAS zCkSdF6ip!#2=0+^tl($j`{4ca;B_ieOJ(;k$9Ag`zRxi6C%5uPUI4&SM}8MQ)(XNP zK>T|3APdAgPcC!}0UAnpq}#;55`9g2TiJTk_}9{$q&*Ul;mPZ;sY^xkBNrM(fIB36 zeUtYA04Ifd$b|?ppz-GQGOr6> -** Strut Configuration For the Stewart platform, the 6 struts are identical. Thus, all the struts used in the Stewart platform are referring to the same subsystem called =stewart_strut.slx= and shown in Figure [[fig:simscape_strut]]. -This strut as the following structure: -- *Universal Joint** connected on the Fixed base -- *Prismatic Joint** for the actuator -- *Spherical Joint** connected on the Mobile platform +This strut has the following structure: +- *Universal Joint* connected on the Fixed base +- *Prismatic Joint* for the actuator +- *Spherical Joint* connected on the Mobile platform This configuration is called *UPS*. @@ -310,3 +309,127 @@ This Matlab function is accessible [[file:../src/initializeGround.m][here]]. #+begin_src matlab ground.rot_point = args.rot_point; #+end_src +* Initialize Disturbances +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeDisturbances.m +:header-args:matlab+: :comments none :mkdirp yes +:header-args:matlab+: :eval no :results none +:END: +<> + +** Function Declaration and Documentation +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + function [disturbances] = initializeDisturbances(args) + % initializeDisturbances - Initialize the disturbances + % + % Syntax: [disturbances] = initializeDisturbances(args) + % + % Inputs: + % - args - + +#+end_src + +** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + args.Fd double {mustBeNumeric, mustBeReal} = zeros(6,1) + args.Fd_t double {mustBeNumeric, mustBeReal} = 0 + args.Dw double {mustBeNumeric, mustBeReal} = zeros(6,1) + args.Dw_t double {mustBeNumeric, mustBeReal} = 0 + end +#+end_src + + +** Structure initialization +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + disturbances = struct(); +#+end_src + +** Ground Motion +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + disturbances.Dw = timeseries([args.Dw], args.Dw_t); +#+end_src + +** Direct Forces +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + disturbances.Fd = timeseries([args.Fd], args.Fd_t); +#+end_src + +* Initialize References +:PROPERTIES: +:header-args:matlab+: :tangle ../src/initializeReferences.m +:header-args:matlab+: :comments none :mkdirp yes +:header-args:matlab+: :eval no :results none +:END: +<> + +** Function Declaration and Documentation +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + function [references] = initializeReferences(stewart, args) + % initializeReferences - Initialize the references + % + % Syntax: [references] = initializeReferences(args) + % + % Inputs: + % - args - + +#+end_src + +** Optional Parameters +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + arguments + stewart + args.t double {mustBeNumeric, mustBeReal} = 0 + args.r double {mustBeNumeric, mustBeReal} = zeros(6, 1) + end +#+end_src + +** Compute the corresponding strut length +#+begin_src matlab + rL = zeros(6, length(args.t)); + + for i = 1:length(args.t) + R = [cos(args.r(6,i)) -sin(args.r(6,i)) 0; + sin(args.r(6,i)) cos(args.r(6,i)) 0; + 0 0 1] * ... + [cos(args.r(5,i)) 0 sin(args.r(5,i)); + 0 1 0; + -sin(args.r(5,i)) 0 cos(args.r(5,i))] * ... + [1 0 0; + 0 cos(args.r(4,i)) -sin(args.r(4,i)); + 0 sin(args.r(4,i)) cos(args.r(4,i))]; + + [Li, dLi] = inverseKinematics(stewart, 'AP', [args.r(1,i); args.r(2,i); args.r(3,i)], 'ARB', R); + rL(:, i) = dLi; + end +#+end_src + +** References +:PROPERTIES: +:UNNUMBERED: t +:END: +#+begin_src matlab + references.r = timeseries(args.r, args.t); + references.rL = timeseries(rL, args.t); +#+end_src diff --git a/src/initializeController.m b/src/initializeController.m index 75e919a..363b43d 100644 --- a/src/initializeController.m +++ b/src/initializeController.m @@ -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', 'hac-iff', 'hac-dvf'})} = 'open-loop' + args.type char {mustBeMember(args.type, {'open-loop', 'iff', 'dvf', 'hac-iff', 'hac-dvf', 'ref-track-L', 'ref-track-X'})} = 'open-loop' end controller = struct(); @@ -23,4 +23,8 @@ switch args.type controller.type = 3; case 'hac-dvf' controller.type = 4; + case 'ref-track-L' + controller.type = 5; + case 'ref-track-X' + controller.type = 6; end diff --git a/src/initializeDisturbances.m b/src/initializeDisturbances.m new file mode 100644 index 0000000..a1bb89f --- /dev/null +++ b/src/initializeDisturbances.m @@ -0,0 +1,20 @@ +function [disturbances] = initializeDisturbances(args) +% initializeDisturbances - Initialize the disturbances +% +% Syntax: [disturbances] = initializeDisturbances(args) +% +% Inputs: +% - args - + +arguments + args.Fd double {mustBeNumeric, mustBeReal} = zeros(6,1) + args.Fd_t double {mustBeNumeric, mustBeReal} = 0 + args.Dw double {mustBeNumeric, mustBeReal} = zeros(6,1) + args.Dw_t double {mustBeNumeric, mustBeReal} = 0 +end + +disturbances = struct(); + +disturbances.Dw = timeseries([args.Dw], args.Dw_t); + +disturbances.Fd = timeseries([args.Fd], args.Fd_t); diff --git a/src/initializeReferences.m b/src/initializeReferences.m new file mode 100644 index 0000000..b92aabd --- /dev/null +++ b/src/initializeReferences.m @@ -0,0 +1,33 @@ +function [references] = initializeReferences(stewart, args) +% initializeReferences - Initialize the references +% +% Syntax: [references] = initializeReferences(args) +% +% Inputs: +% - args - + +arguments + stewart + args.t double {mustBeNumeric, mustBeReal} = 0 + args.r double {mustBeNumeric, mustBeReal} = zeros(6, 1) +end + +rL = zeros(6, length(args.t)); + +for i = 1:length(args.t) + R = [cos(args.r(6,i)) -sin(args.r(6,i)) 0; + sin(args.r(6,i)) cos(args.r(6,i)) 0; + 0 0 1] * ... + [cos(args.r(5,i)) 0 sin(args.r(5,i)); + 0 1 0; + -sin(args.r(5,i)) 0 cos(args.r(5,i))] * ... + [1 0 0; + 0 cos(args.r(4,i)) -sin(args.r(4,i)); + 0 sin(args.r(4,i)) cos(args.r(4,i))]; + + [Li, dLi] = inverseKinematics(stewart, 'AP', [args.r(1,i); args.r(2,i); args.r(3,i)], 'ARB', R); + rL(:, i) = dLi; +end + +references.r = timeseries(args.r, args.t); +references.rL = timeseries(rL, args.t);