+
5.3 Conclusion
-The Cubic architecture seems to not have any significant effect on the coupling between actuator and sensors of each strut.
+The Cubic architecture seems to not have any significant effect on the coupling between actuator and sensors of each strut and thus provides no advantages for decentralized control.
@@ -1902,7 +1938,7 @@ stewart.platform_M.Mb = Mb;
Author: Dehaeze Thomas
-
Created: 2020-02-12 mer. 18:26
+
Created: 2020-02-13 jeu. 15:01
diff --git a/org/cubic-configuration.org b/org/cubic-configuration.org
index fad97c3..f2270aa 100644
--- a/org/cubic-configuration.org
+++ b/org/cubic-configuration.org
@@ -647,6 +647,12 @@ And we set small mass for the struts.
stewart = initializeInertialSensor(stewart);
#+end_src
+No flexibility below the Stewart platform and no payload.
+#+begin_src matlab
+ ground = initializeGround('type', 'none');
+ payload = initializePayload('type', 'none');
+#+end_src
+
The obtain geometry is shown in figure [[fig:stewart_cubic_conf_decouple_dynamics]].
#+begin_src matlab :exports none
@@ -664,19 +670,19 @@ The obtain geometry is shown in figure [[fig:stewart_cubic_conf_decouple_dynamic
We now identify the dynamics from forces applied in each strut $\bm{\tau}$ to the displacement of each strut $d \bm{\mathcal{L}}$.
#+begin_src matlab
- open('simulink/stewart_active_damping.slx')
+ open('stewart_platform_model.slx')
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
- mdl = 'stewart_active_damping';
+ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -826,6 +832,12 @@ And we set small mass for the struts.
stewart = initializeInertialSensor(stewart);
#+end_src
+No flexibility below the Stewart platform and no payload.
+#+begin_src matlab
+ ground = initializeGround('type', 'none');
+ payload = initializePayload('type', 'none');
+#+end_src
+
The obtain geometry is shown in figure [[fig:stewart_cubic_conf_mass_above]].
#+begin_src matlab :exports none
displayArchitecture(stewart, 'labels', false, 'view', 'all');
@@ -842,19 +854,19 @@ The obtain geometry is shown in figure [[fig:stewart_cubic_conf_mass_above]].
We now identify the dynamics from forces applied in each strut $\bm{\tau}$ to the displacement of each strut $d \bm{\mathcal{L}}$.
#+begin_src matlab
- open('simulink/stewart_active_damping.slx')
+ open('stewart_platform_model.slx')
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
- mdl = 'stewart_active_damping';
+ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -1016,6 +1028,12 @@ Let's generate a Cubic architecture where the cube's center and the frames $\{A\
stewart = initializeInertialSensor(stewart);
#+end_src
+No flexibility below the Stewart platform and no payload.
+#+begin_src matlab
+ ground = initializeGround('type', 'none');
+ payload = initializePayload('type', 'none');
+#+end_src
+
#+begin_src matlab :exports none
displayArchitecture(stewart, 'labels', false, 'view', 'all');
#+end_src
@@ -1032,19 +1050,19 @@ Let's generate a Cubic architecture where the cube's center and the frames $\{A\
And we identify the dynamics from the actuator forces $\tau_{i}$ to the relative motion sensors $\delta \mathcal{L}_{i}$ (Figure [[fig:coupling_struts_relative_sensor_cubic]]) and to the force sensors $\tau_{m,i}$ (Figure [[fig:coupling_struts_force_sensor_cubic]]).
#+begin_src matlab :exports none
- open('simulink/stewart_active_damping.slx')
+ open('stewart_platform_model.slx')
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
- mdl = 'stewart_active_damping';
+ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -1101,8 +1119,8 @@ And we identify the dynamics from the actuator forces $\tau_{i}$ to the relative
#+begin_src matlab :exports none
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Fm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -1181,6 +1199,12 @@ Now we generate a Stewart platform which is not cubic but with approximately the
stewart = initializeInertialSensor(stewart);
#+end_src
+No flexibility below the Stewart platform and no payload.
+#+begin_src matlab
+ ground = initializeGround('type', 'none');
+ payload = initializePayload('type', 'none');
+#+end_src
+
#+begin_src matlab :exports none
displayArchitecture(stewart, 'labels', false, 'view', 'all');
#+end_src
@@ -1197,19 +1221,19 @@ Now we generate a Stewart platform which is not cubic but with approximately the
And we identify the dynamics from the actuator forces $\tau_{i}$ to the relative motion sensors $\delta \mathcal{L}_{i}$ (Figure [[fig:coupling_struts_relative_sensor_non_cubic]]) and to the force sensors $\tau_{m,i}$ (Figure [[fig:coupling_struts_force_sensor_non_cubic]]).
#+begin_src matlab :exports none
- open('simulink/stewart_active_damping.slx')
+ open('stewart_platform_model.slx')
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
- mdl = 'stewart_active_damping';
+ mdl = 'stewart_platform_model';
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -1266,8 +1290,8 @@ And we identify the dynamics from the actuator forces $\tau_{i}$ to the relative
#+begin_src matlab :exports none
%% Input/Output definition
clear io; io_i = 1;
- io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
- io(io_i) = linio([mdl, '/Fm'], 1, 'openoutput'); io_i = io_i + 1; % Displacement of each leg [m]
+ io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+ io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
%% Run the linearization
G = linearize(mdl, io, options);
@@ -1323,7 +1347,7 @@ And we identify the dynamics from the actuator forces $\tau_{i}$ to the relative
** Conclusion
#+begin_important
- The Cubic architecture seems to not have any significant effect on the coupling between actuator and sensors of each strut.
+ The Cubic architecture seems to not have any significant effect on the coupling between actuator and sensors of each strut and thus provides no advantages for decentralized control.
#+end_important
* Functions