tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Rework - New Simscape

Browse Source
This commit is contained in:
Thomas Dehaeze
2020-02-13 15:01:45 +01:00
parent d904877c01
commit 2122ecbf74
2 changed files with 107 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
org/cubic-configuration.org
View File

@@ -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