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[WIP] Add Amplified piezo and Variant subsystems

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This commit is contained in:
Thomas Dehaeze
2020-02-10 18:17:37 +01:00
parent 214cacf0e9
commit 2231aa53ce
14 changed files with 693 additions and 333 deletions
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39
src/initializeAmplifiedStrutDynamics.m Normal file
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function [stewart] = initializeAmplifiedStrutDynamics(stewart, args)
% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut
%
% Syntax: [stewart] = initializeAmplifiedStrutDynamics(args)
%
% Inputs:
% - args - Structure with the following fields:
% - Ksi [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - Csi [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - Kdi [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m]
% - Cdi [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
% - Ki [6x1] - Total Stiffness of each strut [N/m]
% - Ci [6x1] - Total Damping of each strut [N/(m/s)]
% - Ksi [6x1] - Vertical stiffness contribution of the piezoelectric stack [N/m]
% - Csi [6x1] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
% - Kdi [6x1] - Vertical stiffness when the piezoelectric stack is removed [N/m]
% - Cdi [6x1] - Vertical damping when the piezoelectric stack is removed [N/(m/s)]
arguments
stewart
args.Kdi (6,1) double {mustBeNumeric, mustBeNonnegative} = 5e6*ones(6,1)
args.Cdi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.Ksi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15e6*ones(6,1)
args.Csi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
end
stewart.Ksi = args.Ksi;
stewart.Csi = args.Csi;
stewart.Kdi = args.Kdi;
stewart.Cdi = args.Cdi;
stewart.Ki = args.Ksi + args.Kdi;
stewart.Ci = args.Csi + args.Cdi;
stewart.actuator_type = 2;