Add functions to add platforms at .STEP files
This commit is contained in:
@@ -1450,11 +1450,11 @@ Quantitatively:
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simulinkproject('../');
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#+end_src
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** Stewart Platform Initialization
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#+begin_src matlab
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apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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open('stewart_platform_model.slx')
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#+end_src
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** Stewart Platform Initialization
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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@@ -1463,32 +1463,23 @@ Quantitatively:
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#+end_src
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#+begin_src matlab
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stewart = initializeAmplifiedStrutDynamics(stewart, 'Ke', 1.5e6*ones(6,1), 'Ka', 43e6*ones(6,1), 'K1', 0.4e6*ones(6,1), 'C1', 10*ones(6,1));
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apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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stewart = initializeAmplifiedStrutDynamics(stewart, 'Ke', 1.5e6*ones(6,1), 'Ka', 40.5e6*ones(6,1), 'K1', 0.4e6*ones(6,1));
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% stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
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#+end_src
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#+begin_src matlab
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stewart = initializeJointDynamics(stewart, 'type_F', 'universal_3dof', ...
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'type_M', 'spherical_3dof', ...
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'Kf_M', 100*ones(6,1), ...
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'Kt_M', 500*ones(6,1), ...
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'Kf_F', 100*ones(6,1), ...
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'Kt_F', 500*ones(6,1), ...
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'Ka_M', 200e6*ones(6,1), ...
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'Kr_M', 1e6*ones(6,1), ...
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'Ka_F', 200e6*ones(6,1), ...
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'Kr_F', 1e6*ones(6,1));
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% stewart = initializeJointDynamics(stewart, 'type_F', 'universal_3dof', ...
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% 'type_M', 'spherical_3dof', ...
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% 'Kf_M', 100*ones(6,1), ...
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% 'Kt_M', 500*ones(6,1), ...
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% 'Kf_F', 100*ones(6,1), ...
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% 'Kt_F', 500*ones(6,1), ...
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% 'Ka_M', 1e6*ones(6,1), ...
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% 'Kr_M', 1e6*ones(6,1), ...
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% 'Ka_F', 1e6*ones(6,1), ...
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% 'Kr_F', 1e6*ones(6,1));
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% stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
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flex_joint = load('./mat/flexor_025.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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stewart = initializeJointDynamics(stewart, 'type_M', 'spherical_3dof', ...
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'Kr_M', flex_joint.K(1,1)*ones(6,1), ...
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'Ka_M', flex_joint.K(3,3)*ones(6,1), ...
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'Kf_M', flex_joint.K(4,4)*ones(6,1), ...
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'Kt_M', flex_joint.K(6,6)*ones(6,1), ...
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'type_F', 'universal_3dof', ...
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'Kr_F', flex_joint.K(1,1)*ones(6,1), ...
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'Ka_F', flex_joint.K(3,3)*ones(6,1), ...
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'Kf_F', flex_joint.K(4,4)*ones(6,1), ...
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'Kt_F', flex_joint.K(6,6)*ones(6,1));
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#+end_src
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#+begin_src matlab
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@@ -1497,7 +1488,6 @@ Quantitatively:
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#+begin_src matlab
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stewart = initializeCylindricalStruts(stewart);
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% stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
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#+end_src
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#+begin_src matlab
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@@ -1518,10 +1508,6 @@ Quantitatively:
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disturbances = initializeDisturbances();
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#+end_src
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#+begin_src matlab
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open('stewart_platform_model.slx')
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#+end_src
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** Initialization :noexport:
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#+begin_src matlab
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%% Options for Linearized
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@@ -1533,9 +1519,9 @@ Quantitatively:
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Motion - Actuators [m]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Lm'); io_i = io_i + 1; % Relative Motion - Legs [m]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Lm'); io_i = io_i + 1; % Relative Motion - Legs [m]
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#+end_src
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#+begin_src matlab :exports none
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@@ -1581,3 +1567,156 @@ Quantitatively:
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linkaxes([ax1,ax2],'x');
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/comp_relative_motion_sensor_act_leg.pdf', 'width', 'full', 'height', 'full');
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#+end_src
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#+name: fig:comp_relative_motion_sensor_act_leg
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#+caption: Comparison of the dynamique from actuator to relative motion sensor located in parallel with the actuator or with the leg (flexible joints included)
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#+RESULTS:
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[[file:figs/comp_relative_motion_sensor_act_leg.png]]
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* Struts with Encoders
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :results none :exports none
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simulinkproject('../');
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#+end_src
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** Flexible Strut
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#+begin_src matlab
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apa = load('./mat/strut_encoder.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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#+end_src
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#+begin_src matlab :exports results :results value table replace :tangle no
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data2orgtable([length(apa.n_i); length(apa.int_i); size(apa.M,1) - 6*length(apa.int_i); size(apa.M,1)], {'Total number of Nodes', 'Number of interface Nodes', 'Number of Modes', 'Size of M and K matrices'}, {}, ' %.0f ');
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#+end_src
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#+RESULTS:
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| Total number of Nodes | 8 |
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| Number of interface Nodes | 8 |
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| Number of Modes | 6 |
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| Size of M and K matrices | 54 |
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#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
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data2orgtable([[1:length(apa.int_i)]', apa.int_i, apa.int_xyz], {}, {'Node i', 'Node Number', 'x [m]', 'y [m]', 'z [m]'}, ' %f ');
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#+end_src
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#+caption: Coordinates of the interface nodes
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#+RESULTS:
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| Node i | Node Number | x [m] | y [m] | z [m] |
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|--------+-------------+---------+--------+----------|
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| 1.0 | 504411.0 | 0.0 | 0.0 | 0.0405 |
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| 2.0 | 504412.0 | 0.0 | 0.0 | -0.0405 |
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| 3.0 | 504413.0 | -0.0325 | 0.0 | 0.0 |
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| 4.0 | 504414.0 | -0.0125 | 0.0 | 0.0 |
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| 5.0 | 504415.0 | -0.0075 | 0.0 | 0.0 |
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| 6.0 | 504416.0 | 0.0325 | 0.0 | 0.0 |
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| 7.0 | 504417.0 | 0.004 | 0.0145 | -0.00175 |
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| 8.0 | 504418.0 | 0.004 | 0.0166 | -0.00175 |
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** Stewart Platform
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, 'H', 95e-3, 'MO_B', 220e-3);
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stewart = generateGeneralConfiguration(stewart, 'FH', 22.5e-3, 'FR', 114e-3, 'FTh', [ -11, 11, 120-11, 120+11, 240-11, 240+11]*(pi/180), ...
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'MH', 22.5e-3, 'MR', 110e-3, 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
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stewart = computeJointsPose(stewart);
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stewart = initializeFlexibleStrutAndJointDynamics(stewart, 'H', (apa.int_xyz(1,3) - apa.int_xyz(2,3)), ...
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'K', apa.K, ...
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'M', apa.M, ...
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'n_xyz', apa.n_xyz, ...
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'xi', 0.1, ...
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'Gf', -2.65e7, ...
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'step_file', 'mat/APA300ML.STEP');
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stewart = initializeSolidPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeInertialSensor(stewart);
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#+end_src
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#+begin_src matlab
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disturbances = initializeDisturbances();
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ground = initializeGround('type', 'none');
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payload = initializePayload('type', 'rigid', 'm', 1);
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controller = initializeController('type', 'open-loop');
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references = initializeReferences(stewart);
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#+end_src
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#+begin_src matlab
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'stewart_platform_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Lm'); io_i = io_i + 1; % Force Sensors [N]
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#+end_src
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#+begin_src matlab
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%% Run the linearization
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G = linearize(mdl, io, options);
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G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
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G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', ...
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'D1', 'D2', 'D3', 'D4', 'D5', 'D6'};
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#+end_src
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#+begin_src matlab :exports none
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freqs = logspace(0, 3, 1000);
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G(i,i), freqs, 'Hz'))), 'color', [0 0.4470 0.7410 0.2]);
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end
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for i = 1:6
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plot(freqs, abs(squeeze(freqresp(G(6+i,i), freqs, 'Hz'))), 'color', [0.8500 0.3250 0.0980 0.2]);
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
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ax2 = subplot(2, 1, 2);
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hold on;
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G(i,i), freqs, 'Hz'))), 'color', [0 0.4470 0.7410 0.2]);
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end
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for i = 1:6
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plot(freqs, 180/pi*angle(squeeze(freqresp(G(6+i,i), freqs, 'Hz'))), 'color', [0.8500 0.3250 0.0980 0.2]);
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end
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hold off;
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
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ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
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ylim([-180, 180]);
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yticks([-180, -90, 0, 90, 180]);
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linkaxes([ax1,ax2],'x');
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/comp_relative_motion_sensor_act_leg_encoder.pdf', 'width', 'full', 'height', 'full');
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#+end_src
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#+name: fig:comp_relative_motion_sensor_act_leg_encoder
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#+caption:
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#+RESULTS:
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[[file:figs/comp_relative_motion_sensor_act_leg_encoder.png]]
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2927
org/stewart-architecture.html
Normal file
2927
org/stewart-architecture.html
Normal file
File diff suppressed because it is too large
Load Diff
@@ -926,6 +926,66 @@ This Matlab function is accessible [[file:../src/initializeCylindricalPlatforms.
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stewart.platform_M.H = args.Mph;
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#+end_src
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** =initializeSolidPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/initializeSolidPlatforms.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeSolidPlatforms>>
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This Matlab function is accessible [[file:../src/initializeSolidPlatforms.m][here]].
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*** Function description
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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function [stewart] = initializeSolidPlatforms(stewart, args)
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% initializeSolidPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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%
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% Syntax: [stewart] = initializeSolidPlatforms(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - density [1x1] - Density of the platforms [kg]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platform_F [struct] - structure with the following fields:
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% - type = 2
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% - M [1x1] - Fixed Platform Density [kg/m^3]
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% - platform_M [struct] - structure with the following fields:
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% - type = 2
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% - M [1x1] - Mobile Platform Density [kg/m^3]
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#+end_src
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*** Optional Parameters
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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arguments
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stewart
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args.density (1,1) double {mustBeNumeric, mustBePositive} = 7800
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end
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#+end_src
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*** Populate the =stewart= structure
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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stewart.platform_F.type = 2;
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stewart.platform_F.density = args.density;
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#+end_src
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#+begin_src matlab
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stewart.platform_M.type = 2;
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stewart.platform_M.density = args.density;
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#+end_src
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** =initializeCylindricalStruts=: Define the inertia of cylindrical struts
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/initializeCylindricalStruts.m
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@@ -1513,6 +1573,96 @@ Rotational Damping
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stewart.joints_M.step_file = args.step_file_M;
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#+end_src
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** TODO =initializeFlexibleStrutAndJointDynamics=: Model each strut with a flexible element
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/initializeFlexibleStrutAndJointDynamics.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeFlexibleStrutAndJointDynamics>>
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This Matlab function is accessible [[file:../src/initializeFlexibleStrutAndJointDynamics.m][here]].
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*** Function description
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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function [stewart] = initializeFlexibleStrutAndJointDynamics(stewart, args)
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% initializeFlexibleStrutAndJointDynamics - Add Stiffness and Damping properties of each strut
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%
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% Syntax: [stewart] = initializeFlexibleStrutAndJointDynamics(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - K [nxn] - Vertical stiffness contribution of the piezoelectric stack [N/m]
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% - M [nxn] - Vertical damping contribution of the piezoelectric stack [N/(m/s)]
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% - xi [1x1] - Vertical (residual) stiffness when the piezoelectric stack is removed [N/m]
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% - step_file [6x1] - Vertical (residual) damping when the piezoelectric stack is removed [N/(m/s)]
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% - Gf [6x1] - Gain from strain in [m] to measured [N] such that it matches
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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#+end_src
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*** Optional Parameters
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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arguments
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stewart
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args.K double {mustBeNumeric} = zeros(6,6)
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args.M double {mustBeNumeric} = zeros(6,6)
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args.H double {mustBeNumeric} = 0
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args.n_xyz double {mustBeNumeric} = zeros(2,3)
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args.xi double {mustBeNumeric} = 0.1
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args.Gf double {mustBeNumeric} = 1
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args.step_file char {} = ''
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end
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#+end_src
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*** Compute the axial offset
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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stewart.actuators.ax_off = (stewart.geometry.l(1) - args.H)/2; % Axial Offset at the ends of the actuator
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#+end_src
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*** Populate the =stewart= structure
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:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
No discrete joints:
|
||||
#+begin_src matlab
|
||||
stewart.joints_F.type = 10;
|
||||
stewart.joints_M.type = 10;
|
||||
|
||||
#+end_src
|
||||
|
||||
No discrete struts:
|
||||
#+begin_src matlab
|
||||
stewart.struts_F.type = 3;
|
||||
stewart.struts_M.type = 3;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
stewart.actuators.type = 4;
|
||||
|
||||
stewart.actuators.Km = args.K;
|
||||
stewart.actuators.Mm = args.M;
|
||||
|
||||
stewart.actuators.n_xyz = args.n_xyz;
|
||||
stewart.actuators.xi = args.xi;
|
||||
|
||||
stewart.actuators.step_file = args.step_file;
|
||||
|
||||
stewart.actuators.K = args.K(3,3); % Axial Stiffness
|
||||
|
||||
stewart.actuators.Gf = args.Gf;
|
||||
#+end_src
|
||||
|
||||
** =initializeInertialSensor=: Initialize the inertial sensor in each strut
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeInertialSensor.m
|
||||
|
||||
Reference in New Issue
Block a user