Try inertial control of the Stewart Model

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Thomas Dehaeze 2020-01-15 17:54:21 +01:00
parent 0f635af60f
commit 3409af9646
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#+TITLE: Stewart Platform - Active Damping
:DRAWER:
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs
:END:
* Inertial Control
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src
#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src
#+begin_src matlab
addpath('./src/')
#+end_src
** Simscape Model
#+begin_src matlab
open('simulink/stewart_active_damping.slx')
#+end_src
** Initialize the Stewart model
#+begin_src matlab
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
stewart = computeJointsPose(stewart);
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
stewart = computeJacobian(stewart);
#+end_src
** Identification of the Dynamics
#+begin_src matlab
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_active_damping';
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/F'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/WVB'], 1, 'openoutput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Dm'], 1, 'openoutput'); io_i = io_i + 1;
%% Run the linearization
G = linearize(mdl, io, options);
G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
G.OutputName = {'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz', ...
'D1', 'D2', 'D3', 'D4', 'D5', 'D6'};
#+end_src
** Analysis
#+begin_src matlab
freqs = 2*pi*logspace(1, 4, 1000);
figure;
bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
figure;
bode(stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
#+end_src
#+begin_src matlab
figure;
bode(G({'D1', 'D2', 'D3', 'D4', 'D5', 'D6'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), stewart.J*G({'Vx', 'Vy', 'Vz', 'Wx', 'Wy', 'Wz'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}), freqs)
#+end_src
** Conclusion
It is similar to use:
- one 6dof inertial sensor and the Jacobian the have the velocity of each lim
- 6 1dof inertial sensor in each top part of the limbs

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stewart_active_damping.slxc Normal file

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