From 482f8acd3f5b8357e660aef434d6eda7e677e10c Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 20 Mar 2019 09:23:10 +0100 Subject: [PATCH] Update all project: add folders with scripts --- .gitignore | 29 ---- Stewartsimscape.prj | 2 + active_damping/act_damp_iff_generate.m | 36 +++++ active_damping/act_damp_iff_id.m | 45 ++++++ active_damping/act_damp_iff_plots.m | 133 ++++++++++++++++ active_damping/act_damp_main.m | 8 + analysis/analysis_stiffness.m | 14 ++ analyze_jacobian.m | 4 +- config.m | 12 ++ identification/id_G.m | 20 +++ identification/id_jacobian.m | 38 +++++ identification/id_jacobian_plots.m | 43 +++++ identification/id_main.m | 14 ++ identification/id_plot_cart.m | 96 ++++++++++++ identification/id_plot_db.m | 40 +++++ identification/id_plot_iff.m | 57 +++++++ identification/id_plot_legs.m | 57 +++++++ identification_cart.m | 56 ------- identification_legs.m | 45 ------ init_simulink.m | 6 - library/QuaternionToAngles.slx | Bin 0 -> 25263 bytes library/compute_jacobian.slx | Bin 0 -> 23824 bytes main.m | 11 ++ readme.org | 6 - src/getJacobianMatrix.m | 7 - src/getStiffnessMatrix.m | 6 +- src/identifyPlant.m | 51 ++++++ src/identifyPlantCart.m | 35 ----- src/identifyPlantLegs.m | 35 ----- src/initializeHexapod.m | 208 +++++++++++++++++++++++++ src/initializeMicroHexapod.m | 92 ----------- src/initializeNanoHexapod.m | 93 ----------- src/initializeParameters.m | 80 ---------- src/initializeSample.m | 12 +- stewart_displacement.slx | Bin 65079 -> 0 bytes stewart_identification.slx | Bin 0 -> 71358 bytes stewart_kinematics.slx | Bin 0 -> 69055 bytes stewart_simscape.slx | Bin 59421 -> 69055 bytes stewart_without_sensing.slx | Bin 92451 -> 0 bytes studies/com.m | 44 ++++++ studies/coupling.m | 41 +++++ studies/stiffness_matrix.m | 26 ++++ study_architecture.m | 4 - 43 files changed, 1009 insertions(+), 497 deletions(-) delete mode 100644 .gitignore create mode 100644 Stewartsimscape.prj create mode 100644 active_damping/act_damp_iff_generate.m create mode 100644 active_damping/act_damp_iff_id.m create mode 100644 active_damping/act_damp_iff_plots.m create mode 100644 active_damping/act_damp_main.m create mode 100644 analysis/analysis_stiffness.m create mode 100644 config.m create mode 100644 identification/id_G.m create mode 100644 identification/id_jacobian.m create mode 100644 identification/id_jacobian_plots.m create mode 100644 identification/id_main.m create mode 100644 identification/id_plot_cart.m create mode 100644 identification/id_plot_db.m create mode 100644 identification/id_plot_iff.m create mode 100644 identification/id_plot_legs.m delete mode 100644 identification_cart.m delete mode 100644 identification_legs.m delete mode 100644 init_simulink.m create mode 100644 library/QuaternionToAngles.slx create mode 100644 library/compute_jacobian.slx create mode 100644 main.m delete mode 100644 readme.org delete mode 100644 src/getJacobianMatrix.m create mode 100644 src/identifyPlant.m delete mode 100644 src/identifyPlantCart.m delete mode 100644 src/identifyPlantLegs.m create mode 100644 src/initializeHexapod.m delete mode 100644 src/initializeMicroHexapod.m delete mode 100644 src/initializeNanoHexapod.m delete mode 100644 src/initializeParameters.m delete mode 100644 stewart_displacement.slx create mode 100644 stewart_identification.slx create mode 100644 stewart_kinematics.slx delete mode 100644 stewart_without_sensing.slx create mode 100644 studies/com.m create mode 100644 studies/coupling.m create mode 100644 studies/stiffness_matrix.m diff --git a/.gitignore b/.gitignore deleted file mode 100644 index 41c2be0..0000000 --- a/.gitignore +++ /dev/null @@ -1,29 +0,0 @@ -# Windows default autosave extension -*.asv - -# OSX / *nix default autosave extension -*.m~ - -# Compiled MEX binaries (all platforms) -*.mex* - -# Packaged app and toolbox files -*.mlappinstall -*.mltbx - -# Generated helpsearch folders -helpsearch*/ - -# Simulink code generation folders -slprj/ -sccprj/ - -# Simulink autosave extension -*.autosave - -# Octave session info -octave-workspace - -# Custom -stewart_displacement_grt_rtw/ -Figures/ diff --git a/Stewartsimscape.prj b/Stewartsimscape.prj new file mode 100644 index 0000000..a7df471 --- /dev/null +++ b/Stewartsimscape.prj @@ -0,0 +1,2 @@ + + diff --git a/active_damping/act_damp_iff_generate.m b/active_damping/act_damp_iff_generate.m new file mode 100644 index 0000000..de8f7a6 --- /dev/null +++ b/active_damping/act_damp_iff_generate.m @@ -0,0 +1,36 @@ +%% +clear; close all; clc; + +%% Load the transfer functions +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% +s = tf('s'); + +%% Light Voice Coil +%sisotool(-G_light_vc.G_iff('Fm1', 'F1')/s); + +K_iff_light_vc = 105/s*tf(eye(6)); + +%% Light Piezo +%sisotool(-G_light_pz.G_iff('Fm1', 'F1')/s); + +K_iff_light_pz = 3300/s*tf(eye(6)); + +%% Heavy Voice Coil +%sisotool(-G_heavy_vc.G_iff('Fm1', 'F1')/s); + +K_iff_heavy_vc = 22.7/s*tf(eye(6)); + +%% Heavy Piezo +%sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s); + +K_iff_heavy_pz = 720/s*tf(eye(6)); + +%% Save Controllers +save('./mat/K_iff_sisotool.mat', ... + 'K_iff_light_vc', 'K_iff_light_pz', ... + 'K_iff_heavy_vc', 'K_iff_heavy_pz'); diff --git a/active_damping/act_damp_iff_id.m b/active_damping/act_damp_iff_id.m new file mode 100644 index 0000000..4e467fd --- /dev/null +++ b/active_damping/act_damp_iff_id.m @@ -0,0 +1,45 @@ +%% +clear; close all; clc; + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% Load controllers +load('./mat/K_iff_sisotool.mat', ... + 'K_iff_light_vc', 'K_iff_light_pz', ... + 'K_iff_heavy_vc', 'K_iff_heavy_pz'); + +%% +initializeSample(struct('mass', 1)); + +initializeHexapod(struct('actuator', 'lorentz')); +K_iff = K_iff_light_vc; %#ok +save('./mat/controllers.mat', 'K_iff', '-append'); + +G_light_vc_iff = identifyPlant(); + +initializeHexapod(struct('actuator', 'piezo')); +K_iff = K_iff_light_pz; %#ok +save('./mat/controllers.mat', 'K_iff', '-append'); + +G_light_pz_iff = identifyPlant(); + +%% +initializeSample(struct('mass', 50)); + +initializeHexapod(struct('actuator', 'lorentz')); +K_iff = K_iff_heavy_vc; %#ok +save('./mat/controllers.mat', 'K_iff', '-append'); + +G_heavy_vc_iff = identifyPlant(); + +initializeHexapod(struct('actuator', 'piezo')); +K_iff = K_iff_heavy_pz; +save('./mat/controllers.mat', 'K_iff', '-append'); + +G_heavy_pz_iff = identifyPlant(); + +%% Save the obtained transfer functions +save('./mat/G_iff.mat', ... + 'G_light_vc_iff', 'G_light_pz_iff', ... + 'G_heavy_vc_iff', 'G_heavy_pz_iff'); diff --git a/active_damping/act_damp_iff_plots.m b/active_damping/act_damp_iff_plots.m new file mode 100644 index 0000000..ad18b90 --- /dev/null +++ b/active_damping/act_damp_iff_plots.m @@ -0,0 +1,133 @@ +%% +clear; close all; clc; + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% Load +load('./mat/G_iff.mat', 'G_light_vc_iff', 'G_light_pz_iff', 'G_heavy_vc_iff', 'G_heavy_pz_iff'); +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% New Damped Plant - Horizontal Direction +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_hori_iff', 'normal-normal', struct('path', 'active_damping')); end + +%% New Damped Plant - Vertical Direction +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_vert_iff', 'normal-normal', struct('path', 'active_damping')); end + +%% Ground motion Transmissibility - Horizontal Direction +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dx', 'Dbx'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dx', 'Dbx'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); +hold off; + +if save_fig; exportFig('G_db_hori_iff', 'normal-normal', struct('path', 'active_damping')); end + +%% Ground motion Transmissibility - Vertical Direction +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dz', 'Dbz'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dz', 'Dbz'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); +hold off; + +if save_fig; exportFig('G_db_vert_iff', 'normal-normal', struct('path', 'active_damping')); end + +%% Direct Forces Compliance - Horizontal Direction +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dx', 'Fix'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dx', 'Fix'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); +hold off; + +if save_fig; exportFig('G_fi_hori_iff', 'normal-normal', struct('path', 'active_damping')); end + +%% Direct Forces Compliance - Vertical Direction +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dz', 'Fiz'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dz', 'Fiz'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); +hold off; + +if save_fig; exportFig('G_fi_vert_iff', 'normal-normal', struct('path', 'active_damping')); end diff --git a/active_damping/act_damp_main.m b/active_damping/act_damp_main.m new file mode 100644 index 0000000..8c83ae4 --- /dev/null +++ b/active_damping/act_damp_main.m @@ -0,0 +1,8 @@ +% Generate the IFF controls +run act_damp_iff_generate.m + +% Identification of the damped plant +run act_damp_iff_id.m + +% Plot new transfer functions +run act_damp_iff_plots.m \ No newline at end of file diff --git a/analysis/analysis_stiffness.m b/analysis/analysis_stiffness.m new file mode 100644 index 0000000..9ae1555 --- /dev/null +++ b/analysis/analysis_stiffness.m @@ -0,0 +1,14 @@ +%% +clear; close all; clc; + +%% +sys_0 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 0)); +sys_100 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 100)); +sys_200 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1000000)); + +%% +K_0 = getStiffnessMatrix(sys_0.Leg.k.ax, sys_0.J ); +K_100 = getStiffnessMatrix(sys_100.Leg.k.ax, sys_100.J); +K_200 = getStiffnessMatrix(sys_200.Leg.k.ax, sys_200.J); + +%% diff --git a/analyze_jacobian.m b/analyze_jacobian.m index a48b1bb..aeb3ae3 100644 --- a/analyze_jacobian.m +++ b/analyze_jacobian.m @@ -1,6 +1,7 @@ %% Script Description -% +% +%% figure; plot(d_meas.Time, d.Data-d_meas.Data) @@ -46,4 +47,3 @@ plot(jacobian.Time, squeeze(K_change(5, 5, :))); plot(jacobian.Time, squeeze(K_change(6, 6, :))); legend({'Kxx', 'Kyy', 'Kzz', 'Kmx', 'Kmy', 'Kmz'}) hold off; - diff --git a/config.m b/config.m new file mode 100644 index 0000000..7ab7f7a --- /dev/null +++ b/config.m @@ -0,0 +1,12 @@ +%% +addpath('active_damping'); +addpath('analysis'); +addpath('identification'); +addpath('library'); +addpath('studies'); +addpath('src'); + +%% +freqs = logspace(-1, 3, 1000); +save_fig = false; +save('./mat/config.mat', 'freqs', 'save_fig'); diff --git a/identification/id_G.m b/identification/id_G.m new file mode 100644 index 0000000..58befb8 --- /dev/null +++ b/identification/id_G.m @@ -0,0 +1,20 @@ +%% Script Description +% Script used to identify various transfer functions +% of the Stewart platform + +%% +clear; close all; clc; + +%% +K_iff = tf(zeros(6)); +save('./mat/controllers.mat', 'K_iff', '-append'); + +%% Initialize System +initializeSample(struct('mass', 50)); +initializeHexapod(struct('actuator', 'piezo')); + +%% Identification +G = identifyPlant(); + +%% Save +save('./mat/G.mat', 'G'); diff --git a/identification/id_jacobian.m b/identification/id_jacobian.m new file mode 100644 index 0000000..2ce5c01 --- /dev/null +++ b/identification/id_jacobian.m @@ -0,0 +1,38 @@ +%% Script Description +%% +clear; close all; clc; + +%% +K_iff = tf(zeros(6)); +save('./mat/controllers.mat', 'K_iff', '-append'); + +%% System - perfectly aligned +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1, 'density', 0.1)); +initializeSample(struct('mass', 50, 'height', 1, 'measheight', 1, 'offset', [0, 0, -25.5])); + +% Identification +G_center = identifyPlant(); + +%% System - Jacobian is too high +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160)); +initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150)); + +% Identification +G_Jac_offset = identifyPlant(); + +%% System - CoM is too low +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150)); +initializeSample(struct('mass', 50, 'height', 280, 'measheight', 150)); + +% Identification +G_CoM_offset = identifyPlant(); + +%% System - Meas point is too high +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150)); +initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160)); + +% Identification +G_Meas_offset = identifyPlant(); + +%% Save +save('./mat/G_jacobian.mat', 'G_center', 'G_Jac_offset', 'G_CoM_offset', 'G_Meas_offset'); diff --git a/identification/id_jacobian_plots.m b/identification/id_jacobian_plots.m new file mode 100644 index 0000000..f89e546 --- /dev/null +++ b/identification/id_jacobian_plots.m @@ -0,0 +1,43 @@ +%% Script Description +% +%% +clear; close all; clc; + +%% +load('./mat/G_jacobian.mat'); + +%% +freqs = logspace(0, 3, 2000); + +%% +bode_opts = bodeoptions; +bode_opts.FreqUnits = 'Hz'; +bode_opts.MagUnits = 'abs'; +bode_opts.MagScale = 'log'; +bode_opts.PhaseVisible = 'off'; + +%% Compare when the Jac is above Meas. point and CoM +% => +figure; +bode(G_center.G_cart, G_Jac_offset.G_cart, 2*pi*freqs, bode_opts); + +%% Compare when the CoM is bellow the Meas. point and Jac +% => This make the tilt resonance frequency a little bit higher. +figure; +bode(G_center.G_cart, G_CoM_offset.G_cart, 2*pi*freqs, bode_opts); + +%% Compare when the measurement point is higher than CoM and Jac +% => +figure; +bode(G_center.G_cart, G_Meas_offset.G_cart, 2*pi*freqs, bode_opts); + +%% Compare direct forces and forces applied by actuators on the same point +% => This should be the same is the support is rigid. +% => Looks like it's close but not equal +figure; +bode(G_center.G_cart, G_center.G_comp, 2*pi*freqs, bode_opts); + +%% Compare relative sensor and absolute sensor +% => This should be the same as the support is rigid +figure; +bode(G_center.G_iner, G_center.G_comp, 2*pi*freqs, bode_opts); diff --git a/identification/id_main.m b/identification/id_main.m new file mode 100644 index 0000000..f62250b --- /dev/null +++ b/identification/id_main.m @@ -0,0 +1,14 @@ +%% +clear; close all; clc; + +%% Jacobian Study + + +%% Identification of the system +run id_G.m + +%% Plots of the identifications +run id_plot_cart.m +run id_plot_legs.m +run id_plot_iff.m +run id_plot_db.m \ No newline at end of file diff --git a/identification/id_plot_cart.m b/identification/id_plot_cart.m new file mode 100644 index 0000000..767879f --- /dev/null +++ b/identification/id_plot_cart.m @@ -0,0 +1,96 @@ +%% +clear; close all; clc; + +%% Load the transfer functions +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% Plant in the X direction +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_hori', 'normal-normal', struct('path', 'identification')); end + +%% Plant in the Z direction +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_vert', 'normal-normal', struct('path', 'identification')); end + +%% Coupling +figure; + +for i_input = 1:3 + for i_output = 1:3 + subaxis(3,3,3*(i_input-1)+i_output); + hold on; + plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart(i_output, i_input), freqs, 'Hz')))); + plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart(i_output, i_input), freqs, 'Hz')))); + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + xlim([freqs(1) freqs(end)]); ylim([1e-22, 1e-2]); + yticks([1e-20, 1e-15, 1e-10, 1e-5]); xticks([0.1 1 10 100 1000]); + if i_output > 1; set(gca,'yticklabel',[]); end + if i_input < 3; set(gca,'xticklabel',[]); end + hold off; + end +end + +if save_fig; exportFig('G_coupling', 'wide-tall', struct('path', 'identification')); end diff --git a/identification/id_plot_db.m b/identification/id_plot_db.m new file mode 100644 index 0000000..efd2739 --- /dev/null +++ b/identification/id_plot_db.m @@ -0,0 +1,40 @@ +%% +clear; close all; clc; + +%% Load the transfer functions +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dx', 'Dbx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]'); +hold off; +legend('Location', 'southeast'); + +if save_fig; exportFig('G_db_hori', 'normal-normal', struct('path', 'identification')); end + +%% +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dz', 'Dbz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Amplitude [m/m]'); xlabel('Frequency [Hz]'); +hold off; +legend('Location', 'southeast'); + +if save_fig; exportFig('G_db_vert', 'normal-normal', struct('path', 'identification')); end + +%% diff --git a/identification/id_plot_iff.m b/identification/id_plot_iff.m new file mode 100644 index 0000000..5e713b8 --- /dev/null +++ b/identification/id_plot_iff.m @@ -0,0 +1,57 @@ +%% +clear; close all; clc; + +%% Load the transfer functions +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_iff('Fm1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_iff', 'normal-normal', struct('path', 'identification')); end + +%% Coupling +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm1', 'F1'), freqs, 'Hz'))), 'k-'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm2', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm3', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm4', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm5', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_iff('Fm6', 'F1'), freqs, 'Hz'))), 'k--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]'); +hold off; + +if save_fig; exportFig('G_iff_coupling', 'normal-normal', struct('path', 'identification')); end diff --git a/identification/id_plot_legs.m b/identification/id_plot_legs.m new file mode 100644 index 0000000..78380f7 --- /dev/null +++ b/identification/id_plot_legs.m @@ -0,0 +1,57 @@ +%% +clear; close all; clc; + +%% Load the transfer functions +load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz'); + +%% Load Configuration file +load('./mat/config.mat', 'save_fig', 'freqs'); + +%% +figure; +% Amplitude +ax1 = subaxis(2,1,1); +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz')))); +plot(freqs, abs(squeeze(freqresp(G_light_pz.G_legs('D1', 'F1'), freqs, 'Hz')))); +set(gca,'ColorOrderIndex',1); +plot(freqs, abs(squeeze(freqresp(G_heavy_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), '--'); +plot(freqs, abs(squeeze(freqresp(G_heavy_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), '--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); +ylabel('Amplitude [m/N]'); +hold off; + +% Phase +ax2 = subaxis(2,1,2); +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'VC - Light'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light'); +set(gca,'ColorOrderIndex',1) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy'); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_heavy_pz.G_legs('D1', 'F1'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy'); +set(gca,'xscale','log'); +yticks(-180:90:180); +ylim([-180 180]); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +legend('Location', 'southwest'); +hold off; + +linkaxes([ax1,ax2],'x'); + +if save_fig; exportFig('G_legs', 'normal-normal', struct('path', 'identification')); end + +%% Coupling +figure; +hold on; +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D1', 'F1'), freqs, 'Hz'))), 'k-'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D2', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D3', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D4', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D5', 'F1'), freqs, 'Hz'))), 'k--'); +plot(freqs, abs(squeeze(freqresp(G_light_vc.G_legs('D6', 'F1'), freqs, 'Hz'))), 'k--'); +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]'); +hold off; + +if save_fig; exportFig('G_legs_coupling', 'normal-normal', struct('path', 'identification')); end diff --git a/identification_cart.m b/identification_cart.m deleted file mode 100644 index 55ad03a..0000000 --- a/identification_cart.m +++ /dev/null @@ -1,56 +0,0 @@ -%% Script Description -% Script used to identify the transfer functions of the -% Stewart platform (from actuator to displacement) - -%% -clear; close all; clc; - -%% -initializeNanoHexapod(); - -%% -initializeSample(struct('mass', 0)); - -G_cart_0 = identifyPlantCart(); - -%% -initializeSample(struct('mass', 10)); - -G_cart_10 = identifyPlantCart(); - -%% -initializeSample(struct('mass', 50)); - -G_cart_50 = identifyPlantCart(); - -%% -freqs = logspace(1, 4, 1000); - -bodeFig({G_cart_0(1, 1), G_cart_10(1, 1), G_cart_50(1, 1)}, freqs, struct('phase', true)) -legend({'$F_x \rightarrow D_x$ - $M = 0Kg$', '$F_x \rightarrow D_x$ - $M = 10Kg$', '$F_x \rightarrow D_x$ - $M = 50Kg$'}) -legend('location', 'southwest') -exportFig('hexapod_cart_mass_x', 'normal-tall') - -bodeFig({G_cart_0(3, 3), G_cart_10(3, 3), G_cart_50(3, 3)}, freqs, struct('phase', true)) -legend({'$F_z \rightarrow D_z$ - $M = 0Kg$', '$F_z \rightarrow D_z$ - $M = 10Kg$', '$F_z \rightarrow D_z$ - $M = 50Kg$'}) -legend('location', 'southwest') -exportFig('hexapod_cart_mass_z', 'normal-tall') - -%% -% Bode Plot of the linearized function -freqs = logspace(2, 4, 1000); - -bodeFig({G_cart_0(1, 1), G_cart_0(2, 2), G_cart_0(3, 3)}, freqs, struct('phase', true)) -legend({'$F_x \rightarrow D_x$', '$F_y \rightarrow D_y$', '$F_z \rightarrow D_z$'}) -exportFig('hexapod_cart_trans', 'normal-normal') - -bodeFig({G_cart_0(4, 4), G_cart_0(5, 5), G_cart_0(6, 6)}, freqs, struct('phase', true)) -legend({'$M_x \rightarrow R_x$', '$M_y \rightarrow R_y$', '$M_z \rightarrow R_z$'}) -exportFig('hexapod_cart_rot', 'normal-normal') - -bodeFig({G_cart_0(1, 1), G_cart_0(2, 1), G_cart_0(3, 1)}, freqs, struct('phase', true)) -legend({'$F_x \rightarrow D_x$', '$F_x \rightarrow D_y$', '$F_x \rightarrow D_z$'}) -exportFig('hexapod_cart_coupling', 'normal-normal') - -%% Save identify transfer functions -save('./mat/G_cart.mat', 'G_cart_0', 'G_cart_10', 'G_cart_50'); diff --git a/identification_legs.m b/identification_legs.m deleted file mode 100644 index ad8f14b..0000000 --- a/identification_legs.m +++ /dev/null @@ -1,45 +0,0 @@ -%% Script Description -% Script used to identify the transfer functions of the -% Stewart platform (from actuator to displacement) - -%% -clear; close all; clc; - -%% -initializeNanoHexapod(); - -%% -initializeSample(struct('mass', 0)); - -G_legs_0 = identifyPlantLegs(); - -%% -initializeSample(struct('mass', 10)); - -G_legs_10 = identifyPlantLegs(); - -%% -initializeSample(struct('mass', 50)); - -G_legs_50 = identifyPlantLegs(); - -%% -freqs = logspace(1, 4, 1000); - -bodeFig({G_legs_0(1, 1), G_legs_10(1, 1), G_legs_50(1, 1)}, freqs, struct('phase', true)) -legend({'$F_i \rightarrow D_i$ - $M = 0Kg$', '$F_i \rightarrow D_i$ - $M = 10Kg$', '$F_i \rightarrow D_i$ - $M = 50Kg$'}) -legend('location', 'southwest') - -exportFig('hexapod_legs_mass', 'normal-tall') - -%% -freqs = logspace(1, 4, 1000); - -bodeFig({G_legs_0(1, 2), G_legs_10(1, 2), G_legs_50(1, 2)}, freqs, struct('phase', true)) -legend({'$F_i \rightarrow D_j$ - $M = 0Kg$', '$F_i \rightarrow D_j$ - $M = 10Kg$', '$F_i \rightarrow D_j$ - $M = 50Kg$'}) -legend('location', 'southwest') - -exportFig('hexapod_legs_coupling_mass', 'normal-tall') - -%% Save identify transfer functions -save('./mat/G_legs.mat', 'G_legs_0', 'G_legs_10', 'G_legs_50'); diff --git a/init_simulink.m b/init_simulink.m deleted file mode 100644 index 8f154eb..0000000 --- a/init_simulink.m +++ /dev/null @@ -1,6 +0,0 @@ -%% Script Description -% - -%% Load the sample and the stewart platform -load('./mat/sample.mat', 'sample') -load('./mat/stewart.mat', 'stewart') diff --git a/library/QuaternionToAngles.slx b/library/QuaternionToAngles.slx new file mode 100644 index 0000000000000000000000000000000000000000..04727b93dfbf5de796949d77fb0f8826cb9da8a5 GIT binary patch literal 25263 zcmbTeV~}S}^DX*o8`HLJ+qN}r+vc=AZM%Egwr$(CZFiq}{t@@Y`@HAGjkq^r=l-x` ze^{$lAuB7h6r@2wQ2+n{B;X=QQ}&#K4oDja0O$Y)0I>glwJ~uvFg9>Dpf|E}G*NK0 zvo~>cwlHy`bGNaMQks?PV?g;#D!kTeH$Y6c5dqr^BoSl8+DgA-LR)sVpf>WgV;>SY z>}`I^oOhDH?!3Jqkg`KqLy;n*fQ7sha7;pFlAl@kJe7|%qe;M|P6`5L)sJPDHquqB zV&Sn;^=|^hn8uV8_DIUjYD67exxs}r1ul+_-k_pQby3gSkGPdj28o8mGy+OCnPA$$ zdRyEH^Bn(;ki3{e#~t|Fh(ge>0X$SNY+6%sr6{1BUhW`xEdcGPti=fYuooq;tm-@$ z&xI?6e*nL{c=@XQ7vZ{^gTU|?15E3jER_nl$#43+7JAuM@KBR%YJr$u`HA-vgD%}a zEJV8l2;ulq%e!!-#8|TIj9-sktUTFCa>tRw?SrPX5#SYYDojS|whimRb?-+s@6vF$ zA~B!j+s?8@ENz89T1VWNPJqo<&@cZK+8P&>a}&^RRvWy{Y1T#a3l3j>YP39HEBs3o zIik|G!M|dN{}l%JKSi-|`#)tdiD9(uXMh#0CNi&1GKPl!xmwpqG4}wd5E%#{RYF`W z=<;E8u33)*-QNFxddNy>GfEm^Is2@chaPnbbH;uge*AD=kit^%8wkqRRcPSi%)rm4 z?oy@G&=OJH6lOXrZM?Jo{Q|{25}PNBP*o3`T~E1V){@70@dQzS*jS%kO4xX=G$Tk! z>1ocJ)T*rEL2^`$Vu8m5A+uCb+PJ4ptRyi`ZR~vA9qaiDVRL2uov?Es03|r1<2ggD zQNQ{0D(~?O@^Ajj2`U{ae|gXSHM0LV{-W;ACbmu%cDDcYPo3ym_y7hJQQtz3b{j%i za|#(Q?vnTV4uF4CLG_OhFGe|zt;~%CW!CbHfk+~RUhI(qaKWt**PAT=_e)0#L3^R? zJro{HcjQ3xvoTsWk+vZQWf_p#6`pLk2g*tE!j-3k*uwq=dctTL8+%JJZbNaZ<)3*^ z-}mVwzQp=YM(H=NFQSX$KP70#Y3LnwN_p3x^u#}b{!J}Qf0QBw8~_+c2LS#)04EC@ z7i$Y!D|$m?V-r&Y7i;JL8Ecms+ji@0h`+A&2u}>;t+HUTYh0pXhNCk8lGY-&uniQ@ z>0ImD=1Rnr+^2fo+)Az&63%mm7;iOvEk7P{uic+F5z0QVeo-c%Vo*15NycpB6hcu{ zIprOZTb!C!`^s;-=r+n19=ZAS9)-}pGZ+;*H{DZ7uB`^T)HDZ0<{zZf?vmiv0#D39 zDnxUt#JZ9ww;r}^*hZ!I5ZizeRy)I6geJ*}`|XDU0~IFi;G{yH1R_lp;pV*nTjMgL zAvq#+7@E?d2=U`~zFvlXeP-gkojW<#a~fw#vRt;nkD__XhAHcmW#(xqvnZ8a`$->U71k?WnF2C|D;S-@hH0_S zgMI-4!`n%N=v~P^Ytvw-(X&9D% zt46z;7;XL<(xnF}Ji|4SO`7by#$PS^ON#rLKz#?)Y%*8In^cIUC1FcWU;=%*_ zfeM_^5KOwEteY2|)0r_L8G{rr^c8W#+Gth3Qd}F#Xr#3rs8Y0gQ?+c35^2H7W zGeL*)h{|2FZ(?zAD}ZqO3OI`{9p@4M{$Q98uvFb%2g&Ln`Irme>wO8MCGo@%;t9aEcsANoqct^;9mmYTKnr}3naxciNUOnlLLwy@{*8?8z%fe%MWuZ()r%=9LKA4JT{1;PQr{ce zQdtFIx%lsio>USuYBFhhS+Xc;)t@m4%YK0(Lu!i#Ncd6>1)d#1$p}f_C3w>v#&{w= zDeD)^OPbN5yZD+~DGa5@ybq1DOclG9k32MCXs*5~ou76ro}#^6vUo7^N3kZ}KLEsm zlM_0YSD3ExhQX2vS+j>EI@Vwg*YCg(X=el~J`h5CKl|14Ce^>%w#4lI$nr7L;85QV z(oi%S8GBIwiZG(=l)WtHOsZeCF_u(=`2_uAMZC?j8hlGs!EK9>O zUp?d@jL?AQ^V7(Y8+?~=cOWVi7BH~`MoLYbRNwEX48)Xzx&q_B?=Ob; 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BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm] - BP.leg.ang = 9.5; % Angle Offset [deg] - BP.density = 8000; % Density of the material [kg/m^3] - BP.color = [0.6 0.6 0.6]; % Color [rgb] - BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness]; - - %% Top Plate - TP = struct(); - - TP.rad.int = 82; % Internal Radius [mm] - TP.rad.ext = 150; % Internal Radius [mm] - TP.thickness = 26; % Thickness [mm] - TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm] - TP.leg.ang = 12.1; % Angle Offset [deg] - TP.density = 8000; % Density of the material [kg/m^3] - TP.color = [0.6 0.6 0.6]; % Color [rgb] - TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness]; - - %% Leg - Leg = struct(); - - Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] - Leg.k.ax = 5e7; % Stiffness of each leg [N/m] - Leg.ksi.ax = 3; % Maximum amplification at resonance [] - Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] - Leg.rad.top = 17; % Radius of the cylinder of the top part [mm] - Leg.density = 8000; % Density of the material [kg/m^3] - Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb] - Leg.color.top = [0.5 0.5 0.5]; % Color [rgb] - - Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm] - Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm] - Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg] - Leg = updateDamping(Leg); - - - %% Sphere - SP = struct(); - - SP.height.bottom = 27; % [mm] - SP.height.top = 27; % [mm] - SP.density.bottom = 8000; % [kg/m^3] - SP.density.top = 8000; % [kg/m^3] - SP.color.bottom = [0.6 0.6 0.6]; % [rgb] - SP.color.top = [0.6 0.6 0.6]; % [rgb] - SP.k.ax = 0; % [N*m/deg] - SP.ksi.ax = 10; - - SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] - SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] - SP.rad.bottom = Leg.sphere.bottom; % [mm] - SP.rad.top = Leg.sphere.top; % [mm] - SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg] - - SP = updateDamping(SP); - - %% - Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom]; - Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top]; - - %% - stewart.BP = BP; - stewart.TP = TP; - stewart.Leg = Leg; - stewart.SP = SP; - - %% - stewart = initializeParameters(stewart); - - %% - save('./mat/hexapod.mat', 'stewart'); - - %% - function element = updateDamping(element) - field = fieldnames(element.k); - for i = 1:length(field) - element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m); - end - end -end diff --git a/src/initializeNanoHexapod.m b/src/initializeNanoHexapod.m deleted file mode 100644 index 4a63041..0000000 --- a/src/initializeNanoHexapod.m +++ /dev/null @@ -1,93 +0,0 @@ -function [stewart] = initializeNanoHexapod() - %% Stewart Object - stewart = struct(); - stewart.h = 90; % Total height of the platform [mm] - stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm] - - %% Bottom Plate - BP = struct(); - - BP.rad.int = 0; % Internal Radius [mm] - BP.rad.ext = 150; % External Radius [mm] - BP.thickness = 10; % Thickness [mm] - BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm] - BP.leg.ang = 5; % Angle Offset [deg] - BP.density = 8000;% Density of the material [kg/m^3] - BP.color = [0.7 0.7 0.7]; % Color [rgb] - BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness]; - - %% Top Plate - TP = struct(); - - TP.rad.int = 0; % Internal Radius [mm] - TP.rad.ext = 100; % Internal Radius [mm] - TP.thickness = 10; % Thickness [mm] - TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm] - TP.leg.ang = 5; % Angle Offset [deg] - TP.density = 8000;% Density of the material [kg/m^3] - TP.color = [0.7 0.7 0.7]; % Color [rgb] - TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness]; - - %% Leg - Leg = struct(); - - Leg.stroke = 80e-6; % Maximum Stroke of each leg [m] - Leg.k.ax = 5e7; % Stiffness of each leg [N/m] - Leg.ksi.ax = 10; % Maximum amplification at resonance [] - Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm] - Leg.rad.top = 10; % Radius of the cylinder of the top part [mm] - Leg.density = 8000; % Density of the material [kg/m^3] - Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb] - Leg.color.top = [0.5 0.5 0.5]; % Color [rgb] - - Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm] - Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm] - Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg] - Leg = updateDamping(Leg); - - - %% Sphere - SP = struct(); - - SP.height.bottom = 15; % [mm] - SP.height.top = 15; % [mm] - SP.density.bottom = 8000; % [kg/m^3] - SP.density.top = 8000; % [kg/m^3] - SP.color.bottom = [0.7 0.7 0.7]; % [rgb] - SP.color.top = [0.7 0.7 0.7]; % [rgb] - SP.k.ax = 0; % [N*m/deg] - SP.ksi.ax = 3; - - SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] - SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] - SP.rad.bottom = Leg.sphere.bottom; % [mm] - SP.rad.top = Leg.sphere.top; % [mm] - SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg] - - SP = updateDamping(SP); - - %% - Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom]; - Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top]; - - %% - stewart.BP = BP; - stewart.TP = TP; - stewart.Leg = Leg; - stewart.SP = SP; - - %% - stewart = initializeParameters(stewart); - - %% - save('./mat/stewart.mat', 'stewart') - - %% - function element = updateDamping(element) - field = fieldnames(element.k); - for i = 1:length(field) - element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m); - end - end - -end diff --git a/src/initializeParameters.m b/src/initializeParameters.m deleted file mode 100644 index a5e6826..0000000 --- a/src/initializeParameters.m +++ /dev/null @@ -1,80 +0,0 @@ -function [stewart] = initializeParameters(stewart) - %% Connection points on base and top plate w.r.t. World frame at the center of the base plate - stewart.pos_base = zeros(6, 3); - stewart.pos_top = zeros(6, 3); - - alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) - alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top - - height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO - - radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base - radius_t = stewart.TP.leg.rad*0.001; % top radius in meters - - for i = 1:3 - % base points - angle_m_b = (2*pi/3)* (i-1) - alpha_b; - angle_p_b = (2*pi/3)* (i-1) + alpha_b; - stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0]; - stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0]; - - % top points - % Top points are 60 degrees offset - angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6; - angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6; - stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height]; - stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height]; - end - - % permute pos_top points so that legs are end points of base and top points - stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom - stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)]; - - %% leg vectors - legs = stewart.pos_top - stewart.pos_base; - leg_length = zeros(6, 1); - leg_vectors = zeros(6, 3); - for i = 1:6 - leg_length(i) = norm(legs(i,:)); - leg_vectors(i,:) = legs(i,:) / leg_length(i); - end - - stewart.Leg.lenght = 1000*leg_length(1)/1.5; - stewart.Leg.shape.bot = [0 0; ... - stewart.Leg.rad.bottom 0; ... - stewart.Leg.rad.bottom stewart.Leg.lenght; ... - stewart.Leg.rad.top stewart.Leg.lenght; ... - stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ... - 0 0.2*stewart.Leg.lenght]; - - %% Calculate revolute and cylindrical axes - rev1 = zeros(6, 3); - rev2 = zeros(6, 3); - cyl1 = zeros(6, 3); - for i = 1:6 - rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]); - rev1(i,:) = rev1(i,:) / norm(rev1(i,:)); - - rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:)); - rev2(i,:) = rev2(i,:) / norm(rev2(i,:)); - - cyl1(i,:) = leg_vectors(i,:); - end - - - %% Coordinate systems - stewart.lower_leg = struct('rotation', eye(3)); - stewart.upper_leg = struct('rotation', eye(3)); - - for i = 1:6 - stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; - stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; - end - - %% Position Matrix - stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)]; - - %% Compute Jacobian Matrix - aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)]; - stewart.J = getJacobianMatrix(leg_vectors', aa'); -end diff --git a/src/initializeSample.m b/src/initializeSample.m index ae9d8e7..4bae940 100644 --- a/src/initializeSample.m +++ b/src/initializeSample.m @@ -1,10 +1,12 @@ function [] = initializeSample(opts_param) %% Default values for opts - sample = struct('radius', 100,... - 'height', 300,... - 'mass', 50,... - 'offset', 0,... - 'color', [0.9 0.1 0.1] ... + sample = struct( ... + 'radius', 100, ... % radius of the cylinder [mm] + 'height', 300, ... % height of the cylinder [mm] + 'mass', 50, ... % mass of the cylinder [kg] + 'measheight', 150, ... % measurement point z-offset [mm] + 'offset', [0, 0, 0], ... % offset position of the sample [mm] + 'color', [0.9 0.1 0.1] ... ); %% Populate opts with input parameters diff --git a/stewart_displacement.slx b/stewart_displacement.slx deleted file mode 100644 index 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a/studies/com.m b/studies/com.m new file mode 100644 index 0000000..f1eadf1 --- /dev/null +++ b/studies/com.m @@ -0,0 +1,44 @@ +clear; close all; clc; + +%% System - center of mass in the plane of joints +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150, 'density', 0.1)); +initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150)); + +%% Identification +G_aligned = identifyPlant(); + +%% +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160, 'density', 0.1)); +initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160)); + +%% Identification +G_com = identifyPlant(); + +%% +freqs = logspace(0, 3, 2000); + +%% +bode_opts = bodeoptions; +bode_opts.FreqUnits = 'Hz'; +bode_opts.MagUnits = 'abs'; +bode_opts.MagScale = 'log'; +bode_opts.PhaseVisible = 'off'; + +%% +figure; +bode(G_aligned.G_cart, G_com.G_cart, 2*pi*freqs, bode_opts); + +exportFig('G_com', 'wide-tall', struct('path', 'studies')); + + +%% +initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150, 'density', 0.1)); +initializeSample(struct('mass', 1, 'height', 300, 'measheight', 150)); + +%% Identification +G_massless = identifyPlant(); + + +%% +figure; +bode(G_aligned.G_cart, G_massless.G_cart, 2*pi*freqs, bode_opts); diff --git a/studies/coupling.m b/studies/coupling.m new file mode 100644 index 0000000..f7927bf --- /dev/null +++ b/studies/coupling.m @@ -0,0 +1,41 @@ +clear; close all; clc; + +%% System - center of mass in the plane of joints +initializeHexapod(struct('actuator', 'piezo', 'jacobian', -25, 'density', 0.1)); +initializeSample(struct('mass', 50, 'height', 1, 'measheight', -25, 'offset', [0, 0, -25.5])); + +%% Identification +G_aligned = identifyPlant(); + +%% +freqs = logspace(0, 3, 2000); + +%% +bode_opts = bodeoptions; +bode_opts.FreqUnits = 'Hz'; +bode_opts.MagUnits = 'abs'; +bode_opts.MagScale = 'log'; +bode_opts.PhaseVisible = 'off'; + +%% +figure; +bode(G_aligned.G_legs, 2*pi*freqs, bode_opts); + + +%% Change height of stewart platform +for height = [50, 70, 90, 110, 130] + initializeHexapod(struct('actuator', 'piezo', 'jacobian', -25, 'density', 0.1, 'height', height)); + G.(['h_' num2str(height)]) = identifyPlant(); +end + +%% +figure; +bode( ... + G.h_50.G_legs, ... + G.h_70.G_legs, ... + G.h_90.G_legs, ... + G.h_110.G_legs, ... + G.h_130.G_legs, ... + 2*pi*freqs, bode_opts); +% legend({'60', '80', '100', '120', '140'}) + diff --git a/studies/stiffness_matrix.m b/studies/stiffness_matrix.m new file mode 100644 index 0000000..b3c6560 --- /dev/null +++ b/studies/stiffness_matrix.m @@ -0,0 +1,26 @@ +%% +clear; close all; clc; + +%% +K_iff = tf(zeros(6)); +save('./mat/controllers.mat', 'K_iff', '-append'); + +%% Initialize System +hexapod = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150)); +initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150)); + +%% Identify transfer functions +G = identifyPlant(); + +%% Run to obtain the computed Jacobian +sim stewart_identification + +%% Compare the two Jacobian matrices +J_rel = (J.data(:, :, 1)-hexapod.J)./hexapod.J; + +%% Compute the Stiffness Matrix +K = hexapod.Leg.k.ax*hexapod.J'*hexapod.J; +K_id = pinv(freqresp(G.G_cart, 0)); + +K_rel = (K-K_id)./K; + diff --git a/study_architecture.m b/study_architecture.m index 3769553..8210d92 100644 --- a/study_architecture.m +++ b/study_architecture.m @@ -1,12 +1,8 @@ -%% Script Description -% - %% clear; close all; clc; %% run stewart_parameters.m -format shortE %% Study the effect of the radius of the top platform position of the legs leg_radius = 50:1:120;