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Update all project: add folders with scripts

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Thomas Dehaeze
2019-03-20 09:23:10 +01:00
parent f49e38f312
commit 482f8acd3f
43 changed files with 1009 additions and 497 deletions
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44
studies/com.m Normal file
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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);

41
studies/coupling.m Normal file
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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'})

26
studies/stiffness_matrix.m Normal file
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%%
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;