Add mask to specify stewart object. Add script to identify transfer functions

This commit is contained in:
Thomas Dehaeze 2018-06-12 15:44:54 +02:00
parent 17c9de54fb
commit 6fe96032fd
6 changed files with 87 additions and 2 deletions

1
.gitignore vendored
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@ -26,3 +26,4 @@ octave-workspace
# Custom # Custom
stewart_displacement_grt_rtw/ stewart_displacement_grt_rtw/
Figures/

77
identification_control.m Normal file
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@ -0,0 +1,77 @@
%% Script Description
% Script used to identify the transfer functions of the
% Stewart platform (from actuator to displacement)
%%
clear;
close all;
clc
%% Define options for bode plots
bode_opts = bodeoptions;
bode_opts.Title.FontSize = 12;
bode_opts.XLabel.FontSize = 12;
bode_opts.YLabel.FontSize = 12;
bode_opts.FreqUnits = 'Hz';
bode_opts.MagUnits = 'abs';
bode_opts.MagScale = 'log';
bode_opts.PhaseWrapping = 'on';
bode_opts.PhaseVisible = 'on';
%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;
%% Name of the Simulink File
mdl = 'stewart_simscape';
%% Centralized control (Cartesian coordinates)
% Input/Output definition
io(1) = linio([mdl, '/F_cart'],1,'input');
io(2) = linio([mdl, '/Stewart_Platform'],1,'output');
% Run the linearization
G_cart = linearize(mdl,io, 0);
% Input/Output names
G_cart.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
G_cart.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
% Bode Plot of the linearized function
freqs = logspace(2, 4, 1000);
bodeFig({G_cart(1, 1), G_cart(2, 2), G_cart(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(4, 4), G_cart(5, 5), G_cart(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(1, 1), G_cart(2, 1), G_cart(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')
%% Centralized control (Cartesian coordinates)
% Input/Output definition
io(1) = linio([mdl, '/F_legs'],1,'input');
io(2) = linio([mdl, '/Stewart_Platform'],2,'output');
% Run the linearization
G_legs = linearize(mdl,io, 0);
% Input/Output names
G_legs.InputName = {'F1', 'F2', 'F3', 'M4', 'M5', 'M6'};
G_legs.OutputName = {'D1', 'D2', 'D3', 'R4', 'R5', 'R6'};
% Bode Plot of the linearized function
freqs = logspace(2, 4, 1000);
bodeFig({G_legs(1, 1)}, freqs, struct('phase', true))
legend({'$F_i \rightarrow D_i$'})
exportFig('hexapod_legs', 'normal-normal')
bodeFig({G_legs(1, 1), G_legs(2, 1)}, freqs, struct('phase', true))
legend({'$F_i \rightarrow D_i$', '$F_i \rightarrow D_j$'})
exportFig('hexapod_legs_coupling', 'normal-normal')

7
init_simulink.m Normal file
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@ -0,0 +1,7 @@
params_micro_hexapod;
micro_hexapod = stewart;
params_nano_hexapod;
nano_hexapod = stewart;
clear stewart;

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@ -32,7 +32,7 @@ Leg = struct();
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m] Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
Leg.k.ax = 5e7; % Stiffness of each leg [N/m] Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
Leg.ksi.ax = 10; % Maximum amplification at resonance [] Leg.ksi.ax = 3; % Maximum amplification at resonance []
Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm] 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.rad.top = 17; % Radius of the cylinder of the top part [mm]
Leg.density = 8000; % Density of the material [kg/m^3] Leg.density = 8000; % Density of the material [kg/m^3]

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@ -55,7 +55,7 @@ SP.density.top = 8000; % [kg/m^3]
SP.color.bottom = [0.7 0.7 0.7]; % [rgb] SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
SP.color.top = [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.k.ax = 0; % [N*m/deg]
SP.ksi.ax = 10; SP.ksi.ax = 3;
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm] SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm] SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]

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