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

.gitignore

@@ -26,3 +26,4 @@ octave-workspace
 
 # Custom
 stewart_displacement_grt_rtw/
+Figures/

identification_control.m

@@ -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')

init_simulink.m

@@ -0,0 +1,7 @@
+params_micro_hexapod;
+micro_hexapod = stewart;
+
+params_nano_hexapod;
+nano_hexapod = stewart;
+
+clear stewart;

params_micro_hexapod.m

@@ -32,7 +32,7 @@ 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     = 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.top    = 17; % Radius of the cylinder of the top part [mm]
 Leg.density    = 8000; % Density of the material [kg/m^3]

params_nano_hexapod.m

@@ -55,7 +55,7 @@ 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         = 10;
+SP.ksi.ax         = 3;
 
 SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
 SP.thickness.top    = SP.height.top-Leg.sphere.top; % [mm]