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Remove old files

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This commit is contained in:
Thomas Dehaeze 2020-02-11 15:31:06 +01:00
parent aa61c84eb5
commit 80ad778484
21 changed files with 0 additions and 858 deletions
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36
old/active_damping/act_damp_iff_generate.m
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%%
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');

45
old/active_damping/act_damp_iff_id.m
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%%
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');

133
old/active_damping/act_damp_iff_plots.m
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%%
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

8
old/active_damping/act_damp_main.m
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% 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

14
old/analysis/analysis_stiffness.m
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@ -1,14 +0,0 @@
%%
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);
%%

49
old/analyze_jacobian.m
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@ -1,49 +0,0 @@
%% Script Description
%
%%
figure;
plot(d_meas.Time, d.Data-d_meas.Data)
%%
figure;
plot(error.Time, error.Data)
legend({'x', 'y', 'z', 'theta_x', 'theta_y', 'theta_z'})
%%
J = jacobian.Data(:, :, 1);
% Norm of the jacobian with time
J_change = (jacobian.Data - J)./J;
figure;
hold on;
plot(jacobian.Time, squeeze(J_change(1, 1, :)));
plot(jacobian.Time, squeeze(J_change(2, 2, :)));
plot(jacobian.Time, squeeze(J_change(3, 3, :)));
plot(jacobian.Time, squeeze(J_change(4, 4, :)));
plot(jacobian.Time, squeeze(J_change(5, 5, :)));
plot(jacobian.Time, squeeze(J_change(6, 6, :)));
legend({'Jxx', 'Jyy', 'Jzz', 'Jmx', 'Jmy', 'Jmz'})
hold off;
%% K change
K_init = J'*J;
K = zeros(size(jacobian.Data));
for i=1:length(jacobian.Time)
K(:, :, i) = jacobian.Data(:, :, i)'*jacobian.Data(:, :, i);
end
K_change = (permute(K, [2, 1, 3]) - K_init)./K_init;
figure;
hold on;
plot(jacobian.Time, squeeze(K_change(1, 1, :)));
plot(jacobian.Time, squeeze(K_change(2, 2, :)));
plot(jacobian.Time, squeeze(K_change(3, 3, :)));
plot(jacobian.Time, squeeze(K_change(4, 4, :)));
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;

12
old/config.m
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%%
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');

20
old/identification/id_G.m
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@ -1,20 +0,0 @@
%% 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');

38
old/identification/id_jacobian.m
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@ -1,38 +0,0 @@
%% 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');

43
old/identification/id_jacobian_plots.m
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%% 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);

14
old/identification/id_main.m
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@ -1,14 +0,0 @@
%%
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

96
old/identification/id_plot_cart.m
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@ -1,96 +0,0 @@
%%
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

40
old/identification/id_plot_db.m
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@ -1,40 +0,0 @@
%%
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
%%

57
old/identification/id_plot_iff.m
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@ -1,57 +0,0 @@
%%
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

57
old/identification/id_plot_legs.m
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@ -1,57 +0,0 @@
%%
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

11
old/main.m
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@ -1,11 +0,0 @@
%%
clear; close all; clc;
%% Configuration File
run config.m
%% Identification
open id_main.m
%% Active Damping
open act_damp_main.m

19
old/plot_max_positions.m
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@ -1,19 +0,0 @@
%% Script Description
%
%%
clear; close all; clc;
%%
init_simulink;
%%
[X, Y, Z] = getMaxPositions(stewart);
%%
figure;
hold on;
mesh(X, Y, Z);
grid on;
colorbar;
hold off;

44
old/studies/com.m
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@ -1,44 +0,0 @@
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
old/studies/coupling.m
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@ -1,41 +0,0 @@
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
old/studies/stiffness_matrix.m
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@ -1,26 +0,0 @@
%%
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;

55
old/study_architecture.m
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@ -1,55 +0,0 @@
%%
clear; close all; clc;
%%
run stewart_parameters.m
%% Study the effect of the radius of the top platform position of the legs
leg_radius = 50:1:120;
max_disp = zeros(length(leg_radius), 6);
stiffness = zeros(length(leg_radius), 6, 6);
for i_leg = 1:length(leg_radius)
TP.leg.rad = leg_radius(i_leg);
run stewart_init.m;
max_disp(i_leg, :) = getMaxPureDisplacement(Leg, J)';
stiffness(i_leg, :, :) = getStiffnessMatrix(Leg, J);
end
%% Plot everything
figure;
hold on;
plot(leg_radius, max_disp(:, 1))
plot(leg_radius, max_disp(:, 2))
plot(leg_radius, max_disp(:, 3))
hold off;
legend({'tx', 'ty', 'tz'})
xlabel('Leg Radius at the platform'); ylabel('Maximum translation (m)');
figure;
hold on;
plot(leg_radius, max_disp(:, 4))
plot(leg_radius, max_disp(:, 5))
plot(leg_radius, max_disp(:, 6))
hold off;
legend({'rx', 'ry', 'rz'})
xlabel('Leg Radius at the platform'); ylabel('Maximum rotations (rad)');
figure;
hold on;
plot(leg_radius, stiffness(:, 1, 1))
plot(leg_radius, stiffness(:, 2, 2))
plot(leg_radius, stiffness(:, 3, 3))
hold off;
legend({'kx', 'ky', 'kz'})
xlabel('Leg Radius at the platform'); ylabel('Stiffness in translation (N/m)');
figure;
hold on;
plot(leg_radius, stiffness(:, 4, 4))
plot(leg_radius, stiffness(:, 5, 5))
plot(leg_radius, stiffness(:, 6, 6))
hold off;
legend({'mx', 'my', 'mz'})
xlabel('Leg Radius at the platform'); ylabel('Stiffness in rotations (N/(m/rad))');