Remove old files
This commit is contained in:
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aa61c84eb5
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@ -1,36 +0,0 @@
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%%
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clear; close all; clc;
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%% Load the transfer functions
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%%
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s = tf('s');
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%% Light Voice Coil
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%sisotool(-G_light_vc.G_iff('Fm1', 'F1')/s);
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K_iff_light_vc = 105/s*tf(eye(6));
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%% Light Piezo
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%sisotool(-G_light_pz.G_iff('Fm1', 'F1')/s);
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K_iff_light_pz = 3300/s*tf(eye(6));
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%% Heavy Voice Coil
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%sisotool(-G_heavy_vc.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_vc = 22.7/s*tf(eye(6));
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%% Heavy Piezo
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%sisotool(-G_heavy_pz.G_iff('Fm1', 'F1')/s);
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K_iff_heavy_pz = 720/s*tf(eye(6));
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%% Save Controllers
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save('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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@ -1,45 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load controllers
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load('./mat/K_iff_sisotool.mat', ...
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'K_iff_light_vc', 'K_iff_light_pz', ...
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'K_iff_heavy_vc', 'K_iff_heavy_pz');
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%%
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initializeSample(struct('mass', 1));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_light_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_light_pz; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_light_pz_iff = identifyPlant();
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%%
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initializeSample(struct('mass', 50));
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initializeHexapod(struct('actuator', 'lorentz'));
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K_iff = K_iff_heavy_vc; %#ok
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_vc_iff = identifyPlant();
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initializeHexapod(struct('actuator', 'piezo'));
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K_iff = K_iff_heavy_pz;
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save('./mat/controllers.mat', 'K_iff', '-append');
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G_heavy_pz_iff = identifyPlant();
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%% Save the obtained transfer functions
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save('./mat/G_iff.mat', ...
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'G_light_vc_iff', 'G_light_pz_iff', ...
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'G_heavy_vc_iff', 'G_heavy_pz_iff');
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@ -1,133 +0,0 @@
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%%
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clear; close all; clc;
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%% Load Configuration file
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load('./mat/config.mat', 'save_fig', 'freqs');
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%% Load
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load('./mat/G_iff.mat', 'G_light_vc_iff', 'G_light_pz_iff', 'G_heavy_vc_iff', 'G_heavy_pz_iff');
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load('./mat/G.mat', 'G_light_vc', 'G_light_pz', 'G_heavy_vc', 'G_heavy_pz');
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%% New Damped Plant - Horizontal Direction
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dx', 'Fx'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.G_cart('Dx', 'Fx'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_hori_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% New Damped Plant - Vertical Direction
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figure;
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% Amplitude
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ax1 = subaxis(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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set(gca, 'XTickLabel',[]);
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ylabel('Amplitude [m/N]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'VC - Light');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz.G_cart('Dz', 'Fz'), freqs, 'Hz'))), 'DisplayName', 'PZ - Light');
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set(gca,'ColorOrderIndex',1)
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_vc_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'VC - Heavy');
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plot(freqs, 180/pi*angle(squeeze(freqresp(G_light_pz_iff.G_cart('Dz', 'Fz'), freqs, 'Hz'))), '--', 'DisplayName', 'PZ - Heavy');
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set(gca,'xscale','log');
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yticks(-180:90:180);
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ylim([-180 180]);
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xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
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legend('Location', 'southwest');
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hold off;
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linkaxes([ax1,ax2],'x');
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if save_fig; exportFig('G_vert_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Ground motion Transmissibility - Horizontal Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dx', 'Dbx'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dx', 'Dbx'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dx', 'Dbx'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_db_hori_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Ground motion Transmissibility - Vertical Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_db('Dz', 'Dbz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_db('Dz', 'Dbz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_db('Dz', 'Dbz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_db_vert_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Direct Forces Compliance - Horizontal Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dx', 'Fix'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dx', 'Fix'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dx', 'Fix'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_fi_hori_iff', 'normal-normal', struct('path', 'active_damping')); end
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%% Direct Forces Compliance - Vertical Direction
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figure;
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hold on;
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plot(freqs, abs(squeeze(freqresp(G_light_vc.G_fi('Dz', 'Fiz'), freqs, 'Hz'))));
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plot(freqs, abs(squeeze(freqresp(G_light_pz.G_fi('Dz', 'Fiz'), freqs, 'Hz'))));
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set(gca,'ColorOrderIndex',1);
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plot(freqs, abs(squeeze(freqresp(G_light_vc_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--');
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plot(freqs, abs(squeeze(freqresp(G_light_pz_iff.G_fi('Dz', 'Fiz'), freqs, 'Hz'))), '--');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]');
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hold off;
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if save_fig; exportFig('G_fi_vert_iff', 'normal-normal', struct('path', 'active_damping')); end
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@ -1,8 +0,0 @@
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% Generate the IFF controls
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run act_damp_iff_generate.m
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% Identification of the damped plant
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run act_damp_iff_id.m
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% Plot new transfer functions
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run act_damp_iff_plots.m
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%%
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clear; close all; clc;
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%%
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sys_0 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 0));
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sys_100 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 100));
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sys_200 = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1000000));
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%%
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K_0 = getStiffnessMatrix(sys_0.Leg.k.ax, sys_0.J );
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K_100 = getStiffnessMatrix(sys_100.Leg.k.ax, sys_100.J);
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K_200 = getStiffnessMatrix(sys_200.Leg.k.ax, sys_200.J);
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%%
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@ -1,49 +0,0 @@
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%% Script Description
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%
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%%
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figure;
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plot(d_meas.Time, d.Data-d_meas.Data)
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%%
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figure;
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plot(error.Time, error.Data)
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legend({'x', 'y', 'z', 'theta_x', 'theta_y', 'theta_z'})
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%%
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J = jacobian.Data(:, :, 1);
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% Norm of the jacobian with time
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J_change = (jacobian.Data - J)./J;
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figure;
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hold on;
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plot(jacobian.Time, squeeze(J_change(1, 1, :)));
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plot(jacobian.Time, squeeze(J_change(2, 2, :)));
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plot(jacobian.Time, squeeze(J_change(3, 3, :)));
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plot(jacobian.Time, squeeze(J_change(4, 4, :)));
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plot(jacobian.Time, squeeze(J_change(5, 5, :)));
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plot(jacobian.Time, squeeze(J_change(6, 6, :)));
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legend({'Jxx', 'Jyy', 'Jzz', 'Jmx', 'Jmy', 'Jmz'})
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hold off;
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%% K change
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K_init = J'*J;
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K = zeros(size(jacobian.Data));
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for i=1:length(jacobian.Time)
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K(:, :, i) = jacobian.Data(:, :, i)'*jacobian.Data(:, :, i);
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end
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K_change = (permute(K, [2, 1, 3]) - K_init)./K_init;
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figure;
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hold on;
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plot(jacobian.Time, squeeze(K_change(1, 1, :)));
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plot(jacobian.Time, squeeze(K_change(2, 2, :)));
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plot(jacobian.Time, squeeze(K_change(3, 3, :)));
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plot(jacobian.Time, squeeze(K_change(4, 4, :)));
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plot(jacobian.Time, squeeze(K_change(5, 5, :)));
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plot(jacobian.Time, squeeze(K_change(6, 6, :)));
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legend({'Kxx', 'Kyy', 'Kzz', 'Kmx', 'Kmy', 'Kmz'})
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hold off;
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12
old/config.m
12
old/config.m
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%%
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addpath('active_damping');
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addpath('analysis');
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addpath('identification');
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addpath('library');
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addpath('studies');
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addpath('src');
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%%
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freqs = logspace(-1, 3, 1000);
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save_fig = false;
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save('./mat/config.mat', 'freqs', 'save_fig');
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%% Script Description
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% Script used to identify various transfer functions
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% of the Stewart platform
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%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% Initialize System
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initializeSample(struct('mass', 50));
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initializeHexapod(struct('actuator', 'piezo'));
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%% Identification
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G = identifyPlant();
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%% Save
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save('./mat/G.mat', 'G');
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%% Script Description
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%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% System - perfectly aligned
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1, 'density', 0.1));
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initializeSample(struct('mass', 50, 'height', 1, 'measheight', 1, 'offset', [0, 0, -25.5]));
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% Identification
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G_center = identifyPlant();
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%% System - Jacobian is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150));
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% Identification
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G_Jac_offset = identifyPlant();
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%% System - CoM is too low
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 280, 'measheight', 150));
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% Identification
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G_CoM_offset = identifyPlant();
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%% System - Meas point is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160));
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% Identification
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G_Meas_offset = identifyPlant();
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%% Save
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save('./mat/G_jacobian.mat', 'G_center', 'G_Jac_offset', 'G_CoM_offset', 'G_Meas_offset');
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%% Script Description
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%
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%%
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clear; close all; clc;
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%%
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load('./mat/G_jacobian.mat');
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%%
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freqs = logspace(0, 3, 2000);
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%%
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bode_opts = bodeoptions;
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bode_opts.FreqUnits = 'Hz';
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bode_opts.MagUnits = 'abs';
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bode_opts.MagScale = 'log';
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bode_opts.PhaseVisible = 'off';
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%% Compare when the Jac is above Meas. point and CoM
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% =>
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figure;
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bode(G_center.G_cart, G_Jac_offset.G_cart, 2*pi*freqs, bode_opts);
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%% Compare when the CoM is bellow the Meas. point and Jac
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% => This make the tilt resonance frequency a little bit higher.
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figure;
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bode(G_center.G_cart, G_CoM_offset.G_cart, 2*pi*freqs, bode_opts);
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%% Compare when the measurement point is higher than CoM and Jac
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% =>
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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);
|
||||
@ -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
|
||||
@ -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
|
||||
@ -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
|
||||
|
||||
%%
|
||||
@ -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
|
||||
@ -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
11
old/main.m
@ -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
|
||||
@ -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;
|
||||
@ -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);
|
||||
@ -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'})
|
||||
|
||||
@ -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;
|
||||
|
||||
@ -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))');
|
||||
|
||||
Loading…
Reference in New Issue
Block a user