From 80b688ff8c1b42ed44ae9d94acd405260659608f Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 22 Jan 2020 16:29:30 +0100 Subject: [PATCH] Add accelerometer and geophone subsystems --- mat/accelerometer_z_axis.mat | Bin 0 -> 260 bytes mat/geophone_z_axis.mat | Bin 0 -> 233 bytes simscape-model.org | 64 +++++++++++++++++++ simscape_subsystems/stewart_strut.slx | Bin 30710 -> 31135 bytes simscape_subsystems/z_axis_accelerometer.slx | Bin 0 -> 25571 bytes simscape_subsystems/z_axis_geophone.slx | Bin 0 -> 25568 bytes src/initializeZAxisAccelerometer.m | 21 ++++++ src/initializeZAxisGeophone.m | 18 ++++++ 8 files changed, 103 insertions(+) create mode 100644 mat/accelerometer_z_axis.mat create mode 100644 mat/geophone_z_axis.mat create mode 100644 simscape_subsystems/z_axis_accelerometer.slx create mode 100644 simscape_subsystems/z_axis_geophone.slx create mode 100644 src/initializeZAxisAccelerometer.m create mode 100644 src/initializeZAxisGeophone.m diff --git a/mat/accelerometer_z_axis.mat b/mat/accelerometer_z_axis.mat new file mode 100644 index 0000000000000000000000000000000000000000..6be548a05fce8ab8d1e14a03d90c709a164a453a GIT binary patch literal 260 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQgHY2i*PhE(NShGteqW>%&a3PuJ-1`0$11{h%U^yLS#Yk;_7&g0~S1doK2gaqbG zG7e{sFfgtOuu~R##`@^UlP6c^Tv_zz&Xq}5lr~t2ZHSt%heP0blSz7WM~cA2c{66R zoAvW|=t>BD+wgEBJB!7_NA+QKd!Eb|N$_9yZ^rtC{Ng8GT25MRe@-c6v)1YRjWK_V S?LM8_bH=7xfMMSRsR#h0%2zZ1 literal 0 HcmV?d00001 diff --git a/mat/geophone_z_axis.mat b/mat/geophone_z_axis.mat new file mode 100644 index 0000000000000000000000000000000000000000..42a845cd55c436db6690b00ab958dc6b4ccba1f1 GIT binary patch literal 233 zcmeZu4DoSvQZUssQ1EpO(M`+DN!3vZ$Vn_o%P-2cQgHY2i*PhE(NShGteqW>zMq3PuJ-1`0$11{h%U^yLS#6M?v5&g0~Sga-*J2?@*> z9nKtKU|bVmr!2(w@pABIZlh11gCZp(4rDn#QrNqb=O)idhgtj`x)K7> + +This Matlab function is accessible [[file:../src/initializeZAxisGeophone.m][here]]. + +#+begin_src matlab + function [geophone] = initializeZAxisGeophone(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 % [Hz] + end + + %% + geophone.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + geophone.k = geophone.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + geophone.c = 2*sqrt(geophone.m * geophone.k); + + %% Save + save('./mat/geophone_z_axis.mat', 'geophone'); + end +#+end_src + +** Z-Axis Accelerometer +:PROPERTIES: +:header-args:matlab+: :tangle ./src/initializeZAxisAccelerometer.m +:header-args:matlab+: :comments none :mkdirp yes :eval no +:END: +<> + +This Matlab function is accessible [[file:../src/initializeZAxisAccelerometer.m][here]]. + +#+begin_src matlab + function [accelerometer] = initializeZAxisAccelerometer(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz] + end + + %% + accelerometer.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + accelerometer.k = accelerometer.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + + %% Gain correction of the accelerometer to have a unity gain until the resonance + accelerometer.gain = -accelerometer.k/accelerometer.m; + + %% Save + save('./mat/accelerometer_z_axis.mat', 'accelerometer'); + end +#+end_src + * OLD :noexport: ** Define the Height of the Platform :noexport: #+begin_src matlab diff --git a/simscape_subsystems/stewart_strut.slx b/simscape_subsystems/stewart_strut.slx index 263700d7ee9de5568205c2b4197f4c39e9889961..8c3e84ad3327dd9430d595d483176dc9dae37b36 100644 GIT binary patch delta 18077 zcmZ6yW0Yo1&?Q>7*~Ko~wr$(Ct*6*!tIM`++qP}n)9-iJ+%+?Q&OVtZ@=wId%oDM9 zJl_E4JOINfNP~i*0RaI)0Tl+-!J&bG6b3aAfy4nr6$Y^>yhOY4Cbokz0cK-m8;}jc 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z3oHiK6yz3@2(3u}hPkx}fd#>OQQU&8plSb4(0_2IfF;8EA>0yqp}V_bh<~e?|8Pfu zMZ$Uw+#*?_xx`Q8U!4bFA+RmNw~$7vUm-B=8?YGIZR)p}m+Ze_exBGLo7Q0=uul+f zAq>!z?dJ*og#3A%hvmQ)_P3nbUpc=o^I>7ICEqO!8(JFt6!n_|5S9d68QqfD)nG|~ z)=97o*ox$q@%>lEpXuXo>JwNZY&mgDe5?M8sy~VUR9wJfVXJ^!>|>4JVE>^efThA_ z@3++9-%(+5c~}~3_I*p!*ZhsfzvkkwFxd3@7Pj>}*ndu@Vd1a|?=3tIT5A2AgfQu^ Yk}NXxUh$*#pBT;vy24xN{`l+v00mILG5`Po literal 0 HcmV?d00001 diff --git a/src/initializeZAxisAccelerometer.m b/src/initializeZAxisAccelerometer.m new file mode 100644 index 0000000..9d17056 --- /dev/null +++ b/src/initializeZAxisAccelerometer.m @@ -0,0 +1,21 @@ +function [accelerometer] = initializeZAxisAccelerometer(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz] + end + + %% + accelerometer.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + accelerometer.k = accelerometer.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + accelerometer.c = 2*sqrt(accelerometer.m * accelerometer.k); + + %% Gain correction of the accelerometer to have a unity gain until the resonance + accelerometer.gain = -accelerometer.k/accelerometer.m; + + %% Save + save('./mat/accelerometer_z_axis.mat', 'accelerometer'); +end diff --git a/src/initializeZAxisGeophone.m b/src/initializeZAxisGeophone.m new file mode 100644 index 0000000..8612793 --- /dev/null +++ b/src/initializeZAxisGeophone.m @@ -0,0 +1,18 @@ +function [geophone] = initializeZAxisGeophone(args) + arguments + args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg] + args.freq (1,1) double {mustBeNumeric, mustBePositive} = 1 % [Hz] + end + + %% + geophone.m = args.mass; + + %% The Stiffness is set to have the damping resonance frequency + geophone.k = geophone.m * (2*pi*args.freq)^2; + + %% We set the damping value to have critical damping + geophone.c = 2*sqrt(geophone.m * geophone.k); + + %% Save + save('./mat/geophone_z_axis.mat', 'geophone'); +end