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Update active damping analysis

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This commit is contained in:
Thomas Dehaeze
2020-02-11 18:04:45 +01:00
parent 7ff04f690f
commit 9659e5a507
51 changed files with 540 additions and 513 deletions
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8
src/initializeJointDynamics.m
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@@ -5,8 +5,8 @@ function [stewart] = initializeJointDynamics(stewart, args)
%
% Inputs:
% - args - Structure with the following fields:
% - type_F - 'universal', 'spherical', 'univesal_p', 'spherical_p'
% - type_M - 'universal', 'spherical', 'univesal_p', 'spherical_p'
% - type_F - 'universal', 'spherical', 'universal_p', 'spherical_p'
% - type_M - 'universal', 'spherical', 'universal_p', 'spherical_p'
% - Kf_M [6x1] - Bending (Rx, Ry) Stiffness for each top joints [(N.m)/rad]
% - Kt_M [6x1] - Torsion (Rz) Stiffness for each top joints [(N.m)/rad]
% - Cf_M [6x1] - Bending (Rx, Ry) Damping of each top joint [(N.m)/(rad/s)]
@@ -29,8 +29,8 @@ function [stewart] = initializeJointDynamics(stewart, args)
arguments
stewart
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'univesal_p', 'spherical_p'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'univesal_p', 'spherical_p'})} = 'spherical'
args.type_F char {mustBeMember(args.type_F,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'universal'
args.type_M char {mustBeMember(args.type_M,{'universal', 'spherical', 'universal_p', 'spherical_p'})} = 'spherical'
args.Kf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cf_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kt_M (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)

4
src/initializeStrutDynamics.m
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@@ -16,8 +16,8 @@ function [stewart] = initializeStrutDynamics(stewart, args)
arguments
stewart
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e6*ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 20e6*ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e1*ones(6,1)
end
stewart.actuators.type = 1;

2
src/initializeZAxisAccelerometer.m
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@@ -1,6 +1,6 @@
function [accelerometer] = initializeZAxisAccelerometer(args)
arguments
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % [kg]
args.mass (1,1) double {mustBeNumeric, mustBePositive} = 5e-3 % [kg]
args.freq (1,1) double {mustBeNumeric, mustBePositive} = 5e3 % [Hz]
end