Only one simulink file in matlab folder
This commit is contained in:
@@ -149,6 +149,158 @@ There is two main types of inertial sensor that can be used to measure the absol
|
||||
Both inertial sensors are described bellow.
|
||||
|
||||
* Other Elements
|
||||
** Payload
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializePayload.m
|
||||
:header-args:matlab+: :comments none :mkdirp yes :eval no
|
||||
:END:
|
||||
<<sec:initializePayload>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializePayload.m][here]].
|
||||
|
||||
*** Function description
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
function [payload] = initializePayload(args)
|
||||
% initializePayload - Initialize the Payload that can then be used for simulations and analysis
|
||||
%
|
||||
% Syntax: [payload] = initializePayload(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args - Structure with the following fields:
|
||||
% - type - 'none', 'solid', 'flexible', 'cartesian'
|
||||
% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
|
||||
% This also the position where K and C are defined
|
||||
% - K [6x1] - Stiffness of the Payload [N/m, N/rad]
|
||||
% - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]
|
||||
% - m [1x1] - Mass of the Payload [kg]
|
||||
% - I [3x3] - Inertia matrix for the Payload [kg*m2]
|
||||
%
|
||||
% Outputs:
|
||||
% - payload - Struture with the following properties:
|
||||
% - type - 1 (none), 2 (solid), 3 (flexible)
|
||||
% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
|
||||
% - K [6x1] - Stiffness of the Payload [N/m, N/rad]
|
||||
% - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]
|
||||
% - m [1x1] - Mass of the Payload [kg]
|
||||
% - I [3x3] - Inertia matrix for the Payload [kg*m2]
|
||||
#+end_src
|
||||
|
||||
*** Optional Parameters
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'solid', 'flexible', 'cartesian'})} = 'none'
|
||||
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(6,1)
|
||||
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
|
||||
args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e-3
|
||||
args.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
|
||||
args.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1*eye(3)
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Add Payload Type
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
switch args.type
|
||||
case 'none'
|
||||
payload.type = 1;
|
||||
case 'solid'
|
||||
payload.type = 2;
|
||||
case 'flexible'
|
||||
payload.type = 3;
|
||||
case 'cartesian'
|
||||
payload.type = 4;
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Add Stiffness, Damping and Mass properties of the Payload
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
payload.K = args.K;
|
||||
payload.C = args.C;
|
||||
payload.m = args.m;
|
||||
payload.I = args.I;
|
||||
|
||||
payload.h = args.h;
|
||||
#+end_src
|
||||
|
||||
** Ground
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle ../src/initializeGround.m
|
||||
:header-args:matlab+: :comments none :mkdirp yes :eval no
|
||||
:END:
|
||||
<<sec:initializeGround>>
|
||||
|
||||
This Matlab function is accessible [[file:../src/initializeGround.m][here]].
|
||||
|
||||
*** Function description
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
function [ground] = initializeGround(args)
|
||||
% initializeGround - Initialize the Ground that can then be used for simulations and analysis
|
||||
%
|
||||
% Syntax: [ground] = initializeGround(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args - Structure with the following fields:
|
||||
% - type - 'none', 'solid', 'flexible'
|
||||
% - K [3x1] - Translation Stiffness of the Ground [N/m]
|
||||
% - C [3x1] - Translation Damping of the Ground [N/(m/s)]
|
||||
%
|
||||
% Outputs:
|
||||
% - ground - Struture with the following properties:
|
||||
% - type - 1 (none), 2 (solid), 3 (flexible)
|
||||
% - K [3x1] - Translation Stiffness of the Ground [N/m]
|
||||
% - C [3x1] - Translation Damping of the Ground [N/(m/s)]
|
||||
#+end_src
|
||||
|
||||
*** Optional Parameters
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
arguments
|
||||
args.type char {mustBeMember(args.type,{'none', 'solid', 'flexible'})} = 'none'
|
||||
args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(3,1)
|
||||
args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(3,1)
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Add Ground Type
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
switch args.type
|
||||
case 'none'
|
||||
ground.type = 1;
|
||||
case 'solid'
|
||||
ground.type = 2;
|
||||
case 'flexible'
|
||||
ground.type = 3;
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Add Stiffness and Damping properties of the Ground
|
||||
:PROPERTIES:
|
||||
:UNNUMBERED: t
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
ground.K = args.K;
|
||||
ground.C = args.C;
|
||||
#+end_src
|
||||
|
||||
** Z-Axis Geophone
|
||||
*** Working Principle
|
||||
From the schematic of the Z-axis geophone shown in Figure [[fig:z_axis_geophone]], we can write the transfer function from the support velocity $\dot{w}$ to the relative velocity of the inertial mass $\dot{d}$:
|
||||
|
||||
Reference in New Issue
Block a user